+ python -m lidar_slam --no-model /working/e36e6bab-e09d-499a-ac98-32247f293872 Lidar SLAM 0.0.13 ===================================================== The recording path: /working/e36e6bab-e09d-499a-ac98-32247f293872 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 end_distance from 9.223372036854776e+18 to 371.350302058 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.0 meters Centerline goodness [0,1] 0.7613503381795823 Centerline is valid? [0, False] SLAMing on 0.03 meters Centerline goodness [0,1] 0.8530328798185941 Centerline is valid? [False, False] Translation: X:0.16, Y:0.07, Z:0.01 [[ 0.99922174 0.0354681 -0.01726075 0.15897915] [-0.03521597 0.99927163 0.0146984 0.0747151 ] [ 0.0177695 -0.0140791 0.99974298 0.01244552] [ 0. 0. 0. 1. ]] SLAMing on 0.06 meters Centerline goodness [0,1] 0.8535193533975062 Centerline is valid? [False, False] Translation: X:0.16, Y:0.08, Z:0.01 [[ 0.99935329 0.03143148 -0.01746619 0.159036 ] [-0.03125022 0.99945585 0.01055604 0.07549842] [ 0.01778848 -0.01000339 0.99979173 0.01253546] [ 0. 0. 0. 1. ]] SLAMing on 0.09 meters Centerline goodness [0,1] 0.861889105374249 Centerline is valid? [False, False] Translation: X:0.20, Y:0.10, Z:0.03 [[ 9.99938244e-01 -4.40866358e-04 1.11046754e-02 2.02382073e-01] [ 2.69454063e-04 9.99880871e-01 1.54328164e-02 1.01466244e-01] [-1.11101563e-02 -1.54288711e-02 9.99819241e-01 3.30368414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.12 meters Centerline goodness [0,1] 0.8612474995453718 Centerline is valid? [False, False] Translation: X:0.20, Y:0.10, Z:0.04 [[ 0.99993014 -0.00451 0.01092547 0.20149448] [ 0.00439882 0.99993852 0.0101791 0.10467615] [-0.01097071 -0.01013033 0.9998885 0.03512311] [ 0. 0. 0. 1. ]] SLAMing on 0.15 meters Centerline goodness [0,1] 0.8133508382145022 Centerline is valid? [False, False] Translation: X:0.20, Y:0.11, Z:0.04 [[ 0.99988509 -0.0086773 0.01243038 0.1961289 ] [ 0.00860664 0.99994656 0.0057271 0.10544554] [-0.01247941 -0.00561946 0.99990634 0.04098307] [ 0. 0. 0. 1. ]] SLAMing on 0.18 meters Centerline goodness [0,1] 0.8421148660976747 Centerline is valid? [False, False] Translation: X:0.19, Y:0.10, Z:0.05 [[ 9.99798742e-01 -1.51710921e-02 1.31268049e-02 1.92084539e-01] [ 1.51815220e-02 9.99884512e-01 -6.95261837e-04 1.04768934e-01] [-1.31147410e-02 8.94406788e-04 9.99913598e-01 4.52283566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.21 meters Centerline goodness [0,1] 0.7619684353410725 Centerline is valid? [False, False] Translation: X:0.19, Y:0.10, Z:0.05 [[ 0.99965768 -0.02226145 0.0137461 0.18840534] [ 0.02236141 0.9997243 -0.00716173 0.10303149] [-0.01358288 0.00746666 0.99987987 0.04876941] [ 0. 0. 0. 1. ]] SLAMing on 0.24 meters Centerline goodness [0,1] 0.7476885889817706 Centerline is valid? [False, False] Translation: X:0.18, Y:0.10, Z:0.05 [[ 0.99948265 -0.02869066 0.01453529 0.1848957 ] [ 0.02887725 0.99950108 -0.01279421 0.1001978 ] [-0.01416097 0.01320733 0.9998125 0.05164474] [ 0. 0. 0. 1. ]] SLAMing on 0.27 meters Centerline goodness [0,1] 0.7338935007086455 Centerline is valid? [False, False] Translation: X:0.18, Y:0.10, Z:0.05 [[ 0.99934572 -0.03253233 0.01580465 0.18069632] [ 0.03277359 0.99934639 -0.01525402 0.09592696] [-0.01529807 0.01576201 0.99975873 0.05437108] [ 0. 0. 0. 1. ]] SLAMing on 0.3 meters Centerline goodness [0,1] 0.7234068160391551 Centerline is valid? [False, False] Translation: X:0.18, Y:0.09, Z:0.05 [[ 0.99921373 -0.03601891 0.01656995 0.1794748 ] [ 0.03631073 0.99918448 -0.01766078 0.09146852] [-0.01592031 0.01824856 0.99970672 0.05357757] [ 0. 0. 0. 1. ]] SLAMing on 0.32999999999999996 meters Centerline goodness [0,1] 0.7234068160391551 Centerline is valid? [False, False] Translation: X:0.18, Y:0.09, Z:0.05 [[ 0.99921373 -0.03601891 0.01656995 0.1794748 ] [ 0.03631073 0.99918448 -0.01766078 0.09146852] [-0.01592031 0.01824856 0.99970672 0.05357757] [ 0. 0. 0. 1. ]] SLAMing on 0.36 meters Centerline goodness [0,1] 0.6658919233004068 Centerline is valid? [False, False] Translation: X:0.16, Y:0.08, Z:0.04 [[ 0.99903118 -0.04354639 -0.00635794 0.15964039] [ 0.04346714 0.99898145 -0.01211111 0.07682669] [ 0.00687886 0.01182302 0.99990644 0.0394497 ] [ 0. 0. 0. 1. ]] SLAMing on 0.39 meters Centerline goodness [0,1] 0.6743633139909735 Centerline is valid? [False, False] Translation: X:0.15, Y:0.07, Z:0.03 [[ 0.99904209 -0.0417057 -0.01324896 0.15043233] [ 0.04157746 0.9990871 -0.00981184 0.07023728] [ 0.01364608 0.00925158 0.99986409 0.03268435] [ 0. 0. 0. 1. ]] SLAMing on 0.42 meters Centerline goodness [0,1] 0.644416279397268 Centerline is valid? [False, False] Translation: X:0.15, Y:0.06, Z:0.03 [[ 0.9992812 -0.03575663 -0.01259179 0.14956278] [ 0.03572268 0.9993575 -0.00291156 0.06372444] [ 0.01268781 0.00245965 0.99991648 0.03124722] [ 0. 0. 0. 1. ]] SLAMing on 0.44999999999999996 meters Centerline goodness [0,1] 0.7795607767147067 Centerline is valid? [False, False] Translation: X:0.14, Y:0.06, Z:0.03 [[ 9.99619104e-01 -2.61682396e-02 -8.76752251e-03 1.41666797e-01] [ 2.61750060e-02 9.99657159e-01 6.57881769e-04 5.81986000e-02] [ 8.74730104e-03 -8.87121140e-04 9.99961348e-01 2.63533795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.48 meters Centerline goodness [0,1] 0.8073823339780787 Centerline is valid? [False, False] Translation: X:0.14, Y:0.05, Z:0.02 [[ 0.99972519 -0.01805939 -0.0149466 0.13929985] [ 0.01803976 0.99983622 -0.00144773 0.05231205] [ 0.0149703 0.0011777 0.99988725 0.02155544] [ 0. 0. 0. 1. ]] SLAMing on 0.51 meters Centerline goodness [0,1] 0.8167252596274296 Centerline is valid? [False, False] Translation: X:0.14, Y:0.04, Z:0.01 [[ 0.99954665 -0.01116823 -0.02796016 0.14301808] [ 0.01121221 0.99993614 0.00141679 0.04306828] [ 0.02794255 -0.00172964 0.99960803 0.01149448] [ 0. 0. 0. 1. ]] SLAMing on 0.54 meters Centerline goodness [0,1] 0.8159944958212761 Centerline is valid? [False, False] Translation: X:0.14, Y:0.04, Z:0.00 [[ 9.98806403e-01 -3.04418165e-03 -4.87493863e-02 1.44153022e-01] [ 3.05779784e-03 9.99995304e-01 2.04734920e-04 3.96912556e-02] [ 4.87485341e-02 -3.53556317e-04 9.98811021e-01 1.64401580e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.57 meters Centerline goodness [0,1] 0.831322379191172 Centerline is valid? [False, False] Translation: X:0.15, Y:0.03, Z:-0.01 [[ 0.99816774 0.00695042 -0.06010709 0.15441069] [-0.00663326 0.99996301 0.00547452 0.03305743] [ 0.06014292 -0.00506579 0.99817692 -0.01038863] [ 0. 0. 0. 1. ]] SLAMing on 0.6 meters Centerline goodness [0,1] 0.8423654339069938 Centerline is valid? [False, False] Translation: X:0.16, Y:0.03, Z:-0.01 [[ 0.99808234 0.00819046 -0.06135608 0.15753135] [-0.0078074 0.99994852 0.00648037 0.03200078] [ 0.061406 -0.00598891 0.9980949 -0.01085989] [ 0. 0. 0. 1. ]] SLAMing on 0.63 meters Centerline goodness [0,1] 0.8374919250645995 Centerline is valid? [False, False] Translation: X:0.16, Y:0.03, Z:-0.01 [[ 0.99855376 0.01118024 -0.05258696 0.1649221 ] [-0.01100977 0.99993316 0.00353036 0.02984123] [ 0.05262291 -0.00294629 0.99861011 -0.0108129 ] [ 0. 0. 0. 1. ]] SLAMing on 0.6599999999999999 meters Centerline goodness [0,1] 0.8446933311533038 Centerline is valid? [False, False] Translation: X:0.17, Y:0.03, Z:-0.01 [[ 0.99848914 0.01290195 -0.05341335 0.16503965] [-0.01266602 0.99990849 0.00475313 0.03039592] [ 0.05346978 -0.00406941 0.99856118 -0.0082576 ] [ 0. 0. 0. 1. ]] SLAMing on 0.69 meters Centerline goodness [0,1] 0.848697313335772 Centerline is valid? [False, False] Translation: X:0.18, Y:0.04, Z:-0.01 [[ 0.99851848 0.02245395 -0.04956466 0.17561354] [-0.02234841 0.99974664 0.00268251 0.03521958] [ 0.04961234 -0.00157085 0.99876731 -0.00856527] [ 0. 0. 0. 1. ]] SLAMing on 0.72 meters Centerline goodness [0,1] 0.8536838253232496 Centerline is valid? [False, False] Translation: X:0.19, Y:0.04, Z:-0.01 [[ 9.98361327e-01 3.43825414e-02 -4.57438730e-02 1.86368993e-01] [-3.43191786e-02 9.99408568e-01 2.17003396e-03 4.17459983e-02] [ 4.57914299e-02 -5.96585832e-04 9.98950844e-01 -9.15458483e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.75 meters Centerline goodness [0,1] 0.8596070623133343 Centerline is valid? [False, False] Translation: X:0.22, Y:0.05, Z:-0.01 [[ 0.9968617 0.06287234 -0.04810222 0.22272331] [-0.06314803 0.9979952 -0.00423186 0.0531172 ] [ 0.04773971 0.00725614 0.99883345 -0.0078664 ] [ 0. 0. 0. 1. ]] SLAMing on 0.78 meters Centerline goodness [0,1] 0.8596070623133343 Centerline is valid? [False, False] Translation: X:0.22, Y:0.05, Z:-0.01 [[ 0.9968617 0.06287234 -0.04810222 0.22272331] [-0.06314803 0.9979952 -0.00423186 0.0531172 ] [ 0.04773971 0.00725614 0.99883345 -0.0078664 ] [ 0. 0. 0. 1. ]] SLAMing on 0.8099999999999999 meters Centerline goodness [0,1] 0.865899834216828 Centerline is valid? [False, False] Translation: X:0.23, Y:0.06, Z:-0.01 [[ 0.9962165 0.0716514 -0.04918091 0.22743227] [-0.07163928 0.99742858 0.00201145 0.05859491] [ 0.04919857 0.00151944 0.99878786 -0.00940246] [ 0. 0. 0. 1. ]] SLAMing on 0.84 meters Centerline goodness [0,1] 0.8813214118413817 Centerline is valid? [False, False] Translation: X:0.26, Y:0.08, Z:-0.01 [[ 0.99430375 0.0961894 -0.04590924 0.26486799] [-0.09616149 0.99536175 0.00282114 0.07800413] [ 0.04596767 0.00160963 0.99894163 -0.0074168 ] [ 0. 0. 0. 1. ]] SLAMing on 0.87 meters Centerline goodness [0,1] 0.8884285714285715 Centerline is valid? [False, False] Translation: X:0.27, Y:0.09, Z:-0.01 [[ 0.99354359 0.10365406 -0.04611898 0.26781788] [-0.10340534 0.99460908 0.007753 0.08804735] [ 0.04667399 -0.00293399 0.99890587 -0.00704572] [ 0. 0. 0. 1. ]] SLAMing on 0.8999999999999999 meters Centerline goodness [0,1] 0.8947411837492266 Centerline is valid? [False, False] Translation: X:0.27, Y:0.10, Z:-0.01 [[ 0.99284178 0.10984824 -0.04688879 0.2722433 ] [-0.10941723 0.99392741 0.01166968 0.09764182] [ 0.04788594 -0.00645571 0.99883195 -0.00799731] [ 0. 0. 0. 1. ]] SLAMing on 0.9299999999999999 meters Centerline goodness [0,1] 0.8931849448676619 Centerline is valid? [False, False] Translation: X:0.28, Y:0.11, Z:-0.01 [[ 0.9925115 0.11218597 -0.04832419 0.27752234] [-0.11173839 0.99366671 0.01187454 0.10730454] [ 0.0493503 -0.00638595 0.99876112 -0.00947907] [ 0. 0. 0. 1. ]] SLAMing on 0.96 meters Centerline goodness [0,1] 0.8944314593840981 Centerline is valid? [False, False] Translation: X:0.28, Y:0.12, Z:-0.01 [[ 0.99262426 0.1104216 -0.05004146 0.28209117] [-0.11013202 0.99388048 0.00851603 0.11602152] [ 0.05067558 -0.00294205 0.99871083 -0.01043337] [ 0. 0. 0. 1. ]] SLAMing on 0.99 meters Centerline goodness [0,1] 0.9000948531837677 Centerline is valid? [False, False] Translation: X:0.29, Y:0.12, Z:-0.01 [[ 0.99305755 0.10563007 -0.05175897 0.28515902] [-0.10562867 0.99440178 0.00277016 0.12258949] [ 0.05176183 0.00271631 0.99865576 -0.01044 ] [ 0. 0. 0. 1. ]] SLAMing on 1.02 meters Centerline goodness [0,1] 0.897124979551775 Centerline is valid? [False, False] Translation: X:0.30, Y:0.12, Z:-0.01 [[ 0.99348618 0.09933898 -0.05582992 0.29532184] [-0.09931549 0.99505084 0.00320203 0.12490568] [ 0.05587169 0.0023636 0.99843516 -0.00726194] [ 0. 0. 0. 1. ]] SLAMing on 1.05 meters Centerline goodness [0,1] 0.9021667895469813 Centerline is valid? [False, False] Translation: X:0.30, Y:0.13, Z:-0.00 [[ 0.99425614 0.09201492 -0.05466242 0.30236602] [-0.09179968 0.99575666 0.00644091 0.12521912] [ 0.05502312 -0.00138592 0.99848412 -0.00422119] [ 0. 0. 0. 1. ]] SLAMing on 1.08 meters Centerline goodness [0,1] 0.9112702941236839 Centerline is valid? [False, False] Translation: X:0.32, Y:0.13, Z:-0.01 [[ 0.99514616 0.08431664 -0.05074271 0.31591803] [-0.08401784 0.99643216 0.00799684 0.13144536] [ 0.05123593 -0.00369473 0.99867974 -0.00664976] [ 0. 0. 0. 1. ]] SLAMing on 1.1099999999999999 meters Centerline goodness [0,1] 0.914106892860084 Centerline is valid? [False, False] Translation: X:0.33, Y:0.14, Z:-0.01 [[ 0.99556977 0.07932219 -0.0504859 0.32701594] [-0.07878032 0.9968119 0.01263713 0.13557676] [ 0.05132735 -0.00860385 0.99864482 -0.00642113] [ 0. 0. 0. 1. ]] SLAMing on 1.14 meters Centerline goodness [0,1] 0.9176317850224622 Centerline is valid? [False, False] Translation: X:0.34, Y:0.14, Z:-0.01 [[ 0.9958995 0.07267237 -0.05387876 0.33983662] [-0.07205451 0.99731168 0.01332527 0.1405445 ] [ 0.0547023 -0.00938842 0.99845857 -0.00582492] [ 0. 0. 0. 1. ]] SLAMing on 1.17 meters Centerline goodness [0,1] 0.9207529295467183 Centerline is valid? [False, False] Translation: X:0.35, Y:0.14, Z:-0.01 [[ 0.9966014 0.06392913 -0.05194924 0.34980242] [-0.06319698 0.99787886 0.01561783 0.14129574] [ 0.05283748 -0.01228171 0.9985276 -0.00564161] [ 0. 0. 0. 1. ]] SLAMing on 1.2 meters Centerline goodness [0,1] 0.9223075181625471 Centerline is valid? [False, False] Translation: X:0.36, Y:0.14, Z:-0.01 [[ 0.99740857 0.05234112 -0.04936139 0.35964555] [-0.05163517 0.99854617 0.01547094 0.13945474] [ 0.05009939 -0.01288206 0.99866116 -0.00598001] [ 0. 0. 0. 1. ]] SLAMing on 1.23 meters Centerline goodness [0,1] 0.9249778619823308 Centerline is valid? [False, False] Translation: X:0.37, Y:0.14, Z:-0.01 [[ 0.99811929 0.03989504 -0.04654329 0.36980671] [-0.03924586 0.99912028 0.01477962 0.1350826 ] [ 0.04709198 -0.01292519 0.99880693 -0.00695245] [ 0. 0. 0. 1. ]] SLAMing on 1.26 meters Centerline goodness [0,1] 0.927031645699932 Centerline is valid? [False, False] Translation: X:0.38, Y:0.13, Z:-0.01 [[ 0.99866019 0.02706635 -0.04410483 0.37988583] [-0.02647946 0.99955358 0.01383728 0.13054875] [ 0.04445966 -0.01265087 0.99893108 -0.00746227] [ 0. 0. 0. 1. ]] SLAMing on 1.29 meters Centerline goodness [0,1] 0.929258199337053 Centerline is valid? [False, False] Translation: X:0.39, Y:0.13, Z:-0.01 [[ 0.9990211 0.01496062 -0.0416295 0.39059979] [-0.0144177 0.99980745 0.01331157 0.12701344] [ 0.04182063 -0.01269834 0.99904444 -0.00847816] [ 0. 0. 0. 1. ]] SLAMing on 1.3199999999999998 meters Centerline goodness [0,1] 0.9307731694828469 Centerline is valid? [False, False] Translation: X:0.41, Y:0.13, Z:-0.01 [[ 9.99166727e-01 3.58475329e-04 -4.08132611e-02 4.09901249e-01] [ 1.29163890e-06 9.99961151e-01 8.81458516e-03 1.26823883e-01] [ 4.08148353e-02 -8.80729293e-03 9.99127910e-01 -1.48935971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3499999999999999 meters Centerline goodness [0,1] 0.9312171476489477 Centerline is valid? [False, False] Translation: X:0.42, Y:0.13, Z:-0.02 [[ 0.99910414 -0.00196639 -0.04227364 0.41716506] [ 0.00222914 0.99997849 0.00616925 0.12989656] [ 0.0422606 -0.00625796 0.99908702 -0.01941198] [ 0. 0. 0. 1. ]] SLAMing on 1.38 meters Centerline goodness [0,1] 0.9335830365549143 Centerline is valid? [False, False] Translation: X:0.42, Y:0.13, Z:-0.02 [[ 0.99905114 -0.00228238 -0.04349267 0.42308585] [ 0.00251947 0.99998226 0.0053973 0.13257346] [ 0.04347958 -0.00550176 0.99903917 -0.02297835] [ 0. 0. 0. 1. ]] SLAMing on 1.41 meters Centerline goodness [0,1] 0.9402211898203346 Centerline is valid? [False, False] Translation: X:0.44, Y:0.14, Z:-0.03 [[ 0.99928387 0.00292629 -0.03772517 0.4373195 ] [-0.00287609 0.99999491 0.00138492 0.1382316 ] [ 0.03772903 -0.00127543 0.99928719 -0.02798232] [ 0. 0. 0. 1. ]] SLAMing on 1.44 meters Centerline goodness [0,1] 0.9437860082304527 Centerline is valid? [False, False] Translation: X:0.45, Y:0.14, Z:-0.03 [[ 0.99943482 0.00863746 -0.0324875 0.44924933] [-0.00873633 0.99995762 -0.00290255 0.14244246] [ 0.03246105 0.00318473 0.99946793 -0.03154112] [ 0. 0. 0. 1. ]] SLAMing on 1.47 meters Centerline goodness [0,1] 0.9479082822529049 Centerline is valid? [False, False] Translation: X:0.45, Y:0.15, Z:-0.03 [[ 9.99361332e-01 1.28133092e-02 -3.33578617e-02 4.51594125e-01] [-1.28150736e-02 9.99917871e-01 1.60916021e-04 1.45769062e-01] [ 3.33571840e-02 2.66670203e-04 9.99443459e-01 -3.20319699e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5 meters Centerline goodness [0,1] 0.9493449241924852 Centerline is valid? [False, False] Translation: X:0.47, Y:0.15, Z:-0.04 [[ 0.99937114 0.01960019 -0.02954929 0.46506512] [-0.01971499 0.99979916 -0.00359856 0.15127081] [ 0.02947283 0.00417886 0.99955685 -0.03561571] [ 0. 0. 0. 1. ]] SLAMing on 1.53 meters Centerline goodness [0,1] 0.9539129535821358 Centerline is valid? [False, True] Translation: X:0.47, Y:0.16, Z:-0.04 [[ 9.99252846e-01 2.36443049e-02 -3.05728136e-02 4.68301970e-01] [-2.36804546e-02 9.99719242e-01 -8.20828631e-04 1.55204089e-01] [ 3.05448221e-02 1.54419347e-03 9.99532205e-01 -3.68492077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.56 meters Centerline goodness [0,1] 0.9557664534763771 Centerline is valid? [True, True] Translation: X:0.50, Y:0.16, Z:-0.04 [[ 9.98937786e-01 3.07190960e-02 -3.43458295e-02 4.97592007e-01] [-3.07210598e-02 9.99527886e-01 4.70669996e-04 1.61974699e-01] [ 3.43440729e-02 5.84970239e-04 9.99409897e-01 -4.06200777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5899999999999999 meters Centerline goodness [0,1] 0.9574942225156817 Centerline is valid? [True, True] Translation: X:0.53, Y:0.17, Z:-0.04 [[ 9.98593065e-01 3.71001524e-02 -3.78875790e-02 5.27998517e-01] [-3.71071645e-02 9.99311158e-01 5.18350043e-04 1.67065099e-01] [ 3.78807113e-02 8.88279870e-04 9.99281873e-01 -4.25910043e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6199999999999999 meters Centerline goodness [0,1] 0.9606738093763547 Centerline is valid? [True, True] Translation: X:0.56, Y:0.17, Z:-0.04 [[ 9.98396788e-01 4.20132417e-02 -3.79307517e-02 5.57864056e-01] [-4.20238522e-02 9.99116474e-01 5.17862077e-04 1.70174397e-01] [ 3.79189959e-02 1.07696447e-03 9.99280236e-01 -4.16895457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.65 meters Centerline goodness [0,1] 0.9628184483256947 Centerline is valid? [True, True] Translation: X:0.59, Y:0.17, Z:-0.04 [[ 9.98198385e-01 4.60266882e-02 -3.84906302e-02 5.87342729e-01] [-4.60406842e-02 9.98939428e-01 5.23165681e-04 1.73851161e-01] [ 3.84738877e-02 1.24991181e-03 9.99258824e-01 -3.88530597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.68 meters Centerline goodness [0,1] 0.9664054908933039 Centerline is valid? [True, True] Translation: X:0.62, Y:0.18, Z:-0.04 [[ 9.98112449e-01 4.91190977e-02 -3.68626377e-02 6.15697227e-01] [-4.91342883e-02 9.98792059e-01 4.94264412e-04 1.78713535e-01] [ 3.68423877e-02 1.31788801e-03 9.99320220e-01 -3.57910731e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.71 meters Centerline goodness [0,1] 0.9700139035879558 Centerline is valid? [True, True] Translation: X:0.64, Y:0.18, Z:-0.03 [[ 9.98211629e-01 5.07505551e-02 -3.15899585e-02 6.44435099e-01] [-5.07627428e-02 9.98710654e-01 4.16585630e-04 1.81462545e-01] [ 3.15703700e-02 1.18775232e-03 9.99500826e-01 -2.94797980e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.74 meters Centerline goodness [0,1] 0.9723954795281912 Centerline is valid? [True, True] Translation: X:0.67, Y:0.18, Z:-0.02 [[ 9.98383812e-01 5.00600082e-02 -2.69027799e-02 6.73391144e-01] [-5.00686669e-02 9.98745716e-01 3.52089604e-04 1.81845673e-01] [ 2.68866617e-02 9.95465762e-04 9.99637993e-01 -2.22181061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.77 meters Centerline goodness [0,1] 0.9723954795281912 Centerline is valid? [True, True] Translation: X:0.70, Y:0.18, Z:-0.02 [[ 9.98388688e-01 4.99626606e-02 -2.69028049e-02 7.00896650e-01] [-4.99713356e-02 9.98750591e-01 3.50170936e-04 1.81592207e-01] [ 2.68866877e-02 9.94762391e-04 9.99637993e-01 -2.19183028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7999999999999998 meters Centerline goodness [0,1] 0.9793250605953885 Centerline is valid? [True, True] Translation: X:0.73, Y:0.17, Z:-0.02 [[ 9.98837661e-01 4.16432926e-02 -2.42726656e-02 7.30234096e-01] [-4.16479292e-02 9.99132299e-01 3.14696248e-04 1.65177777e-01] [ 2.42647092e-02 6.96575794e-04 9.99705326e-01 -1.90978381e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8299999999999998 meters Centerline goodness [0,1] 0.9797694417520777 Centerline is valid? [True, True] Translation: X:0.76, Y:0.15, Z:-0.02 [[ 9.99146308e-01 3.46335539e-02 -2.25204892e-02 7.59542555e-01] [-3.46357780e-02 9.99399959e-01 2.91407804e-04 1.52368059e-01] [ 2.25170685e-02 4.88855633e-04 9.99746339e-01 -1.78423650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8599999999999999 meters Centerline goodness [0,1] 0.9797694417520777 Centerline is valid? [True, True] Translation: X:0.79, Y:0.15, Z:-0.02 [[ 9.99149541e-01 3.45401294e-02 -2.25205076e-02 7.87037217e-01] [-3.45423619e-02 9.99403192e-01 2.89985299e-04 1.52116968e-01] [ 2.25170833e-02 4.88172843e-04 9.99746339e-01 -1.75426916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.89 meters Centerline goodness [0,1] 0.9825531037327284 Centerline is valid? [True, True] Translation: X:0.82, Y:0.12, Z:-0.02 [[ 9.99552707e-01 1.75526916e-02 -2.42134149e-02 8.15619208e-01] [-1.75503222e-02 9.99845933e-01 3.10375078e-04 1.24731696e-01] [ 2.42151324e-02 1.14716985e-04 9.99706764e-01 -1.80958855e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.92 meters Centerline goodness [0,1] 0.9825531037327284 Centerline is valid? [True, True] Translation: X:0.84, Y:0.12, Z:-0.02 [[ 9.99554324e-01 1.74603259e-02 -2.42134339e-02 8.43110891e-01] [-1.74579654e-02 9.99847550e-01 3.08888193e-04 1.24486827e-01] [ 2.42151359e-02 1.13966762e-04 9.99706764e-01 -1.77962571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.95 meters Centerline goodness [0,1] 0.9858927350692934 Centerline is valid? [True, True] Translation: X:0.87, Y:0.11, Z:-0.03 [[ 9.99393969e-01 2.14413167e-03 -3.47433214e-02 8.72172207e-01] [-2.13006748e-03 9.99997634e-01 4.41811483e-04 1.05938755e-01] [ 3.47441865e-02 -3.67538112e-04 9.99396171e-01 -2.58658426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.98 meters Centerline goodness [0,1] 0.9874841998383721 Centerline is valid? [True, True] Translation: X:0.90, Y:0.10, Z:-0.03 [[ 9.99179209e-01 -3.49951617e-03 -4.03566923e-02 9.02977702e-01] [ 3.52309292e-03 9.99993662e-01 5.13104746e-04 9.77053082e-02] [ 4.03546409e-02 -6.54863971e-04 9.99185205e-01 -2.94480054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.01 meters Centerline goodness [0,1] 0.9887866769109371 Centerline is valid? [True, True] Translation: X:0.93, Y:0.09, Z:-0.03 [[ 9.99007824e-01 -8.43765139e-03 -4.37284123e-02 9.31948719e-01] [ 8.47003721e-03 9.99963974e-01 5.55383020e-04 8.78287249e-02] [ 4.37221508e-02 -9.25213261e-04 9.99043301e-01 -3.11954283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.04 meters Centerline goodness [0,1] 0.9909939821539738 Centerline is valid? [True, True] Translation: X:0.96, Y:0.08, Z:-0.03 [[ 9.98965705e-01 -1.29313770e-02 -4.35924237e-02 9.60434998e-01] [ 1.29677645e-02 9.99915763e-01 5.52029416e-04 7.65183860e-02] [ 4.35816131e-02 -1.11675474e-03 9.99049246e-01 -2.82494105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.07 meters Centerline goodness [0,1] 0.9920336037079953 Centerline is valid? [True, True] Translation: X:0.99, Y:0.07, Z:-0.02 [[ 9.99111020e-01 -1.67167139e-02 -3.87003937e-02 9.87717878e-01] [ 1.67481274e-02 9.99859621e-01 4.87628175e-04 6.51571348e-02] [ 3.86868095e-02 -1.13535381e-03 9.99250740e-01 -2.05996546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1 meters Centerline goodness [0,1] 0.9935129328154698 Centerline is valid? [True, True] Translation: X:1.02, Y:0.06, Z:-0.01 [[ 9.99250930e-01 -1.97496678e-02 -3.32795760e-02 1.01545278e+00] [ 1.97744953e-02 9.99804379e-01 4.17026431e-04 5.57706459e-02] [ 3.32648296e-02 -1.07480087e-03 9.99445994e-01 -1.20616112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.13 meters Centerline goodness [0,1] 0.994324748225194 Centerline is valid? [True, True] Translation: X:1.04, Y:0.05, Z:-0.00 [[ 9.99258473e-01 -2.24878297e-02 -3.12538200e-02 1.04449204e+00] [ 2.25109056e-02 9.99746523e-01 3.86630752e-04 4.95804030e-02] [ 3.12372034e-02 -1.08989585e-03 9.99511405e-01 -4.42954858e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.16 meters Centerline goodness [0,1] 0.9955141191549179 Centerline is valid? [True, True] Translation: X:1.07, Y:0.05, Z:-0.01 [[ 9.99219154e-01 -2.19645817e-02 -3.28426603e-02 1.07373060e+00] [ 2.19895534e-02 9.99758121e-01 3.99300339e-04 4.85846065e-02] [ 3.28259459e-02 -1.12118398e-03 9.99460455e-01 -6.80508608e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.19 meters Centerline goodness [0,1] 0.9952726972461913 Centerline is valid? [True, True] Translation: X:1.10, Y:0.05, Z:-0.01 [[ 9.99146097e-01 -2.00935537e-02 -3.61016180e-02 1.10150232e+00] [ 2.01223538e-02 9.99797431e-01 4.34549007e-04 4.95720540e-02] [ 3.60855733e-02 -1.16062747e-03 9.99348030e-01 -1.16419619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.2199999999999998 meters Centerline goodness [0,1] 0.9952726972461913 Centerline is valid? [True, True] Translation: X:1.13, Y:0.05, Z:-0.01 [[ 9.99141298e-01 -2.03306410e-02 -3.61016989e-02 1.12901557e+00] [ 2.03593507e-02 9.99792635e-01 4.27761453e-04 4.93705674e-02] [ 3.60855160e-02 -1.16240128e-03 9.99348030e-01 -1.13421428e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.25 meters Centerline goodness [0,1] 0.9955455651564208 Centerline is valid? [True, True] Translation: X:1.16, Y:0.05, Z:-0.02 [[ 9.99030533e-01 -1.76540983e-02 -4.03277372e-02 1.15655888e+00] [ 1.76875484e-02 9.99843451e-01 4.72784651e-04 4.93386243e-02] [ 4.03130773e-02 -1.18562510e-03 9.99186394e-01 -1.74654581e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.28 meters Centerline goodness [0,1] 0.9955455651564208 Centerline is valid? [True, True] Translation: X:1.18, Y:0.05, Z:-0.02 [[ 9.99026383e-01 -1.78872368e-02 -4.03278261e-02 1.18407290e+00] [ 1.79205674e-02 9.99839306e-01 4.65119768e-04 4.91514427e-02] [ 4.03130259e-02 -1.18736445e-03 9.99186394e-01 -1.71656315e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.31 meters Centerline goodness [0,1] 0.9965121558591654 Centerline is valid? [True, True] Translation: X:1.21, Y:0.05, Z:-0.02 [[ 9.99087163e-01 -1.41585194e-02 -4.03035515e-02 1.21293734e+00] [ 1.41886255e-02 9.99899230e-01 4.61025207e-04 4.74512366e-02] [ 4.02929627e-02 -1.03245637e-03 9.99187375e-01 -1.65131275e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.34 meters Centerline goodness [0,1] 0.9968866621306777 Centerline is valid? [True, True] Translation: X:1.24, Y:0.05, Z:-0.01 [[ 9.99267019e-01 -1.15761683e-02 -3.64885880e-02 1.24191548e+00] [ 1.15990778e-02 9.99932642e-01 4.16224248e-04 4.72174804e-02] [ 3.64813119e-02 -8.39153136e-04 9.99333983e-01 -1.13307051e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.37 meters Centerline goodness [0,1] 0.9992150373387644 Centerline is valid? [True, True] Translation: X:1.27, Y:-0.30, Z:0.03 [[ 9.99912634e-01 -1.29251409e-02 2.76848469e-03 1.26765002e+00] [ 1.29252771e-02 9.99916465e-01 -3.13173643e-05 -2.99180957e-01] [-2.76784864e-03 6.70980602e-05 9.99996167e-01 3.06166901e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4 meters Centerline goodness [0,1] 0.9992036042595795 Centerline is valid? [True, True] Translation: X:1.30, Y:-0.38, Z:0.02 [[ 9.99885430e-01 1.42686818e-02 -5.05297748e-03 1.29591198e+00] [-1.42685720e-02 9.99898197e-01 5.77706996e-05 -3.77458741e-01] [ 5.05328738e-03 1.43346922e-05 9.99987232e-01 2.24432363e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4299999999999997 meters Centerline goodness [0,1] 0.9987058606026992 Centerline is valid? [True, True] Translation: X:1.33, Y:-0.41, Z:0.02 [[ 9.99897343e-01 -1.37157418e-02 -4.14499203e-03 1.32543331e+00] [ 1.37160542e-02 9.99905929e-01 4.69547784e-05 -4.05000221e-01] [ 4.14395809e-03 -1.03802894e-04 9.99991408e-01 2.16869350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.46 meters Centerline goodness [0,1] 0.9994234982128445 Centerline is valid? [True, True] Translation: X:1.35, Y:-0.40, Z:0.03 [[ 9.99882621e-01 -1.48707313e-02 -3.68853622e-03 1.35441681e+00] [ 1.48709930e-02 9.99889420e-01 4.35376024e-05 -4.04971121e-01] [ 3.68748090e-03 -9.83846885e-05 9.99993196e-01 2.51456724e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4899999999999998 meters Centerline goodness [0,1] 0.9992444709006822 Centerline is valid? [True, True] Translation: X:1.38, Y:-0.39, Z:0.02 [[ 9.99986095e-01 -6.92087222e-04 -5.22787396e-03 1.38471108e+00] [ 6.92400245e-04 9.99999759e-01 5.80661834e-05 -3.92043477e-01] [ 5.22783251e-03 -6.16851572e-05 9.99986333e-01 2.45581480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.52 meters Centerline goodness [0,1] 0.9992679020819034 Centerline is valid? [True, True] Translation: X:1.41, Y:-0.39, Z:0.02 [[ 9.99968418e-01 2.16517994e-03 -7.64695945e-03 1.41395478e+00] [-2.16458821e-03 9.99997654e-01 8.56568607e-05 -3.85891306e-01] [ 7.64712696e-03 -6.91016372e-05 9.99970758e-01 2.05253651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.55 meters Centerline goodness [0,1] 0.9989056337064819 Centerline is valid? [True, True] Translation: X:1.44, Y:-0.39, Z:0.02 [[ 9.99963687e-01 7.25940304e-04 -8.49099697e-03 1.44325442e+00] [-7.25181785e-04 9.99999733e-01 9.24106773e-05 -3.87842408e-01] [ 8.49106178e-03 -8.62498053e-05 9.99963947e-01 2.14850005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.58 meters Centerline goodness [0,1] 0.9988329252385638 Centerline is valid? [True, True] Translation: X:1.47, Y:-0.39, Z:0.02 [[ 9.99951207e-01 1.97641140e-03 -9.67868162e-03 1.47271073e+00] [-1.97548991e-03 9.99998043e-01 1.04767299e-04 -3.86965265e-01] [ 9.67886975e-03 -8.56420489e-05 9.99953155e-01 2.08994209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.61 meters Centerline goodness [0,1] 0.9989273569619097 Centerline is valid? [True, True] Translation: X:1.50, Y:-0.38, Z:0.02 [[ 9.99923879e-01 8.04657890e-03 -9.35355342e-03 1.50056522e+00] [-8.04600418e-03 9.99967625e-01 9.90729106e-05 -3.82688967e-01] [ 9.35404780e-03 -2.38066391e-05 9.99956250e-01 2.11975882e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6399999999999997 meters Centerline goodness [0,1] 0.9990883398668976 Centerline is valid? [True, True] Translation: X:1.53, Y:-0.38, Z:0.02 [[ 9.99871797e-01 1.42540518e-02 -7.29459402e-03 1.53064411e+00] [-1.42538726e-02 9.99898405e-01 7.65555007e-05 -3.78483568e-01] [ 7.29494416e-03 2.74305277e-05 9.99973391e-01 2.41459304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.67 meters Centerline goodness [0,1] 0.9986562813154778 Centerline is valid? [True, True] Translation: X:1.56, Y:-0.38, Z:0.02 [[ 9.99796898e-01 1.88040267e-02 -7.25058786e-03 1.56233339e+00] [-1.88039755e-02 9.99823187e-01 7.52428229e-05 -3.76643028e-01] [ 7.25072073e-03 6.11123353e-05 9.99973711e-01 2.42238566e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6999999999999997 meters Centerline goodness [0,1] 0.9990428659328638 Centerline is valid? [True, True] Translation: X:1.59, Y:-0.38, Z:0.03 [[ 9.99673168e-01 2.44370891e-02 -7.50903676e-03 1.59330009e+00] [-2.44371787e-02 9.99701364e-01 7.98287613e-05 -3.75360369e-01] [ 7.50874508e-03 1.03697003e-04 9.99971804e-01 2.58476169e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.73 meters Centerline goodness [0,1] 0.9989302865466463 Centerline is valid? [True, True] Translation: X:1.63, Y:-0.38, Z:0.03 [[ 9.99675260e-01 2.42157785e-02 -7.93537213e-03 1.62614406e+00] [-2.42158585e-02 9.99706749e-01 8.60120642e-05 -3.77983156e-01] [ 7.93512793e-03 1.06177716e-04 9.99968511e-01 2.52595674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.76 meters Centerline goodness [0,1] 0.9989718515810638 Centerline is valid? [True, True] Translation: X:1.66, Y:-0.38, Z:0.02 [[ 9.99688668e-01 2.25207485e-02 -1.07416053e-02 1.65782167e+00] [-2.25207533e-02 9.99746368e-01 1.20518044e-04 -3.81247749e-01] [ 1.07415951e-02 1.21428521e-04 9.99942300e-01 2.27167709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.79 meters Centerline goodness [0,1] 0.9989697330463849 Centerline is valid? [True, True] Translation: X:1.69, Y:-0.39, Z:0.02 [[ 9.99787103e-01 1.68730654e-02 -1.18763646e-02 1.68853075e+00] [-1.68726352e-02 9.99857638e-01 1.36423619e-04 -3.87501711e-01] [ 1.18769757e-02 6.39909925e-05 9.99929464e-01 2.04740356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.82 meters Centerline goodness [0,1] 0.9989859882005899 Centerline is valid? [True, True] Translation: X:1.72, Y:-0.40, Z:0.02 [[ 9.99908454e-01 6.54982201e-03 -1.18398959e-02 1.72112606e+00] [-6.54863858e-03 9.99978548e-01 1.38718819e-04 -3.99011906e-01] [ 1.18405505e-02 -6.11709212e-05 9.99929896e-01 2.07357309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.85 meters Centerline goodness [0,1] 0.9988942130482861 Centerline is valid? [True, True] Translation: X:1.75, Y:-0.40, Z:0.02 [[ 9.99952639e-01 1.30227913e-03 -9.64486682e-03 1.75007661e+00] [-1.30122578e-03 9.99999147e-01 1.15487004e-04 -4.04274116e-01] [ 9.64500899e-03 -1.02931385e-04 9.99953481e-01 2.34576431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.88 meters Centerline goodness [0,1] 0.999236835410837 Centerline is valid? [True, True] Translation: X:1.78, Y:-0.41, Z:0.03 [[ 9.99971019e-01 -3.38030147e-03 -6.82166843e-03 1.77919675e+00] [ 3.38093595e-03 9.99994281e-01 8.14808052e-05 -4.05593472e-01] [ 6.82135399e-03 -1.04542068e-04 9.99976729e-01 2.69459903e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9099999999999997 meters Centerline goodness [0,1] 0.999171956941761 Centerline is valid? [True, True] Translation: X:1.81, Y:-0.41, Z:0.03 [[ 9.99949533e-01 -9.07068587e-03 -4.31901742e-03 1.80847779e+00] [ 9.07099339e-03 9.99958856e-01 5.16179276e-05 -4.06886821e-01] [ 4.31837151e-03 -9.07931011e-05 9.99990672e-01 2.84038835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.94 meters Centerline goodness [0,1] 0.9986201186697944 Centerline is valid? [True, True] Translation: X:1.84, Y:-0.41, Z:0.03 [[ 9.99917069e-01 -1.18679215e-02 -5.00082246e-03 1.83613485e+00] [ 1.18683680e-02 9.99929567e-01 5.96132832e-05 -4.10488092e-01] [ 4.99976275e-03 -1.18959940e-04 9.99987494e-01 2.75120131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9699999999999998 meters Centerline goodness [0,1] 0.9987806841972071 Centerline is valid? [True, True] Translation: X:1.86, Y:-0.41, Z:0.03 [[ 9.99902357e-01 -1.25825780e-02 -6.07902752e-03 1.86425269e+00] [ 1.25832522e-02 9.99920825e-01 7.26657186e-05 -4.06529786e-01] [ 6.07763189e-03 -1.49152560e-04 9.99981520e-01 2.57380996e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0 meters Centerline goodness [0,1] 0.9987833712095127 Centerline is valid? [True, True] Translation: X:1.89, Y:-0.40, Z:0.02 [[ 9.99911005e-01 -1.04023524e-02 -8.35302139e-03 1.89343649e+00] [ 1.04035191e-02 9.99945877e-01 9.62413569e-05 -4.01615067e-01] [ 8.35156816e-03 -1.83133610e-04 9.99965108e-01 2.43031390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.03 meters Centerline goodness [0,1] 0.9988581868006394 Centerline is valid? [True, True] Translation: X:1.92, Y:-0.40, Z:0.03 [[ 9.99925853e-01 -8.78344136e-03 -8.43447475e-03 1.92118427e+00] [ 8.78455219e-03 9.99961411e-01 9.46627745e-05 -3.99285277e-01] [ 8.43331781e-03 -1.68748839e-04 9.99964425e-01 2.50098942e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.06 meters Centerline goodness [0,1] 0.9986845089589476 Centerline is valid? [True, True] Translation: X:1.95, Y:-0.39, Z:0.03 [[ 9.99953723e-01 -5.29240790e-03 -8.03377664e-03 1.95002332e+00] [ 5.29330143e-03 9.99985986e-01 8.99630535e-05 -3.91333927e-01] [ 8.03318794e-03 -1.32484092e-04 9.99967725e-01 2.52635343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.09 meters Centerline goodness [0,1] 0.9988739245979911 Centerline is valid? [True, True] Translation: X:1.98, Y:-0.39, Z:0.03 [[ 9.99970132e-01 -1.23973652e-03 -7.62874342e-03 1.97823101e+00] [ 1.24040691e-03 9.99999227e-01 8.31464472e-05 -3.86748060e-01] [ 7.62863445e-03 -9.26067099e-05 9.99970897e-01 2.60635386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.12 meters Centerline goodness [0,1] 0.9989413699123815 Centerline is valid? [True, True] Translation: X:2.01, Y:-0.38, Z:0.03 [[ 9.99965936e-01 3.51424160e-03 -7.46838557e-03 2.00708855e+00] [-3.51373232e-03 9.99993824e-01 8.13121305e-05 -3.77923583e-01] [ 7.46862519e-03 -5.50674530e-05 9.99972108e-01 2.54382501e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.15 meters Centerline goodness [0,1] 0.9987253169935372 Centerline is valid? [True, True] Translation: X:2.04, Y:-0.37, Z:0.02 [[ 9.99900270e-01 1.05574658e-02 -9.38026516e-03 2.03631602e+00] [-1.05570036e-02 9.99944268e-01 9.87884542e-05 -3.69047051e-01] [ 9.38078534e-03 2.48890595e-07 9.99955999e-01 2.43489741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1799999999999997 meters Centerline goodness [0,1] 0.9991089924932618 Centerline is valid? [True, True] Translation: X:2.07, Y:-0.36, Z:0.03 [[ 9.99831954e-01 1.61035510e-02 -8.76006853e-03 2.06784237e+00] [-1.61033646e-02 9.99870328e-01 9.18243110e-05 -3.61989954e-01] [ 8.76041129e-03 4.92576969e-05 9.99961626e-01 2.56376455e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.21 meters Centerline goodness [0,1] 0.9989348718517697 Centerline is valid? [True, True] Translation: X:2.10, Y:-0.36, Z:0.03 [[ 9.99787613e-01 1.83860403e-02 -9.31033690e-03 2.09867335e+00] [-1.83859268e-02 9.99830960e-01 9.77851379e-05 -3.58482375e-01] [ 9.31056096e-03 7.34148032e-05 9.99956653e-01 2.51872001e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2399999999999998 meters Centerline goodness [0,1] 0.9993574831062368 Centerline is valid? [True, True] Translation: X:2.13, Y:-0.36, Z:0.02 [[ 9.99751643e-01 1.96714212e-02 -1.04731897e-02 2.13112915e+00] [-1.96713323e-02 9.99806494e-01 1.11514839e-04 -3.56525370e-01] [ 1.04733568e-02 9.45344517e-05 9.99945148e-01 2.48676457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.27 meters Centerline goodness [0,1] 0.9994659308380436 Centerline is valid? [True, True] Translation: X:2.16, Y:-0.36, Z:0.02 [[ 9.99713082e-01 2.09995209e-02 -1.15227712e-02 2.16285707e+00] [-2.09994614e-02 9.99779479e-01 1.26169158e-04 -3.55356913e-01] [ 1.15228797e-02 1.15839030e-04 9.99933603e-01 2.46782514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3 meters Centerline goodness [0,1] 0.9995564918505377 Centerline is valid? [True, True] Translation: X:2.20, Y:-0.36, Z:0.03 [[ 9.99701781e-01 2.15951647e-02 -1.14017048e-02 2.19562711e+00] [-2.15951118e-02 9.99766790e-01 1.27766737e-04 -3.55560792e-01] [ 1.14018050e-02 1.18492456e-04 9.99934990e-01 2.56255258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.33 meters Centerline goodness [0,1] 0.9993355923194472 Centerline is valid? [True, True] Translation: X:2.23, Y:-0.36, Z:0.02 [[ 9.99725168e-01 2.02497490e-02 -1.18125508e-02 2.22695720e+00] [-2.02495582e-02 9.99794947e-01 1.35770232e-04 -3.55962077e-01] [ 1.18128779e-02 1.03466017e-04 9.99930220e-01 2.39639656e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.36 meters Centerline goodness [0,1] 0.9994641062855867 Centerline is valid? [True, True] Translation: X:2.26, Y:-0.37, Z:0.03 [[ 9.99850961e-01 1.24405732e-02 -1.19702785e-02 2.25922394e+00] [-1.24397843e-02 9.99922613e-01 1.40359625e-04 -3.66691304e-01] [ 1.19710983e-02 8.56897672e-06 9.99928344e-01 2.53327246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3899999999999997 meters Centerline goodness [0,1] 0.9994840620022881 Centerline is valid? [True, True] Translation: X:2.29, Y:-0.38, Z:0.03 [[ 9.99937896e-01 3.97154296e-03 -1.04129809e-02 2.29014813e+00] [-3.97046261e-03 9.99992110e-01 1.24421153e-04 -3.76383890e-01] [ 1.04133929e-02 -8.30690749e-05 9.99945776e-01 2.78232407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.42 meters Centerline goodness [0,1] 0.9996368835530944 Centerline is valid? [True, True] Translation: X:2.32, Y:-0.39, Z:0.03 [[ 9.99948407e-01 -4.96214436e-03 -8.86341526e-03 2.31871567e+00] [ 4.96328183e-03 9.99987677e-01 1.06341410e-04 -3.85482433e-01] [ 8.86277835e-03 -1.50327552e-04 9.99960714e-01 2.93755989e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4499999999999997 meters Centerline goodness [0,1] 0.9993600438827052 Centerline is valid? [True, True] Translation: X:2.35, Y:-0.40, Z:0.03 [[ 9.99841706e-01 -1.55486170e-02 -8.64888256e-03 2.34833100e+00] [ 1.55500914e-02 9.99879085e-01 1.03248075e-04 -3.97302821e-01] [ 8.64623141e-03 -2.37722646e-04 9.99962592e-01 2.94931914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.48 meters Centerline goodness [0,1] 0.9994739490416724 Centerline is valid? [True, True] Translation: X:2.38, Y:-0.40, Z:0.03 [[ 9.99793974e-01 -1.84449369e-02 -8.47310473e-03 2.37569103e+00] [ 1.84464565e-02 9.99829845e-01 1.01216208e-04 -4.03062350e-01] [ 8.46979605e-03 -2.57494112e-04 9.99964097e-01 3.11857963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.51 meters Centerline goodness [0,1] 0.9993164574266901 Centerline is valid? [True, True] Translation: X:2.40, Y:-0.41, Z:0.03 [[ 9.99803688e-01 -1.81426484e-02 -7.96424188e-03 2.40440182e+00] [ 1.81439784e-02 9.99835380e-01 9.47701019e-05 -4.05177087e-01] [ 7.96121142e-03 -2.39254530e-04 9.99968280e-01 2.97741096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.54 meters Centerline goodness [0,1] 0.9995651875414788 Centerline is valid? [True, True] Translation: X:2.43, Y:-0.40, Z:0.03 [[ 9.99899882e-01 -1.28908676e-02 -5.83532884e-03 2.43426609e+00] [ 1.28914817e-02 9.99916899e-01 6.76436425e-05 -4.03413263e-01] [ 5.83397194e-03 -1.42862905e-04 9.99982972e-01 3.18056034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.57 meters Centerline goodness [0,1] 0.9997039870665119 Centerline is valid? [True, True] Translation: X:2.46, Y:-0.40, Z:0.04 [[ 9.99970084e-01 -6.62586427e-03 -3.99103290e-03 2.46308219e+00] [ 6.62610206e-03 9.99978046e-01 4.63632695e-05 -4.00951331e-01] [ 3.99063809e-03 -7.28068739e-05 9.99992035e-01 3.53660427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5999999999999996 meters Centerline goodness [0,1] 0.9993188165572989 Centerline is valid? [True, True] Translation: X:2.49, Y:-0.40, Z:0.04 [[ 9.99996889e-01 -5.00381431e-04 -2.44377245e-03 2.49162203e+00] [ 5.00452874e-04 9.99999874e-01 2.86232728e-05 -3.96548708e-01] [ 2.44375782e-03 -2.98461767e-05 9.99997014e-01 3.57837222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.63 meters Centerline goodness [0,1] 0.9995932662975935 Centerline is valid? [True, True] Translation: X:2.52, Y:-0.39, Z:0.04 [[ 9.99952520e-01 9.27147260e-03 -2.99947130e-03 2.52116230e+00] [-9.27141087e-03 9.99957019e-01 3.44831969e-05 -3.87702242e-01] [ 2.99966209e-03 -6.67222886e-06 9.99995501e-01 3.65684861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6599999999999997 meters Centerline goodness [0,1] 0.9995706893824706 Centerline is valid? [True, True] Translation: X:2.55, Y:-0.38, Z:0.03 [[ 9.99876811e-01 1.48720569e-02 -5.01849833e-03 2.55297742e+00] [-1.48719599e-02 9.99889405e-01 5.66596200e-05 -3.82847537e-01] [ 5.01878595e-03 1.79822656e-05 9.99987406e-01 3.38335317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.69 meters Centerline goodness [0,1] 0.9994825181118661 Centerline is valid? [True, True] Translation: X:2.59, Y:-0.38, Z:0.03 [[ 9.99800053e-01 1.85508445e-02 -7.46459855e-03 2.58633444e+00] [-1.85507311e-02 9.99827917e-01 8.44433924e-05 -3.79860333e-01] [ 7.46488052e-03 5.40472521e-05 9.99972136e-01 3.04768063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7199999999999998 meters Centerline goodness [0,1] 0.9995714156816746 Centerline is valid? [True, True] Translation: X:2.62, Y:-0.38, Z:0.03 [[ 9.99748799e-01 1.99085340e-02 -1.02950676e-02 2.61948795e+00] [-1.99083488e-02 9.99801802e-01 1.20484393e-04 -3.79462229e-01] [ 1.02954258e-02 8.45036688e-05 9.99946997e-01 2.74819002e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.75 meters Centerline goodness [0,1] 0.9996146260739465 Centerline is valid? [True, True] Translation: X:2.65, Y:-0.38, Z:0.03 [[ 9.99770120e-01 1.70157203e-02 -1.30450070e-02 2.65063446e+00] [-1.70151192e-02 9.99855220e-01 1.57068954e-04 -3.84582369e-01] [ 1.30457910e-02 6.49295021e-05 9.99914898e-01 2.51411536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.78 meters Centerline goodness [0,1] 0.9999090350897142 Centerline is valid? [True, True] Translation: X:2.68, Y:-0.39, Z:0.03 [[ 9.99844915e-01 1.35071569e-02 -1.13005981e-02 2.68136696e+00] [-1.35064564e-02 9.99908774e-01 1.38308032e-04 -3.90856353e-01] [ 1.13014353e-02 1.43444534e-05 9.99936137e-01 2.85044957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.81 meters Centerline goodness [0,1] 0.9997943421233033 Centerline is valid? [True, True] Translation: X:2.71, Y:-0.39, Z:0.03 [[ 9.99875068e-01 1.16782227e-02 -1.06520708e-02 2.71296475e+00] [-1.16774733e-02 9.99931807e-01 1.32545134e-04 -3.94481542e-01] [ 1.06528923e-02 -8.13930248e-06 9.99943256e-01 2.79586491e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.84 meters Centerline goodness [0,1] 0.9996082046554505 Centerline is valid? [True, True] Translation: X:2.74, Y:-0.40, Z:0.03 [[ 9.99911872e-01 8.40953022e-03 -1.02727076e-02 2.74454533e+00] [-8.40863458e-03 9.99964638e-01 1.30375505e-04 -4.03085398e-01] [ 1.02734407e-02 -4.39845712e-05 9.99947226e-01 2.91897364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8699999999999997 meters Centerline goodness [0,1] 0.9996558054153282 Centerline is valid? [True, True] Translation: X:2.77, Y:-0.41, Z:0.03 [[ 9.99909302e-01 8.47735810e-03 -1.04652882e-02 2.77397632e+00] [-8.47642808e-03 9.99964066e-01 1.33219650e-04 -4.05512480e-01] [ 1.04660415e-02 -4.44993047e-05 9.99945228e-01 2.92191965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9 meters Centerline goodness [0,1] 0.999861999171995 Centerline is valid? [True, True] Translation: X:2.80, Y:-0.41, Z:0.03 [[ 9.99890603e-01 1.12003661e-02 -9.66094014e-03 2.80477436e+00] [-1.11997024e-02 9.99937274e-01 1.22803012e-04 -4.05775149e-01] [ 9.66170959e-03 -1.45899236e-05 9.99953324e-01 3.24022603e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9299999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.84, Y:-0.40, Z:0.04 [[ 9.99855013e-01 1.36818096e-02 -1.01371489e-02 2.83591490e+00] [-1.36812074e-02 9.99906400e-01 1.28750267e-04 -4.01476539e-01] [ 1.01379616e-02 9.95683683e-06 9.99948609e-01 3.53764148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.96 meters Centerline goodness [0,1] 0.9998626436518474 Centerline is valid? [True, True] Translation: X:2.87, Y:-0.40, Z:0.03 [[ 9.99843631e-01 1.33926903e-02 -1.15477412e-02 2.86769770e+00] [-1.33918677e-02 9.99910314e-01 1.48556826e-04 -3.97440164e-01] [ 1.15486951e-02 6.11222647e-06 9.99933312e-01 2.96255920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9899999999999998 meters Centerline goodness [0,1] 0.9997723754893927 Centerline is valid? [True, True] Translation: X:2.90, Y:-0.40, Z:0.03 [[ 9.99847980e-01 1.19717259e-02 -1.26765313e-02 2.89931003e+00] [-1.19705803e-02 9.99928336e-01 1.66245159e-04 -3.96670919e-01] [ 1.26776131e-02 -1.44744505e-05 9.99919636e-01 2.76150517e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.02 meters Centerline goodness [0,1] 0.9999087674482255 Centerline is valid? [True, True] Translation: X:2.93, Y:-0.40, Z:0.03 [[ 9.99863032e-01 1.15301334e-02 -1.18732456e-02 2.93012104e+00] [-1.15290804e-02 9.99933526e-01 1.57128588e-04 -3.98447184e-01] [ 1.18742681e-02 -2.02194632e-05 9.99929498e-01 3.25540008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.05 meters Centerline goodness [0,1] 0.9999314113262763 Centerline is valid? [True, True] Translation: X:2.96, Y:-0.40, Z:0.03 [[ 9.99853365e-01 1.13956689e-02 -1.27823000e-02 2.96147554e+00] [-1.13944367e-02 9.99935067e-01 1.69221972e-04 -3.99992731e-01] [ 1.27833984e-02 -2.35500500e-05 9.99918289e-01 3.22737035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.08 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:2.99, Y:-0.40, Z:0.03 [[ 9.99841462e-01 1.11228567e-02 -1.39043893e-02 2.99219420e+00] [-1.11213668e-02 9.99938139e-01 1.84473730e-04 -3.98713994e-01] [ 1.39055810e-02 -2.98086714e-05 9.99903312e-01 3.18953540e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.109999999999999 meters Centerline goodness [0,1] 0.9997719810288216 Centerline is valid? [True, True] Translation: X:3.02, Y:-0.40, Z:0.03 [[ 9.99842514e-01 8.92955075e-03 -1.53365892e-02 3.02226897e+00] [-8.92748126e-03 9.99960129e-01 2.03396931e-04 -3.99463930e-01] [ 1.53377939e-02 -6.64477861e-05 9.99882367e-01 2.73830909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.14 meters Centerline goodness [0,1] 0.9997719810288216 Centerline is valid? [True, True] Translation: X:3.05, Y:-0.40, Z:0.03 [[ 9.99843139e-01 8.85919662e-03 -1.53365958e-02 3.05062845e+00] [-8.85712659e-03 9.99960754e-01 2.02892566e-04 -3.99779724e-01] [ 1.53377914e-02 -6.70225693e-05 9.99882367e-01 2.76920874e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.17 meters Centerline goodness [0,1] 0.9996803652968037 Centerline is valid? [True, True] Translation: X:3.08, Y:-0.40, Z:0.03 [[ 9.99853150e-01 5.87856665e-03 -1.60972603e-02 3.07906612e+00] [-5.87591873e-03 9.99982714e-01 2.11786665e-04 -4.02604012e-01] [ 1.60982271e-02 -1.17169370e-04 9.99870408e-01 2.81359897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2 meters Centerline goodness [0,1] 0.999839467950923 Centerline is valid? [True, True] Translation: X:3.11, Y:-0.41, Z:0.03 [[ 9.99896905e-01 -7.99763778e-05 -1.43587589e-02 3.10731840e+00] [ 8.26833117e-05 9.99999979e-01 1.87927897e-04 -4.09398344e-01] [ 1.43587436e-02 -1.89095752e-04 9.99896890e-01 3.29771259e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2299999999999995 meters Centerline goodness [0,1] 0.9999084710081918 Centerline is valid? [True, True] Translation: X:3.14, Y:-0.41, Z:0.04 [[ 9.99915442e-01 -4.06139787e-03 -1.23536710e-02 3.13610851e+00] [ 4.06369381e-03 9.99991730e-01 1.60755019e-04 -4.12604668e-01] [ 1.23529159e-02 -2.10942962e-04 9.99923678e-01 3.67979077e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.26 meters Centerline goodness [0,1] 0.9996558370044053 Centerline is valid? [True, True] Translation: X:3.16, Y:-0.42, Z:0.03 [[ 9.99894489e-01 -9.15146166e-03 -1.12810002e-02 3.16471020e+00] [ 9.15369173e-03 9.99958093e-01 1.46065141e-04 -4.16568505e-01] [ 1.12791908e-02 -2.49312528e-04 9.99936357e-01 3.47713277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.29 meters Centerline goodness [0,1] 0.9998158676088107 Centerline is valid? [True, True] Translation: X:3.19, Y:-0.42, Z:0.04 [[ 9.99882534e-01 -1.19621507e-02 -9.58258168e-03 3.19356259e+00] [ 1.19638858e-02 9.99928422e-01 1.23761613e-04 -4.17715395e-01] [ 9.58041533e-03 -2.38391988e-04 9.99954078e-01 3.91662866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.32 meters Centerline goodness [0,1] 0.9998617734466791 Centerline is valid? [True, True] Translation: X:3.22, Y:-0.42, Z:0.04 [[ 9.99887327e-01 -1.23427629e-02 -8.54338105e-03 3.22115061e+00] [ 1.23441371e-02 9.99923802e-01 1.08139605e-04 -4.19407069e-01] [ 8.54139532e-03 -2.13588088e-04 9.99963499e-01 4.24094795e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.35 meters Centerline goodness [0,1] 0.9999085985878482 Centerline is valid? [True, True] Translation: X:3.25, Y:-0.42, Z:0.04 [[ 9.99924419e-01 -9.68768070e-03 -7.56996431e-03 3.25062002e+00] [ 9.68868292e-03 9.99953059e-01 9.57314660e-05 -4.15866147e-01] [ 7.56868156e-03 -1.69067215e-04 9.99971343e-01 4.33146441e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.38 meters Centerline goodness [0,1] 0.9996581196581197 Centerline is valid? [True, True] Translation: X:3.28, Y:-0.41, Z:0.04 [[ 9.99954680e-01 -5.01463845e-03 -8.09269347e-03 3.27981106e+00] [ 5.01561096e-03 9.99987417e-01 9.98804616e-05 -4.10926610e-01] [ 8.09209077e-03 -1.40465737e-04 9.99967249e-01 3.99877157e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.41 meters Centerline goodness [0,1] 0.9999086778840666 Centerline is valid? [True, True] Translation: X:3.31, Y:-0.40, Z:0.04 [[ 9.99971095e-01 1.40110012e-03 -7.47308453e-03 3.30915386e+00] [-1.40044936e-03 9.99999015e-01 9.23136230e-05 -4.04224496e-01] [ 7.47320651e-03 -8.18452782e-05 9.99972072e-01 4.21561203e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.4399999999999995 meters Centerline goodness [0,1] 0.9998635991634082 Centerline is valid? [True, True] Translation: X:3.34, Y:-0.40, Z:0.04 [[ 9.99936469e-01 6.71394467e-03 -9.05434778e-03 3.33851911e+00] [-6.71323047e-03 9.99977460e-01 1.09270638e-04 -3.98702708e-01] [ 9.05487734e-03 -4.84797721e-05 9.99959003e-01 4.02965053e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.47 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.37, Y:-0.39, Z:0.04 [[ 9.99856692e-01 1.39827185e-02 -9.54357739e-03 3.36862066e+00] [-1.39822829e-02 9.99902237e-01 1.12369595e-04 -3.92700668e-01] [ 9.54421561e-03 2.10875076e-05 9.99954453e-01 4.33158379e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.40, Y:-0.38, Z:0.04 [[ 9.99716040e-01 2.12311251e-02 -1.08203225e-02 3.39968217e+00] [-2.12309945e-02 9.99774589e-01 1.26952696e-04 -3.84941017e-01] [ 1.08205788e-02 1.02809561e-04 9.99941451e-01 4.25791104e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.53 meters Centerline goodness [0,1] 0.9999325084364454 Centerline is valid? [True, True] Translation: X:3.43, Y:-0.38, Z:0.04 [[ 9.99564621e-01 2.66505527e-02 -1.26616356e-02 3.43190614e+00] [-2.66507858e-02 9.99644793e-01 1.50353322e-04 -3.79062104e-01] [ 1.26611451e-02 1.87154676e-04 9.99919827e-01 3.90153647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.46, Y:-0.37, Z:0.04 [[ 9.99424530e-01 3.04083313e-02 -1.50313926e-02 3.46361333e+00] [-3.04090216e-02 9.99537522e-01 1.82684264e-04 -3.74975873e-01] [ 1.50299961e-02 2.74510809e-04 9.99887006e-01 3.78907990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.59 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.50, Y:-0.37, Z:0.04 [[ 9.99380956e-01 3.10440594e-02 -1.65520671e-02 3.49581594e+00] [-3.10449145e-02 9.99517969e-01 2.05349327e-04 -3.74562016e-01] [ 1.65504633e-02 3.08635300e-04 9.99862984e-01 3.63597531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.62 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.53, Y:-0.38, Z:0.04 [[ 9.99444494e-01 2.85693853e-02 -1.71608414e-02 3.52788566e+00] [-2.85698651e-02 9.99591774e-01 2.17248620e-04 -3.77450629e-01] [ 1.71600426e-02 2.73154987e-04 9.99852718e-01 3.63966123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6499999999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.56, Y:-0.38, Z:0.04 [[ 9.99541277e-01 2.53022048e-02 -1.66443256e-02 3.56010359e+00] [-2.53021361e-02 9.99679827e-01 2.14741181e-04 -3.80576516e-01] [ 1.66444300e-02 2.06494318e-04 9.99861451e-01 3.69446443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.68 meters Centerline goodness [0,1] 0.9997753313862053 Centerline is valid? [True, True] Translation: X:3.59, Y:-0.39, Z:0.03 [[ 9.99647344e-01 2.03334263e-02 -1.70803862e-02 3.59247556e+00] [-2.03325560e-02 9.99793247e-01 2.24626307e-04 -3.86218187e-01] [ 1.70814222e-02 1.22740818e-04 9.99854094e-01 3.46836830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.71 meters Centerline goodness [0,1] 0.9998873036265693 Centerline is valid? [True, True] Translation: X:3.62, Y:-0.39, Z:0.04 [[ 9.99728523e-01 1.65851404e-02 -1.63650215e-02 3.62451204e+00] [-1.65837756e-02 9.99862456e-01 2.19107294e-04 -3.92071406e-01] [ 1.63664045e-02 5.23460333e-05 9.99866060e-01 3.73309904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.74 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.66, Y:-0.40, Z:0.04 [[ 9.99769285e-01 1.36350240e-02 -1.65970621e-02 3.65596425e+00] [-1.36331655e-02 9.99907039e-01 2.25123024e-04 -3.97570778e-01] [ 1.65985888e-02 1.19940948e-06 9.99862234e-01 3.99351475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.77 meters Centerline goodness [0,1] 0.9999322432017346 Centerline is valid? [True, True] Translation: X:3.69, Y:-0.40, Z:0.04 [[ 9.99792391e-01 1.04562893e-02 -1.74883211e-02 3.68586933e+00] [-1.04537344e-02 9.99945330e-01 2.37504709e-04 -4.02877727e-01] [ 1.74898484e-02 -5.46371369e-05 9.99847039e-01 3.82580147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.8 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.71, Y:-0.41, Z:0.04 [[ 9.99820235e-01 9.67364634e-03 -1.63070210e-02 3.71453035e+00] [-9.67133002e-03 9.99953207e-01 2.20900997e-04 -4.05381014e-01] [ 1.63083948e-02 -6.31507054e-05 9.99867007e-01 4.01728654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.83 meters Centerline goodness [0,1] 0.9997958257713249 Centerline is valid? [True, True] Translation: X:3.74, Y:-0.41, Z:0.04 [[ 9.99812079e-01 9.28754222e-03 -1.70161403e-02 3.74273102e+00] [-9.28498685e-03 9.99956867e-01 2.29171997e-04 -4.07527437e-01] [ 1.70175348e-02 -7.11342918e-05 9.99855189e-01 3.76444208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.859999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.77, Y:-0.41, Z:0.04 [[ 9.99812127e-01 1.03211846e-02 -1.64068480e-02 3.77178039e+00] [-1.03189694e-02 9.99946734e-01 2.19669443e-04 -4.09013592e-01] [ 1.64082413e-02 -5.03264097e-05 9.99865374e-01 4.18340569e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:3.80, Y:-0.41, Z:0.04 [[ 9.99808000e-01 1.01530169e-02 -1.67594340e-02 3.80049131e+00] [-1.01506997e-02 9.99948455e-01 2.23325758e-04 -4.11077629e-01] [ 1.67608376e-02 -5.31628971e-05 9.99859526e-01 4.25573037e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.92 meters Centerline goodness [0,1] 0.9999091384049247 Centerline is valid? [True, True] Translation: X:3.83, Y:-0.41, Z:0.04 [[ 9.99825871e-01 9.12962831e-03 -1.62750826e-02 3.82966415e+00] [-9.12732259e-03 9.99958322e-01 2.15946577e-04 -4.11671160e-01] [ 1.62763758e-02 -6.73610458e-05 9.99867529e-01 4.33300054e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.95 meters Centerline goodness [0,1] 0.9998862136452596 Centerline is valid? [True, True] Translation: X:3.86, Y:-0.41, Z:0.05 [[ 9.99885131e-01 6.06540389e-03 -1.38900953e-02 3.85730619e+00] [-6.06344173e-03 9.99981600e-01 1.83372741e-04 -4.13675403e-01] [ 1.38909519e-02 -9.91298937e-05 9.99903511e-01 4.54399679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.9799999999999995 meters Centerline goodness [0,1] 0.9998400877233061 Centerline is valid? [True, True] Translation: X:3.89, Y:-0.41, Z:0.05 [[ 9.99902074e-01 4.17741949e-03 -1.33563072e-02 3.88654837e+00] [-4.17545154e-03 9.99991267e-01 1.75224529e-04 -4.14933292e-01] [ 1.33569226e-02 -1.19438756e-04 9.99910785e-01 4.56021361e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.01 meters Centerline goodness [0,1] 0.9997949045166583 Centerline is valid? [True, True] Translation: X:3.92, Y:-0.42, Z:0.05 [[ 9.99927540e-01 -1.04768962e-03 -1.19923365e-02 3.91500839e+00] [ 1.04964260e-03 9.99999437e-01 1.56559418e-04 -4.18217010e-01] [ 1.19921658e-02 -1.69135741e-04 9.99928077e-01 4.62145743e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.04 meters Centerline goodness [0,1] 0.9999540768294644 Centerline is valid? [True, True] Translation: X:3.94, Y:-0.42, Z:0.05 [[ 9.99932196e-01 -5.63780279e-03 -1.01891538e-02 3.94341030e+00] [ 5.63944482e-03 9.99984089e-01 1.32430150e-04 -4.21137198e-01] [ 1.01882451e-02 -1.89882342e-04 9.99948080e-01 4.95241786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.069999999999999 meters Centerline goodness [0,1] 0.9997944689305533 Centerline is valid? [True, True] Translation: X:3.97, Y:-0.42, Z:0.05 [[ 9.99884271e-01 -1.00576064e-02 -1.14144227e-02 3.97165650e+00] [ 1.00599424e-02 9.99949387e-01 1.47252935e-04 -4.24506509e-01] [ 1.14123640e-02 -2.62064328e-04 9.99934843e-01 4.72174796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1 meters Centerline goodness [0,1] 0.999863331966653 Centerline is valid? [True, True] Translation: X:4.00, Y:-0.42, Z:0.05 [[ 9.99853271e-01 -1.24726741e-02 -1.17417213e-02 4.00085172e+00] [ 1.24753015e-02 9.99922169e-01 1.50545952e-04 -4.23399547e-01] [ 1.17389297e-02 -2.97005376e-04 9.99931052e-01 4.79995995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.13 meters Centerline goodness [0,1] 0.9998409307821661 Centerline is valid? [True, True] Translation: X:4.03, Y:-0.42, Z:0.05 [[ 9.99847872e-01 -1.17963781e-02 -1.28483167e-02 4.02957836e+00] [ 1.17994253e-02 9.99930371e-01 1.61389204e-04 -4.19532660e-01] [ 1.28455182e-02 -3.12967404e-04 9.99917444e-01 4.64358120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.16 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.06, Y:-0.41, Z:0.05 [[ 9.99886348e-01 -8.22674308e-03 -1.26337563e-02 4.05850722e+00] [ 8.22937028e-03 9.99966126e-01 1.55978107e-04 -4.14582976e-01] [ 1.26320452e-02 -2.59928239e-04 9.99920179e-01 4.82548599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1899999999999995 meters Centerline goodness [0,1] 0.9999323562570462 Centerline is valid? [True, True] Translation: X:4.09, Y:-0.41, Z:0.05 [[ 9.99891739e-01 -4.15008329e-03 -1.41169280e-02 4.08612797e+00] [ 4.15294153e-03 9.99991362e-01 1.73160394e-04 -4.10656430e-01] [ 1.41160874e-02 -2.31768424e-04 9.99900336e-01 4.65468208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.22 meters Centerline goodness [0,1] 0.9998428378985181 Centerline is valid? [True, True] Translation: X:4.11, Y:-0.40, Z:0.04 [[ 9.99881525e-01 1.53211531e-03 -1.53162742e-02 4.11432057e+00] [-1.52943849e-03 9.99998813e-01 1.86481055e-04 -4.03113851e-01] [ 1.53165417e-02 -1.63033663e-04 9.99882682e-01 4.49230209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.25 meters Centerline goodness [0,1] 0.9997975526363145 Centerline is valid? [True, True] Translation: X:4.14, Y:-0.39, Z:0.04 [[ 9.99831808e-01 8.36572361e-03 -1.63208496e-02 4.14358477e+00] [-8.36363075e-03 9.99965005e-01 1.96484406e-04 -3.93972074e-01] [ 1.63219222e-02 -5.99497998e-05 9.99866787e-01 4.33707060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.279999999999999 meters Centerline goodness [0,1] 0.9999554277818635 Centerline is valid? [True, True] Translation: X:4.17, Y:-0.39, Z:0.05 [[ 9.99756919e-01 1.57221905e-02 -1.54568708e-02 4.17137688e+00] [-1.57212493e-02 9.99876397e-01 1.82404932e-04 -3.85607541e-01] [ 1.54578281e-02 6.06407271e-05 9.99880519e-01 4.57983093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.31 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.20, Y:-0.38, Z:0.05 [[ 9.99665792e-01 2.06128990e-02 -1.56016908e-02 4.20134504e+00] [-2.06125790e-02 9.99787522e-01 1.81331926e-04 -3.80654491e-01] [ 1.56021136e-02 1.40319761e-04 9.99878270e-01 4.64292825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.34 meters Centerline goodness [0,1] 0.9998666696295638 Centerline is valid? [True, True] Translation: X:4.23, Y:-0.38, Z:0.04 [[ 9.99577482e-01 2.38551744e-02 -1.66068808e-02 4.23368770e+00] [-2.38552251e-02 9.99715405e-01 1.95066106e-04 -3.77046070e-01] [ 1.66068079e-02 2.01177192e-04 9.99862077e-01 4.48300187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.37 meters Centerline goodness [0,1] 0.9997785503908586 Centerline is valid? [True, True] Translation: X:4.27, Y:-0.38, Z:0.04 [[ 9.99544208e-01 2.50598182e-02 -1.68339517e-02 4.26556740e+00] [-2.50599729e-02 9.99685929e-01 2.01788054e-04 -3.75859782e-01] [ 1.68337214e-02 2.20162293e-04 9.99858279e-01 4.37771583e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3999999999999995 meters Centerline goodness [0,1] 0.9999112511370948 Centerline is valid? [True, True] Translation: X:4.30, Y:-0.38, Z:0.05 [[ 9.99553695e-01 2.54263059e-02 -1.56816262e-02 4.29869601e+00] [-2.54264258e-02 9.99676678e-01 1.91761221e-04 -3.76075459e-01] [ 1.56814318e-02 2.07052068e-04 9.99877017e-01 4.51125293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.43 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.33, Y:-0.38, Z:0.05 [[ 9.99574577e-01 2.48587053e-02 -1.52548463e-02 4.32977423e+00] [-2.48586925e-02 9.99690957e-01 1.90492788e-04 -3.75864749e-01] [ 1.52548673e-02 1.88803784e-04 9.99883620e-01 4.53494967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.46 meters Centerline goodness [0,1] 0.999844985273601 Centerline is valid? [True, True] Translation: X:4.36, Y:-0.38, Z:0.04 [[ 9.99574300e-01 2.35916615e-02 -1.71654179e-02 4.36290187e+00] [-2.35913809e-02 9.99721661e-01 2.18870082e-04 -3.79116681e-01] [ 1.71658036e-02 1.86179002e-04 9.99852639e-01 4.34794362e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.49 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.40, Y:-0.38, Z:0.05 [[ 9.99603100e-01 2.24131392e-02 -1.70673311e-02 4.39546705e+00] [-2.24126291e-02 9.99748781e-01 2.21189020e-04 -3.82073477e-01] [ 1.70680010e-02 1.61422532e-04 9.99854318e-01 4.50567767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.52 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.43, Y:-0.38, Z:0.04 [[ 9.99606377e-01 2.14245632e-02 -1.81129472e-02 4.42842494e+00] [-2.14237717e-02 9.99770456e-01 2.37756185e-04 -3.84966669e-01] [ 1.81138833e-02 1.50385048e-04 9.99835919e-01 4.46330423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.55 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.46, Y:-0.39, Z:0.05 [[ 9.99629899e-01 2.07359950e-02 -1.76091779e-02 4.46084899e+00] [-2.07350595e-02 9.99784978e-01 2.35721367e-04 -3.87492930e-01] [ 1.76102795e-02 1.29493227e-04 9.99844919e-01 4.52428652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.58 meters Centerline goodness [0,1] 0.9998216952325762 Centerline is valid? [True, True] Translation: X:4.49, Y:-0.39, Z:0.04 [[ 9.99615059e-01 2.03953522e-02 -1.88085926e-02 4.49337445e+00] [-2.03941354e-02 9.99791985e-01 2.56520780e-04 -3.88743612e-01] [ 1.88099120e-02 1.27162949e-04 9.99823070e-01 4.33557152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.609999999999999 meters Centerline goodness [0,1] 0.9999108297293682 Centerline is valid? [True, True] Translation: X:4.52, Y:-0.39, Z:0.04 [[ 9.99607193e-01 2.12966654e-02 -1.82184483e-02 4.52486339e+00] [-2.12956222e-02 9.99773191e-01 2.51280881e-04 -3.90293506e-01] [ 1.82196676e-02 1.36791015e-04 9.99833999e-01 4.47707962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.64 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.56, Y:-0.39, Z:0.05 [[ 9.99599945e-01 2.27091726e-02 -1.68595248e-02 4.55594370e+00] [-2.27084514e-02 9.99742102e-01 2.34240851e-04 -3.90929700e-01] [ 1.68604962e-02 1.48706559e-04 9.99857841e-01 4.67738484e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.67 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.59, Y:-0.39, Z:0.05 [[ 9.99590773e-01 2.33643104e-02 -1.65043977e-02 4.58855118e+00] [-2.33636428e-02 9.99727006e-01 2.33286098e-04 -3.91810410e-01] [ 1.65053426e-02 1.52412222e-04 9.99863766e-01 4.77815764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7 meters Centerline goodness [0,1] 0.9997770196445693 Centerline is valid? [True, True] Translation: X:4.62, Y:-0.39, Z:0.05 [[ 9.99595203e-01 2.33622551e-02 -1.62368634e-02 4.62179246e+00] [-2.33615356e-02 9.99727055e-01 2.34012562e-04 -3.93205012e-01] [ 1.62378987e-02 1.45400227e-04 9.99868146e-01 4.73358197e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.7299999999999995 meters Centerline goodness [0,1] 0.9999552472588946 Centerline is valid? [True, True] Translation: X:4.65, Y:-0.39, Z:0.05 [[ 9.99646837e-01 2.31250992e-02 -1.30932064e-02 4.65372778e+00] [-2.31245711e-02 9.99732573e-01 1.91746178e-04 -3.94226600e-01] [ 1.30941391e-02 1.11096322e-04 9.99914262e-01 5.12905924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.76 meters Centerline goodness [0,1] 0.9998437883555377 Centerline is valid? [True, True] Translation: X:4.69, Y:-0.40, Z:0.05 [[ 9.99677676e-01 2.15304399e-02 -1.34530462e-02 4.68514317e+00] [-2.15296924e-02 9.99768189e-01 2.00402000e-04 -3.95678967e-01] [ 1.34542424e-02 8.93025418e-05 9.99909484e-01 5.07529925e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.79 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:4.72, Y:-0.40, Z:0.05 [[ 9.99704515e-01 2.10595502e-02 -1.21399044e-02 4.71771709e+00] [-2.10588751e-02 9.99778220e-01 1.83456527e-04 -3.96879970e-01] [ 1.21410756e-02 7.22504133e-05 9.99926292e-01 5.30531142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.819999999999999 meters Centerline goodness [0,1] 0.9999107162786545 Centerline is valid? [True, True] Translation: X:4.75, Y:-0.40, Z:0.05 [[ 9.99753532e-01 1.76809771e-02 -1.34260289e-02 4.74837015e+00] [-1.76797966e-02 9.99843679e-01 2.06623704e-04 -4.00337711e-01] [ 1.34275835e-02 3.07966821e-05 9.99909845e-01 5.14338718e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.85 meters Centerline goodness [0,1] 0.9999327143049388 Centerline is valid? [True, True] Translation: X:4.78, Y:-0.40, Z:0.05 [[ 9.99814885e-01 1.33859215e-02 -1.38207742e-02 4.78022903e+00] [-1.33842290e-02 9.99910404e-01 2.14949695e-04 -4.03507784e-01] [ 1.38224132e-02 -2.99294968e-05 9.99904465e-01 5.08806519e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.88 meters Centerline goodness [0,1] 0.999820884828945 Centerline is valid? [True, True] Translation: X:4.81, Y:-0.41, Z:0.05 [[ 9.99854766e-01 8.50398828e-03 -1.47692144e-02 4.81042851e+00] [-8.50148051e-03 9.99963835e-01 2.32573171e-04 -4.07632945e-01] [ 1.47706581e-02 -1.06979204e-04 9.99890902e-01 4.92337945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.91 meters Centerline goodness [0,1] 0.9999102797030258 Centerline is valid? [True, True] Translation: X:4.84, Y:-0.41, Z:0.05 [[ 9.99888228e-01 4.48998069e-03 -1.42608061e-02 4.83997125e+00] [-4.48723347e-03 9.99989907e-01 2.24632940e-04 -4.11281869e-01] [ 1.42616707e-02 -1.60616267e-04 9.99898284e-01 5.02609895e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9399999999999995 meters Centerline goodness [0,1] 0.9998875494782296 Centerline is valid? [True, True] Translation: X:4.87, Y:-0.41, Z:0.05 [[ 9.99896024e-01 1.35887581e-03 -1.43559776e-02 4.86772658e+00] [-1.35577861e-03 9.99999056e-01 2.25472860e-04 -4.14736866e-01] [ 1.43562705e-02 -2.05985889e-04 9.99896922e-01 5.03226014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.97 meters Centerline goodness [0,1] 0.9997753162423888 Centerline is valid? [True, True] Translation: X:4.90, Y:-0.42, Z:0.05 [[ 9.99871884e-01 -1.45526639e-03 -1.59404298e-02 4.89644140e+00] [ 1.45942115e-03 9.99998904e-01 2.49013032e-04 -4.16525102e-01] [ 1.59400499e-02 -2.72244930e-04 9.99872912e-01 4.84068541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0 meters Centerline goodness [0,1] 0.9998875772906127 Centerline is valid? [True, True] Translation: X:4.92, Y:-0.42, Z:0.05 [[ 9.99875863e-01 -2.39230184e-03 -1.55735576e-02 4.92484224e+00] [ 2.39636538e-03 9.99997099e-01 2.42269709e-04 -4.17061569e-01] [ 1.55729329e-02 -2.79559569e-04 9.99878695e-01 4.90255261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.029999999999999 meters Centerline goodness [0,1] 0.9998875772906127 Centerline is valid? [True, True] Translation: X:4.95, Y:-0.42, Z:0.05 [[ 9.99875196e-01 -2.65634389e-03 -1.55735878e-02 4.95244771e+00] [ 2.66040903e-03 9.99996432e-01 2.40316413e-04 -4.17395043e-01] [ 1.55728938e-02 -2.81718534e-04 9.99878695e-01 4.93260672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.06 meters Centerline goodness [0,1] 0.9999325903289592 Centerline is valid? [True, True] Translation: X:4.98, Y:-0.42, Z:0.05 [[ 9.99866523e-01 -3.74468094e-03 -1.59032768e-02 4.98033105e+00] [ 3.74900440e-03 9.99992943e-01 2.42055409e-04 -4.18454960e-01] [ 1.59022582e-02 -3.01644555e-04 9.99873506e-01 4.96147425e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.09 meters Centerline goodness [0,1] 0.9999775159636658 Centerline is valid? [True, True] Translation: X:5.01, Y:-0.42, Z:0.05 [[ 9.99863172e-01 -3.39078632e-03 -1.61907342e-02 5.00815962e+00] [ 3.39519949e-03 9.99994206e-01 2.45094563e-04 -4.18994734e-01] [ 1.61898093e-02 -3.00031800e-04 9.99868891e-01 5.09423550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.12 meters Centerline goodness [0,1] 0.9998429753920007 Centerline is valid? [True, True] Translation: X:5.04, Y:-0.42, Z:0.05 [[ 9.99871274e-01 -2.87554785e-03 -1.57850074e-02 5.03729933e+00] [ 2.87964591e-03 9.99995826e-01 2.36894190e-04 -4.15366715e-01] [ 1.57842603e-02 -2.82318928e-04 9.99875381e-01 5.15771707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1499999999999995 meters Centerline goodness [0,1] 0.9998884028211766 Centerline is valid? [True, True] Translation: X:5.07, Y:-0.41, Z:0.05 [[ 9.99887938e-01 -1.20189499e-03 -1.49220159e-02 5.06548321e+00] [ 1.20532539e-03 9.99999249e-01 2.20897161e-04 -4.14440817e-01] [ 1.49217392e-02 -2.38858291e-04 9.99888636e-01 5.16839630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.18 meters Centerline goodness [0,1] 0.9999553202421643 Centerline is valid? [True, True] Translation: X:5.09, Y:-0.41, Z:0.05 [[ 9.99897494e-01 1.17320808e-04 -1.43174159e-02 5.09491622e+00] [-1.14323842e-04 9.99999971e-01 2.10141355e-04 -4.11354303e-01] [ 1.43174401e-02 -2.08482992e-04 9.99897478e-01 5.27344931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.21 meters Centerline goodness [0,1] 0.9996879805656467 Centerline is valid? [True, True] Translation: X:5.12, Y:-0.41, Z:0.05 [[ 9.99895658e-01 1.56404488e-03 -1.43605831e-02 5.12367236e+00] [-1.56121198e-03 9.99998760e-01 2.08477994e-04 -4.08739435e-01] [ 1.43608914e-02 -1.86036326e-04 9.99896860e-01 5.07559709e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.24 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.15, Y:-0.41, Z:0.05 [[ 9.99909854e-01 4.64511340e-03 -1.25979087e-02 5.15222198e+00] [-4.64321265e-03 9.99989204e-01 1.80122535e-04 -4.06154949e-01] [ 1.25986094e-02 -1.21611528e-04 9.99920627e-01 5.38714375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.27 meters Centerline goodness [0,1] 0.9999555466648885 Centerline is valid? [True, True] Translation: X:5.18, Y:-0.40, Z:0.05 [[ 9.99884133e-01 6.75947399e-03 -1.36392718e-02 5.17985694e+00] [-6.75748530e-03 9.99977150e-01 1.91886985e-04 -4.04419846e-01] [ 1.36402572e-02 -9.96975726e-05 9.99906962e-01 5.33531485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.3 meters Centerline goodness [0,1] 0.9998883654468731 Centerline is valid? [True, True] Translation: X:5.21, Y:-0.40, Z:0.05 [[ 9.99840400e-01 9.27379847e-03 -1.52699751e-02 5.20765224e+00] [-9.27163384e-03 9.99956995e-01 2.12545833e-04 -4.01920921e-01] [ 1.52712895e-02 -7.09342921e-05 9.99883385e-01 5.20852769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.33 meters Centerline goodness [0,1] 0.9999111111111111 Centerline is valid? [True, True] Translation: X:5.24, Y:-0.40, Z:0.05 [[ 9.99803748e-01 1.17382905e-02 -1.59586162e-02 5.23516257e+00] [-1.17362982e-02 9.99931103e-01 2.18493967e-04 -3.99874612e-01] [ 1.59600814e-02 -3.11560098e-05 9.99872629e-01 5.13901971e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.359999999999999 meters Centerline goodness [0,1] 0.9998226164079823 Centerline is valid? [True, True] Translation: X:5.26, Y:-0.40, Z:0.05 [[ 9.99794448e-01 1.21709312e-02 -1.62151432e-02 5.26391036e+00] [-1.21689513e-02 9.99925931e-01 2.20767968e-04 -3.99647334e-01] [ 1.62166291e-02 -2.34013019e-05 9.99868502e-01 5.04052174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.39 meters Centerline goodness [0,1] 0.9997783884407411 Centerline is valid? [True, True] Translation: X:5.29, Y:-0.40, Z:0.05 [[ 9.99773660e-01 1.27188605e-02 -1.70545962e-02 5.29222048e+00] [-1.27167654e-02 9.99919112e-01 2.31291463e-04 -3.99383963e-01] [ 1.70561584e-02 -1.43598137e-05 9.99854533e-01 4.87652437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.42 meters Centerline goodness [0,1] 0.9999333614696018 Centerline is valid? [True, True] Translation: X:5.32, Y:-0.40, Z:0.05 [[ 9.99779946e-01 1.24505274e-02 -1.68832194e-02 5.32226910e+00] [-1.24484487e-02 9.99922489e-01 2.28213592e-04 -4.01015412e-01] [ 1.68847521e-02 -1.79934828e-05 9.99857442e-01 5.06078198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.45 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.35, Y:-0.40, Z:0.05 [[ 9.99790739e-01 1.23630116e-02 -1.62983068e-02 5.35106552e+00] [-1.23610716e-02 9.99923575e-01 2.19769607e-04 -4.03262848e-01] [ 1.62997782e-02 -1.82590812e-05 9.99867150e-01 5.32565548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4799999999999995 meters Centerline goodness [0,1] 0.9997774464202257 Centerline is valid? [True, True] Translation: X:5.38, Y:-0.41, Z:0.05 [[ 9.99794802e-01 1.09591115e-02 -1.70367631e-02 5.38069616e+00] [-1.09567979e-02 9.99939946e-01 2.29137781e-04 -4.05820541e-01] [ 1.70382511e-02 -4.24223917e-05 9.99854838e-01 5.23617120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.51 meters Centerline goodness [0,1] 0.999777168705573 Centerline is valid? [True, True] Translation: X:5.41, Y:-0.41, Z:0.05 [[ 9.99792736e-01 1.09475468e-02 -1.71649955e-02 5.40815675e+00] [-1.09452120e-02 9.99940073e-01 2.29956942e-04 -4.07023225e-01] [ 1.71664843e-02 -4.20347647e-05 9.99852644e-01 5.24158513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.54 meters Centerline goodness [0,1] 0.9999553760681854 Centerline is valid? [True, True] Translation: X:5.44, Y:-0.41, Z:0.05 [[ 9.99790443e-01 1.18741339e-02 -1.66756084e-02 5.43669332e+00] [-1.18720807e-02 9.99929500e-01 2.22116509e-04 -4.06953711e-01] [ 1.66770702e-02 -2.40957943e-05 9.99860928e-01 5.40751262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.569999999999999 meters Centerline goodness [0,1] 0.9998437395361297 Centerline is valid? [True, True] Translation: X:5.47, Y:-0.41, Z:0.05 [[ 9.99777548e-01 1.21393925e-02 -1.72478795e-02 5.46599677e+00] [-1.21372558e-02 9.99926315e-01 2.28556378e-04 -4.07670271e-01] [ 1.72493831e-02 -1.91636101e-05 9.99851218e-01 5.27050497e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6 meters Centerline goodness [0,1] 0.9999776984834968 Centerline is valid? [True, True] Translation: X:5.49, Y:-0.41, Z:0.06 [[ 9.99766818e-01 1.29758280e-02 -1.72608857e-02 5.49453548e+00] [-1.29738331e-02 9.99915810e-01 2.27551993e-04 -4.09165167e-01] [ 1.72623852e-02 -3.55908104e-06 9.99850994e-01 5.56983520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.63 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.52, Y:-0.41, Z:0.06 [[ 9.99755015e-01 1.29400269e-02 -1.79573117e-02 5.52405142e+00] [-1.29378806e-02 9.99916274e-01 2.35693879e-04 -4.10765377e-01] [ 1.79588580e-02 -3.30658302e-06 9.99838727e-01 5.63295674e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.66 meters Centerline goodness [0,1] 0.9997992147064073 Centerline is valid? [True, True] Translation: X:5.55, Y:-0.41, Z:0.05 [[ 9.99759614e-01 1.16200787e-02 -1.85926770e-02 5.55254674e+00] [-1.16175644e-02 9.99932484e-01 2.43234572e-04 -4.13096180e-01] [ 1.85942481e-02 -2.71744782e-05 9.99827112e-01 5.41575039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6899999999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.58, Y:-0.41, Z:0.06 [[ 9.99763740e-01 1.30620615e-02 -1.73737383e-02 5.58185870e+00] [-1.30600990e-02 9.99914688e-01 2.26420100e-04 -4.13691930e-01] [ 1.73752136e-02 5.36135629e-07 9.99849040e-01 5.72449576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.72 meters Centerline goodness [0,1] 0.9997983735466093 Centerline is valid? [True, True] Translation: X:5.61, Y:-0.42, Z:0.05 [[ 9.99766149e-01 1.21708033e-02 -1.78751122e-02 5.61054550e+00] [-1.21686001e-02 9.99925933e-01 2.32019549e-04 -4.15252397e-01] [ 1.78766121e-02 -1.44501987e-05 9.99840200e-01 5.49100378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.75 meters Centerline goodness [0,1] 0.9998427036987102 Centerline is valid? [True, True] Translation: X:5.64, Y:-0.42, Z:0.06 [[ 9.99763380e-01 1.24451349e-02 -1.78410360e-02 5.63957903e+00] [-1.24430021e-02 9.99922556e-01 2.30548537e-04 -4.17139050e-01] [ 1.78425236e-02 -8.49793462e-06 9.99840809e-01 5.55759615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.779999999999999 meters Centerline goodness [0,1] 0.9998877085813103 Centerline is valid? [True, True] Translation: X:5.67, Y:-0.42, Z:0.06 [[ 9.99754711e-01 1.32141500e-02 -1.77737096e-02 5.66864176e+00] [-1.32121764e-02 9.99912689e-01 2.28468849e-04 -4.19265970e-01] [ 1.77751768e-02 6.41657833e-06 9.99842009e-01 5.70175579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.81 meters Centerline goodness [0,1] 0.9997752455442429 Centerline is valid? [True, True] Translation: X:5.70, Y:-0.42, Z:0.06 [[ 9.99750664e-01 1.35186778e-02 -1.77723323e-02 5.69828574e+00] [-1.35167700e-02 9.99908618e-01 2.27468755e-04 -4.21310553e-01] [ 1.77737833e-02 1.28124899e-05 9.99842034e-01 5.67883973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.84 meters Centerline goodness [0,1] 0.9999098794637828 Centerline is valid? [True, True] Translation: X:5.73, Y:-0.42, Z:0.06 [[ 9.99753489e-01 1.55516589e-02 -1.58463917e-02 5.72788125e+00] [-1.55504056e-02 9.99879065e-01 2.02313481e-04 -4.22290465e-01] [ 1.58476216e-02 4.41542097e-05 9.99874418e-01 6.00867471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.87 meters Centerline goodness [0,1] 0.9997738119472529 Centerline is valid? [True, True] Translation: X:5.76, Y:-0.42, Z:0.06 [[ 9.99714945e-01 1.75423975e-02 -1.61954519e-02 5.75862460e+00] [-1.75413543e-02 9.99846117e-01 2.06472942e-04 -4.22613844e-01] [ 1.61965817e-02 7.76760741e-05 9.99868824e-01 5.86493296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8999999999999995 meters Centerline goodness [0,1] 0.9997297540762093 Centerline is valid? [True, True] Translation: X:5.79, Y:-0.42, Z:0.06 [[ 9.99682885e-01 1.89248248e-02 -1.66126708e-02 5.79038214e+00] [-1.89239116e-02 9.99820904e-01 2.12178971e-04 -4.22620118e-01] [ 1.66137110e-02 1.02265028e-04 9.99861978e-01 5.79959032e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.93 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.82, Y:-0.42, Z:0.06 [[ 9.99591437e-01 2.33231110e-02 -1.65224861e-02 5.82265824e+00] [-2.33227801e-02 9.99727964e-01 2.12740917e-04 -4.21279151e-01] [ 1.65229532e-02 1.72696312e-04 9.99863472e-01 6.01453864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.96 meters Centerline goodness [0,1] 0.9999547296226714 Centerline is valid? [True, True] Translation: X:5.85, Y:-0.42, Z:0.06 [[ 9.99536573e-01 2.48512258e-02 -1.75799850e-02 5.85412417e+00] [-2.48510126e-02 9.99691139e-01 2.30618968e-04 -4.22631551e-01] [ 1.75802864e-02 2.06368337e-04 9.99845434e-01 5.84879880e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.989999999999999 meters Centerline goodness [0,1] 0.9999544616225324 Centerline is valid? [True, True] Translation: X:5.89, Y:-0.43, Z:0.06 [[ 9.99490194e-01 2.61137142e-02 -1.83691543e-02 5.88600687e+00] [-2.61136145e-02 9.99658951e-01 2.45333166e-04 -4.26005769e-01] [ 1.83692961e-02 2.34476920e-04 9.99831243e-01 5.96646080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.02 meters Centerline goodness [0,1] 0.9999317607988536 Centerline is valid? [True, True] Translation: X:5.92, Y:-0.43, Z:0.06 [[ 9.99477965e-01 2.64300953e-02 -1.85808168e-02 5.91833036e+00] [-2.64299603e-02 9.99650636e-01 2.52875009e-04 -4.27085314e-01] [ 1.85810089e-02 2.38347251e-04 9.99827330e-01 5.85469787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.05 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:5.95, Y:-0.43, Z:0.06 [[ 9.99442182e-01 2.77344130e-02 -1.86044847e-02 5.95061985e+00] [-2.77344146e-02 9.99615294e-01 2.57979536e-04 -4.28536701e-01] [ 1.86044823e-02 2.58148860e-04 9.99826888e-01 6.03467115e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.08 meters Centerline goodness [0,1] 0.9999089108009018 Centerline is valid? [True, True] Translation: X:5.98, Y:-0.43, Z:0.06 [[ 9.99432792e-01 2.73548101e-02 -1.96420046e-02 5.98277881e+00] [-2.73546510e-02 9.99625753e-01 2.76827892e-04 -4.28987226e-01] [ 1.96422262e-02 2.60629307e-04 9.99807039e-01 5.67829673e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.109999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.01, Y:-0.43, Z:0.06 [[ 9.99398671e-01 2.86541044e-02 -1.95253584e-02 6.01395672e+00] [-2.86541187e-02 9.99589347e-01 2.79091718e-04 -4.28148916e-01] [ 1.95253373e-02 2.80558043e-04 9.99809323e-01 5.88229841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.14 meters Centerline goodness [0,1] 0.999909130148345 Centerline is valid? [True, True] Translation: X:6.05, Y:-0.43, Z:0.06 [[ 9.99414780e-01 2.85820352e-02 -1.87926755e-02 6.04549837e+00] [-2.85819707e-02 9.99591415e-01 2.72076390e-04 -4.26772104e-01] [ 1.87927736e-02 2.65214536e-04 9.99823365e-01 5.78920593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.17 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.08, Y:-0.43, Z:0.06 [[ 9.99372111e-01 3.04705028e-02 -1.80812939e-02 6.07708121e+00] [-3.04706966e-02 9.99535625e-01 2.64839935e-04 -4.26117725e-01] [ 1.80809672e-02 2.86275975e-04 9.99836485e-01 6.11552239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.199999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.11, Y:-0.43, Z:0.06 [[ 9.99349475e-01 3.11514351e-02 -1.81718415e-02 6.11043515e+00] [-3.11516610e-02 9.99514633e-01 2.70699751e-04 -4.25702722e-01] [ 1.81714542e-02 2.95559392e-04 9.99834842e-01 6.10830772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2299999999999995 meters Centerline goodness [0,1] 0.999863698318946 Centerline is valid? [True, True] Translation: X:6.14, Y:-0.43, Z:0.06 [[ 9.99365581e-01 3.02734926e-02 -1.87603662e-02 6.14168436e+00] [-3.02734861e-02 9.99541613e-01 2.84405888e-04 -4.26525778e-01] [ 1.87603766e-02 2.83716230e-04 9.99823968e-01 5.85078458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.26 meters Centerline goodness [0,1] 0.999863191736781 Centerline is valid? [True, True] Translation: X:6.17, Y:-0.43, Z:0.06 [[ 9.99376497e-01 2.95475916e-02 -1.93276123e-02 6.17397303e+00] [-2.95473597e-02 9.99563337e-01 2.97627776e-04 -4.28364472e-01] [ 1.93279669e-02 2.73637710e-04 9.99813160e-01 5.80433071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.29 meters Centerline goodness [0,1] 0.9998183923179951 Centerline is valid? [True, True] Translation: X:6.21, Y:-0.43, Z:0.06 [[ 9.99417074e-01 2.75927076e-02 -2.01035973e-02 6.20509661e+00] [-2.75919627e-02 9.99619220e-01 3.14479561e-04 -4.30814655e-01] [ 2.01046196e-02 2.40401464e-04 9.99797853e-01 5.70257960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.319999999999999 meters Centerline goodness [0,1] 0.9998175265726928 Centerline is valid? [True, True] Translation: X:6.24, Y:-0.43, Z:0.06 [[ 9.99433108e-01 2.67324740e-02 -2.04655161e-02 6.23718542e+00] [-2.67314222e-02 9.99642599e-01 3.25006715e-04 -4.32383333e-01] [ 2.04668900e-02 2.22249882e-04 9.99790507e-01 5.70436302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.35 meters Centerline goodness [0,1] 0.9998175598631699 Centerline is valid? [True, True] Translation: X:6.27, Y:-0.44, Z:0.06 [[ 9.99480234e-01 2.42339632e-02 -2.12597371e-02 6.26956805e+00] [-2.42321511e-02 9.99706300e-01 3.42882578e-04 -4.35438190e-01] [ 2.12618025e-02 1.72464803e-04 9.99773927e-01 5.68985487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.38 meters Centerline goodness [0,1] 0.9998403466757897 Centerline is valid? [True, True] Translation: X:6.30, Y:-0.44, Z:0.06 [[ 9.99547156e-01 2.14686206e-02 -2.10851089e-02 6.30057762e+00] [-2.14661201e-02 9.99769517e-01 3.44942003e-04 -4.37976746e-01] [ 2.10876545e-02 1.07829680e-04 9.99777625e-01 5.63214823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.41 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.33, Y:-0.44, Z:0.06 [[ 9.99620009e-01 1.88628921e-02 -2.01004729e-02 6.33172257e+00] [-1.88600403e-02 9.99822079e-01 3.31452919e-04 -4.40713123e-01] [ 2.01031488e-02 4.77687593e-05 9.99797910e-01 6.02460920e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4399999999999995 meters Centerline goodness [0,1] 0.9998402337152509 Centerline is valid? [True, True] Translation: X:6.36, Y:-0.45, Z:0.06 [[ 9.99708682e-01 1.39034491e-02 -1.97292863e-02 6.36275643e+00] [-1.38997230e-02 9.99903341e-01 3.25988529e-04 -4.46007369e-01] [ 1.97319117e-02 -5.16619488e-05 9.99805306e-01 5.92811748e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.47 meters Centerline goodness [0,1] 0.9998860242996194 Centerline is valid? [True, True] Translation: X:6.39, Y:-0.45, Z:0.06 [[ 9.99749235e-01 1.16162406e-02 -1.91449585e-02 6.39130133e+00] [-1.16123164e-02 9.99932525e-01 3.16130847e-04 -4.48438116e-01] [ 1.91473389e-02 -9.37342568e-05 9.99816669e-01 6.11523997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5 meters Centerline goodness [0,1] 0.9998175224105289 Centerline is valid? [True, True] Translation: X:6.42, Y:-0.45, Z:0.06 [[ 9.99821257e-01 6.29600017e-03 -1.78273479e-02 6.42017653e+00] [-6.29177047e-03 9.99980164e-01 2.93337159e-04 -4.53695545e-01] [ 1.78288412e-02 -1.81119146e-04 9.99841037e-01 6.22847480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.529999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.45, Y:-0.46, Z:0.07 [[ 9.99854773e-01 1.81648648e-03 -1.69450100e-02 6.44850885e+00] [-1.81203946e-03 9.99998320e-01 2.77788172e-04 -4.56998858e-01] [ 1.69454861e-02 -2.47042803e-04 9.99856384e-01 6.66772869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.56 meters Centerline goodness [0,1] 0.9998173224031238 Centerline is valid? [True, True] Translation: X:6.48, Y:-0.46, Z:0.06 [[ 9.99854421e-01 -4.54862346e-03 -1.64452623e-02 6.47760922e+00] [ 4.55365337e-03 9.99989596e-01 2.68424517e-04 -4.60869102e-01] [ 1.64438702e-02 -3.43271464e-04 9.99864731e-01 6.48037242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.59 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.51, Y:-0.46, Z:0.07 [[ 9.99832101e-01 -9.83075349e-03 -1.54636733e-02 6.50749207e+00] [ 9.83582166e-03 9.99951595e-01 2.51725347e-04 -4.62925748e-01] [ 1.54604501e-02 -4.03781015e-04 9.99880399e-01 6.90361207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.62 meters Centerline goodness [0,1] 0.9998400767631537 Centerline is valid? [True, True] Translation: X:6.54, Y:-0.47, Z:0.07 [[ 9.99780444e-01 -1.42659522e-02 -1.53475318e-02 6.53643485e+00] [ 1.42714558e-02 9.99898127e-01 2.49130528e-04 -4.66696186e-01] [ 1.53424142e-02 -4.68107452e-04 9.99882189e-01 6.74976539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6499999999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.57, Y:-0.47, Z:0.07 [[ 9.99696066e-01 -2.08164840e-02 -1.32079470e-02 6.56665492e+00] [ 2.08211212e-02 9.99783194e-01 2.13668657e-04 -4.69702059e-01] [ 1.32006356e-02 -4.88607981e-04 9.99912748e-01 7.14135470e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.68 meters Centerline goodness [0,1] 0.9997943609194352 Centerline is valid? [True, True] Translation: X:6.60, Y:-0.47, Z:0.07 [[ 9.99503249e-01 -2.91121608e-02 -1.20721871e-02 6.59746901e+00] [ 2.91166366e-02 9.99576002e-01 1.95125858e-04 -4.73022096e-01] [ 1.20613880e-02 -5.46530414e-04 9.99927109e-01 7.00445369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.71 meters Centerline goodness [0,1] 0.9999771778077002 Centerline is valid? [True, True] Translation: X:6.63, Y:-0.47, Z:0.07 [[ 9.99336284e-01 -3.45374257e-02 -1.15826116e-02 6.62826990e+00] [ 3.45419094e-02 9.99403233e-01 1.87218382e-04 -4.73205592e-01] [ 1.15692334e-02 -5.87179642e-04 9.99932902e-01 7.25361701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.739999999999999 meters Centerline goodness [0,1] 0.9998179542610081 Centerline is valid? [True, True] Translation: X:6.66, Y:-0.47, Z:0.07 [[ 9.99130054e-01 -3.99200480e-02 -1.20633786e-02 6.65850013e+00] [ 3.99253021e-02 9.99202648e-01 1.94934179e-04 -4.74015780e-01] [ 1.20459781e-02 -6.76398633e-04 9.99927216e-01 7.06890184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.77 meters Centerline goodness [0,1] 0.9998409705341118 Centerline is valid? [True, True] Translation: X:6.69, Y:-0.47, Z:0.07 [[ 9.98972646e-01 -4.35831465e-02 -1.24162043e-02 6.68777762e+00] [ 4.35889936e-02 9.99049528e-01 2.00568492e-04 -4.73948400e-01] [ 1.23956617e-02 -7.41572288e-04 9.99922896e-01 7.07027990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8 meters Centerline goodness [0,1] 0.99979633401222 Centerline is valid? [True, True] Translation: X:6.72, Y:-0.47, Z:0.07 [[ 9.98898674e-01 -4.50815128e-02 -1.30037237e-02 6.71584528e+00] [ 4.50880459e-02 9.98982995e-01 2.09527745e-04 -4.73927490e-01] [ 1.29810530e-02 -7.95609478e-04 9.99915426e-01 6.99816588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.83 meters Centerline goodness [0,1] 0.999729235767955 Centerline is valid? [True, True] Translation: X:6.75, Y:-0.47, Z:0.07 [[ 9.98788910e-01 -4.70706553e-02 -1.43201573e-02 6.74536116e+00] [ 4.70787680e-02 9.98891154e-01 2.29757599e-04 -4.70338645e-01] [ 1.42934636e-02 -9.03654704e-04 9.99897435e-01 6.83664897e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.859999999999999 meters Centerline goodness [0,1] 0.999774698659457 Centerline is valid? [True, True] Translation: X:6.78, Y:-0.46, Z:0.07 [[ 9.98885688e-01 -4.44902259e-02 -1.57480891e-02 6.77543264e+00] [ 4.44997071e-02 9.99009366e-01 2.51976192e-04 -4.59839484e-01] [ 1.57212780e-02 -9.52480763e-04 9.99875959e-01 6.83367143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.89 meters Centerline goodness [0,1] 0.9998210250788608 Centerline is valid? [True, True] Translation: X:6.80, Y:-0.45, Z:0.07 [[ 9.99116340e-01 -3.85426557e-02 -1.67631512e-02 6.80440875e+00] [ 3.85525567e-02 9.99256538e-01 2.67763406e-04 -4.52401040e-01] [ 1.67403681e-02 -9.13789131e-04 9.99859453e-01 6.91535474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.92 meters Centerline goodness [0,1] 0.9998896563899985 Centerline is valid? [True, True] Translation: X:6.84, Y:-0.44, Z:0.07 [[ 9.99423771e-01 -3.05059516e-02 -1.48833185e-02 6.83521302e+00] [ 3.05128605e-02 9.99534346e-01 2.37293662e-04 -4.40360500e-01] [ 1.48691491e-02 -6.91289547e-04 9.99889209e-01 7.08946139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.949999999999999 meters Centerline goodness [0,1] 0.9998896563899985 Centerline is valid? [True, True] Translation: X:6.86, Y:-0.44, Z:0.07 [[ 9.99415241e-01 -3.07841143e-02 -1.48833373e-02 6.86284842e+00] [ 3.07910363e-02 9.99525816e-01 2.36104302e-04 -4.40730681e-01] [ 1.48690116e-02 -6.94239617e-04 9.99889209e-01 7.11957793e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9799999999999995 meters Centerline goodness [0,1] 0.9998681840151149 Centerline is valid? [True, True] Translation: X:6.89, Y:-0.43, Z:0.07 [[ 9.99654842e-01 -2.29129629e-02 -1.28527409e-02 6.89306808e+00] [ 2.29174413e-02 9.99737341e-01 2.01249049e-04 -4.27605427e-01] [ 1.28447538e-02 -4.95731522e-04 9.99917380e-01 7.27640676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.01 meters Centerline goodness [0,1] 0.9997394306559834 Centerline is valid? [True, True] Translation: X:6.92, Y:-0.42, Z:0.07 [[ 9.99798740e-01 -1.56689189e-02 -1.25285440e-02 6.92304628e+00] [ 1.56726041e-02 9.99877158e-01 1.96013179e-04 -4.16251708e-01] [ 1.25239337e-02 -3.92328640e-04 9.99921496e-01 7.26384042e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.04 meters Centerline goodness [0,1] 0.9996973888984956 Centerline is valid? [True, True] Translation: X:6.95, Y:-0.40, Z:0.07 [[ 9.99881285e-01 -9.47121261e-03 -1.21536951e-02 6.95288776e+00] [ 9.47421982e-03 9.99955101e-01 1.89879284e-04 -4.03500263e-01] [ 1.21513510e-02 -3.05003521e-04 9.99926123e-01 7.33616039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:6.98, Y:-0.39, Z:0.08 [[ 9.99925239e-01 -3.53892868e-03 -1.17043889e-02 6.98279613e+00] [ 3.54130677e-03 9.99993713e-01 1.82459831e-04 -3.91188545e-01] [ 1.17036696e-02 -2.23895022e-04 9.99931485e-01 7.62337784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.1 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.01, Y:-0.39, Z:0.08 [[ 9.99927018e-01 -1.97493804e-03 -1.19187887e-02 7.01114492e+00] [ 1.97728721e-03 9.99998028e-01 1.85317131e-04 -3.86161903e-01] [ 1.19183992e-02 -2.08870475e-04 9.99928952e-01 7.57729994e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.129999999999999 meters Centerline goodness [0,1] 0.9998086531306474 Centerline is valid? [True, True] Translation: X:7.04, Y:-0.38, Z:0.07 [[ 9.99929286e-01 1.79177820e-06 -1.18921229e-02 7.04052857e+00] [ 3.92796618e-07 9.99999983e-01 1.83696975e-04 -3.76874256e-01] [ 1.18921230e-02 -1.83688657e-04 9.99929269e-01 7.33205022e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.16 meters Centerline goodness [0,1] 0.9998731822793372 Centerline is valid? [True, True] Translation: X:7.07, Y:-0.37, Z:0.08 [[ 9.99921252e-01 3.47019691e-03 -1.20601724e-02 7.06939761e+00] [-3.46823850e-03 9.99993969e-01 1.83297262e-04 -3.69292884e-01] [ 1.20607358e-02 -1.41455274e-04 9.99927257e-01 7.53062427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.19 meters Centerline goodness [0,1] 0.9998519677712691 Centerline is valid? [True, True] Translation: X:7.10, Y:-0.36, Z:0.07 [[ 9.99884047e-01 6.69184205e-03 -1.36788760e-02 7.09874118e+00] [-6.68967475e-03 9.99977603e-01 2.04191349e-04 -3.61253001e-01] [ 1.36799361e-02 -1.12660441e-04 9.99906419e-01 7.37897111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.219999999999999 meters Centerline goodness [0,1] 0.999811154475639 Centerline is valid? [True, True] Translation: X:7.13, Y:-0.35, Z:0.07 [[ 9.99840892e-01 1.00804097e-02 -1.47164928e-02 7.12802834e+00] [-1.00783238e-02 9.99949189e-01 2.15892462e-04 -3.53474273e-01] [ 1.47179213e-02 -6.75405314e-05 9.99891683e-01 7.23161727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.25 meters Centerline goodness [0,1] 0.9998528546203649 Centerline is valid? [True, True] Translation: X:7.16, Y:-0.35, Z:0.07 [[ 9.99818520e-01 1.21017060e-02 -1.47131332e-02 7.15726891e+00] [-1.20998830e-02 9.99926771e-01 2.12914780e-04 -3.50227571e-01] [ 1.47146324e-02 -3.48489499e-05 9.99891733e-01 7.25267953e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.28 meters Centerline goodness [0,1] 0.9997909873756375 Centerline is valid? [True, True] Translation: X:7.19, Y:-0.35, Z:0.07 [[ 9.99762205e-01 1.55990226e-02 -1.52382482e-02 7.18578493e+00] [-1.55974899e-02 9.99878328e-01 2.19428412e-04 -3.45278417e-01] [ 1.52398170e-02 1.83021894e-05 9.99883867e-01 7.14817962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.31 meters Centerline goodness [0,1] 0.9997697444163021 Centerline is valid? [True, True] Translation: X:7.22, Y:-0.34, Z:0.07 [[ 9.99684915e-01 1.97425398e-02 -1.55016883e-02 7.21525773e+00] [-1.97414661e-02 9.99805094e-01 2.22295598e-04 -3.41440273e-01] [ 1.55030556e-02 8.38004970e-05 9.99879817e-01 7.21191820e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.34 meters Centerline goodness [0,1] 0.9998115656798292 Centerline is valid? [True, True] Translation: X:7.25, Y:-0.34, Z:0.07 [[ 9.99667576e-01 2.08384596e-02 -1.51821231e-02 7.24631262e+00] [-2.08375595e-02 9.99782851e-01 2.17495076e-04 -3.40769470e-01] [ 1.51833586e-02 9.89356183e-05 9.99884721e-01 7.31660560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.37 meters Centerline goodness [0,1] 0.9998537828466391 Centerline is valid? [True, True] Translation: X:7.28, Y:-0.34, Z:0.08 [[ 9.99668439e-01 2.17620145e-02 -1.37632188e-02 7.27735634e+00] [-2.17613518e-02 9.99763174e-01 1.97925496e-04 -3.41050953e-01] [ 1.37642666e-02 1.01646376e-04 9.99905263e-01 7.52526764e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.4 meters Centerline goodness [0,1] 0.9997494257673836 Centerline is valid? [True, True] Translation: X:7.31, Y:-0.34, Z:0.08 [[ 9.99697566e-01 2.07115298e-02 -1.32592681e-02 7.30993802e+00] [-2.07107998e-02 9.99785490e-01 1.92374627e-04 -3.44509783e-01] [ 1.32604082e-02 8.22936008e-05 9.99912074e-01 7.69982092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.43 meters Centerline goodness [0,1] 0.9998116800234353 Centerline is valid? [True, True] Translation: X:7.34, Y:-0.35, Z:0.08 [[ 9.99730445e-01 1.89946915e-02 -1.33506413e-02 7.34147311e+00] [-1.89937771e-02 9.99819583e-01 1.95289645e-04 -3.47643337e-01] [ 1.33519421e-02 5.83421022e-05 9.99910857e-01 7.75165732e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.459999999999999 meters Centerline goodness [0,1] 0.9997275489887876 Centerline is valid? [True, True] Translation: X:7.37, Y:-0.35, Z:0.08 [[ 9.99744949e-01 1.76454157e-02 -1.40952543e-02 7.37287336e+00] [-1.76442206e-02 9.99844307e-01 2.09144854e-04 -3.50165297e-01] [ 1.40967502e-02 3.96082658e-05 9.99900635e-01 7.72345614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.49 meters Centerline goodness [0,1] 0.9998113286654647 Centerline is valid? [True, True] Translation: X:7.40, Y:-0.35, Z:0.08 [[ 9.99774205e-01 1.55114988e-02 -1.45234808e-02 7.40278705e+00] [-1.55099948e-02 9.99879689e-01 2.16192388e-04 -3.54059933e-01] [ 1.45250870e-02 9.11553858e-06 9.99894505e-01 7.71970346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.52 meters Centerline goodness [0,1] 0.9997483168690618 Centerline is valid? [True, True] Translation: X:7.43, Y:-0.36, Z:0.08 [[ 9.99802573e-01 1.31711087e-02 -1.48774040e-02 7.43343774e+00] [-1.31692578e-02 9.99913257e-01 2.22376753e-04 -3.58531615e-01] [ 1.48790424e-02 -2.64084808e-05 9.99889301e-01 7.69712992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.549999999999999 meters Centerline goodness [0,1] 0.9997476712155939 Centerline is valid? [True, True] Translation: X:7.46, Y:-0.36, Z:0.08 [[ 9.99822650e-01 1.11212849e-02 -1.51982370e-02 7.46297486e+00] [-1.11191188e-02 9.99938155e-01 2.27020736e-04 -3.63865366e-01] [ 1.51998219e-02 -5.79894710e-05 9.99884474e-01 7.79667520e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.58 meters Centerline goodness [0,1] 0.9998946503444933 Centerline is valid? [True, True] Translation: X:7.49, Y:-0.37, Z:0.08 [[ 9.99826191e-01 1.08084952e-02 -1.51909108e-02 7.49176700e+00] [-1.08063055e-02 9.99941585e-01 2.26226476e-04 -3.66662260e-01] [ 1.51924686e-02 -6.20295328e-05 9.99884586e-01 7.99517696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.61 meters Centerline goodness [0,1] 0.9997674025205109 Centerline is valid? [True, True] Translation: X:7.52, Y:-0.37, Z:0.08 [[ 9.99859697e-01 8.53047938e-03 -1.44158951e-02 7.51955929e+00] [-8.52828549e-03 9.99963611e-01 2.13653994e-04 -3.71845162e-01] [ 1.44171931e-02 -9.06811491e-05 9.99896063e-01 7.92097443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.64 meters Centerline goodness [0,1] 0.9998092492899835 Centerline is valid? [True, True] Translation: X:7.55, Y:-0.38, Z:0.08 [[ 9.99873630e-01 6.98558745e-03 -1.42802735e-02 7.54848676e+00] [-6.98329391e-03 9.99975594e-01 2.10467738e-04 -3.76716421e-01] [ 1.42813952e-02 -1.10717794e-04 9.99898010e-01 8.01531223e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.67 meters Centerline goodness [0,1] 0.9998091441173975 Centerline is valid? [True, True] Translation: X:7.58, Y:-0.38, Z:0.08 [[ 9.99887417e-01 4.99028840e-03 -1.41509955e-02 7.57591450e+00] [-4.98785116e-03 9.99987539e-01 2.07519162e-04 -3.82448404e-01] [ 1.41518547e-02 -1.36912740e-04 9.99899848e-01 8.03769512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.7 meters Centerline goodness [0,1] 0.9998511208473351 Centerline is valid? [True, True] Translation: X:7.60, Y:-0.39, Z:0.08 [[ 9.99901618e-01 1.90621082e-03 -1.38968091e-02 7.60450401e+00] [-1.90357844e-03 9.99998168e-01 2.02648337e-04 -3.88073095e-01] [ 1.38971699e-02 -1.76174734e-04 9.99903414e-01 8.11020298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.73 meters Centerline goodness [0,1] 0.9997228735877212 Centerline is valid? [True, True] Translation: X:7.63, Y:-0.39, Z:0.08 [[ 9.99902345e-01 -6.82651732e-04 -1.39582956e-02 7.63343407e+00] [ 6.85545938e-04 9.99999744e-01 2.02562889e-04 -3.91330195e-01] [ 1.39581538e-02 -2.12112161e-04 9.99902558e-01 8.00192050e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.76 meters Centerline goodness [0,1] 0.9998502481601916 Centerline is valid? [True, True] Translation: X:7.66, Y:-0.40, Z:0.08 [[ 9.99885183e-01 -7.19156317e-03 -1.33380124e-02 7.66219296e+00] [ 7.19477315e-03 9.99974099e-01 1.92695042e-04 -3.99786864e-01] [ 1.33362811e-02 -2.88636891e-04 9.99911026e-01 8.16917499e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.79 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:7.69, Y:-0.41, Z:0.09 [[ 9.99820227e-01 -1.44070857e-02 -1.23267772e-02 7.69197876e+00] [ 1.44103685e-02 9.99896149e-01 1.77530543e-04 -4.09070374e-01] [ 1.23229393e-02 -3.55132029e-04 9.99924007e-01 8.54997932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.82 meters Centerline goodness [0,1] 0.9997416576964477 Centerline is valid? [True, True] Translation: X:7.72, Y:-0.42, Z:0.08 [[ 9.99705964e-01 -2.16431744e-02 -1.09343201e-02 7.72089605e+00] [ 2.16461878e-02 9.99765681e-01 1.57307120e-04 -4.19568448e-01] [ 1.09283534e-02 -3.93947213e-04 9.99940206e-01 8.39178336e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.85 meters Centerline goodness [0,1] 0.9998488382136996 Centerline is valid? [True, True] Translation: X:7.75, Y:-0.42, Z:0.09 [[ 9.99645065e-01 -2.44549451e-02 -1.05688330e-02 7.75062826e+00] [ 2.44579153e-02 9.99700849e-01 1.51854582e-04 -4.22233171e-01] [ 1.05619577e-02 -4.10292304e-04 9.99944137e-01 8.57332289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.879999999999999 meters Centerline goodness [0,1] 0.9998918029948931 Centerline is valid? [True, True] Translation: X:7.78, Y:-0.42, Z:0.09 [[ 9.99662999e-01 -2.34226934e-02 -1.11922261e-02 7.77921426e+00] [ 2.34259545e-02 9.99725562e-01 1.60339827e-04 -4.22744066e-01] [ 1.11853990e-02 -4.22474372e-04 9.99937352e-01 8.55488615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.91 meters Centerline goodness [0,1] 0.999783066143133 Centerline is valid? [True, True] Translation: X:7.81, Y:-0.42, Z:0.08 [[ 9.99738291e-01 -1.93836193e-02 -1.21501337e-02 7.80876238e+00] [ 1.93871291e-02 9.99812037e-01 1.71141359e-04 -4.21308561e-01] [ 1.21445326e-02 -4.06652780e-04 9.99926170e-01 8.37595186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.94 meters Centerline goodness [0,1] 0.9997405685871797 Centerline is valid? [True, True] Translation: X:7.84, Y:-0.42, Z:0.08 [[ 9.99784461e-01 -1.64223482e-02 -1.27019078e-02 7.83739986e+00] [ 1.64259386e-02 9.99865069e-01 1.78393329e-04 -4.20060923e-01] [ 1.26972642e-02 -3.86995636e-04 9.99919312e-01 8.28837492e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.969999999999999 meters Centerline goodness [0,1] 0.9998056323427782 Centerline is valid? [True, True] Translation: X:7.87, Y:-0.42, Z:0.08 [[ 9.99853645e-01 -9.68817516e-03 -1.41006101e-02 7.86649063e+00] [ 9.69191748e-03 9.99953013e-01 1.97089714e-04 -4.17704202e-01] [ 1.40980381e-02 -3.33722818e-04 9.99900562e-01 8.27129558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.0 meters Centerline goodness [0,1] 0.9999353113679489 Centerline is valid? [True, True] Translation: X:7.90, Y:-0.41, Z:0.08 [[ 9.99874071e-01 -1.63312579e-03 -1.57852850e-02 7.89646442e+00] [ 1.63680454e-03 9.99998636e-01 2.20132727e-04 -4.11587257e-01] [ 1.57849040e-02 -2.45942432e-04 9.99875380e-01 8.30413335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.03 meters Centerline goodness [0,1] 0.9997846359270347 Centerline is valid? [True, True] Translation: X:7.92, Y:-0.41, Z:0.08 [[ 9.99832662e-01 5.61124725e-03 -1.74115452e-02 7.92499544e+00] [-5.60788107e-03 9.99984246e-01 2.42149270e-04 -4.07847091e-01] [ 1.74126296e-02 -1.44466874e-04 9.99848378e-01 7.99523713e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.06 meters Centerline goodness [0,1] 0.9998490728762398 Centerline is valid? [True, True] Translation: X:7.95, Y:-0.40, Z:0.08 [[ 9.99765783e-01 1.21685523e-02 -1.78971020e-02 7.95390413e+00] [-1.21660905e-02 9.99925960e-01 2.46427800e-04 -4.04430732e-01] [ 1.78987756e-02 -2.86323183e-05 9.99839804e-01 8.05774690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.09 meters Centerline goodness [0,1] 0.9998708844415752 Centerline is valid? [True, True] Translation: X:7.98, Y:-0.40, Z:0.08 [[ 9.99700934e-01 1.65251866e-02 -1.80266593e-02 7.98310205e+00] [-1.65234764e-02 9.99863448e-01 2.43820751e-04 -4.03388522e-01] [ 1.80282269e-02 5.41152467e-05 9.99837477e-01 8.17876505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.12 meters Centerline goodness [0,1] 0.9998051779374838 Centerline is valid? [True, True] Translation: X:8.01, Y:-0.40, Z:0.08 [[ 9.99682018e-01 1.91585192e-02 -1.63955508e-02 8.01311830e+00] [-1.91575012e-02 9.99816454e-01 2.19160865e-04 -4.04324254e-01] [ 1.63967402e-02 9.50066070e-05 9.99865560e-01 8.26441059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.15 meters Centerline goodness [0,1] 0.9996975915325629 Centerline is valid? [True, True] Translation: X:8.04, Y:-0.41, Z:0.08 [[ 9.99677565e-01 1.98759767e-02 -1.58022912e-02 8.04441033e+00] [-1.98751238e-02 9.99802448e-01 2.11035217e-04 -4.05750098e-01] [ 1.58033640e-02 1.03105323e-04 9.99875114e-01 8.30341273e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.18 meters Centerline goodness [0,1] 0.9998265469840857 Centerline is valid? [True, True] Translation: X:8.08, Y:-0.41, Z:0.09 [[ 9.99695591e-01 2.05582339e-02 -1.36412578e-02 8.07518995e+00] [-2.05576490e-02 9.99788652e-01 1.83119685e-04 -4.08487487e-01] [ 1.36421394e-02 9.73682483e-05 9.99906937e-01 8.56168122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.209999999999999 meters Centerline goodness [0,1] 0.9997825330549757 Centerline is valid? [True, True] Translation: X:8.11, Y:-0.41, Z:0.09 [[ 9.99706401e-01 2.11009872e-02 -1.19105294e-02 8.10807440e+00] [-2.11005508e-02 9.99777345e-01 1.62310314e-04 -4.12393988e-01] [ 1.19113024e-02 8.90560719e-05 9.99929054e-01 8.68854503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.24 meters Centerline goodness [0,1] 0.9998036991798988 Centerline is valid? [True, True] Translation: X:8.14, Y:-0.42, Z:0.09 [[ 9.99716823e-01 2.07784142e-02 -1.15987514e-02 8.14110863e+00] [-2.07779416e-02 9.99784102e-01 1.61256336e-04 -4.17410410e-01] [ 1.15995980e-02 7.97875088e-05 9.99932719e-01 8.76338427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.27 meters Centerline goodness [0,1] 0.9996947097562039 Centerline is valid? [True, True] Translation: X:8.17, Y:-0.42, Z:0.09 [[ 9.99705407e-01 2.06375633e-02 -1.27746227e-02 8.17373307e+00] [-2.06369286e-02 9.99787019e-01 1.81520150e-04 -4.21856532e-01] [ 1.27756481e-02 8.21623018e-05 9.99918385e-01 8.66941426e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.299999999999999 meters Centerline goodness [0,1] 0.9997370669821863 Centerline is valid? [True, True] Translation: X:8.21, Y:-0.43, Z:0.09 [[ 9.99673940e-01 2.13445089e-02 -1.40151921e-02 8.20671954e+00] [-2.13437550e-02 9.99772175e-01 2.03384504e-04 -4.26441149e-01] [ 1.40163402e-02 9.58186374e-05 9.99901762e-01 8.60689437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.33 meters Centerline goodness [0,1] 0.9999560912423983 Centerline is valid? [True, True] Translation: X:8.24, Y:-0.43, Z:0.09 [[ 9.99631191e-01 2.26929945e-02 -1.49167462e-02 8.23919019e+00] [-2.26922246e-02 9.99742474e-01 2.20884531e-04 -4.28999201e-01] [ 1.49179173e-02 1.17691090e-04 9.99888715e-01 8.84827009e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.36 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.27, Y:-0.43, Z:0.09 [[ 9.99558182e-01 2.37748062e-02 -1.78381391e-02 8.26995510e+00] [-2.37737840e-02 9.99717327e-01 2.69388378e-04 -4.32822448e-01] [ 1.78395014e-02 1.54810708e-04 9.99840851e-01 8.75633959e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.389999999999999 meters Centerline goodness [0,1] 0.9999557571065147 Centerline is valid? [True, True] Translation: X:8.30, Y:-0.44, Z:0.08 [[ 9.99550019e-01 2.25179948e-02 -1.98166601e-02 8.30318166e+00] [-2.25163823e-02 9.99746428e-01 3.04514978e-04 -4.38447912e-01] [ 1.98184922e-02 1.41821543e-04 9.99803584e-01 8.47809617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.42 meters Centerline goodness [0,1] 0.999821647530933 Centerline is valid? [True, True] Translation: X:8.33, Y:-0.45, Z:0.08 [[ 9.99596921e-01 1.87757367e-02 -2.12947703e-02 8.33399284e+00] [-1.87729056e-02 9.99823718e-01 3.32860966e-04 -4.46252925e-01] [ 2.12972661e-02 6.70379159e-05 9.99773185e-01 8.17041625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.45 meters Centerline goodness [0,1] 0.9997772381991936 Centerline is valid? [True, True] Translation: X:8.36, Y:-0.45, Z:0.08 [[ 9.99650160e-01 1.58974138e-02 -2.11383369e-02 8.36427820e+00] [-1.58939291e-02 9.99873628e-01 3.32858724e-04 -4.51351061e-01] [ 2.11409572e-02 3.22895066e-06 9.99776505e-01 8.20108786e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.48 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.39, Y:-0.47, Z:0.09 [[ 9.99851571e-01 3.74818569e-03 -1.68162922e-02 8.39306939e+00] [-3.74426380e-03 9.99992955e-01 2.64698589e-04 -4.69542713e-01] [ 1.68171658e-02 -2.01694666e-04 9.99858561e-01 9.10210792e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.51 meters Centerline goodness [0,1] 0.9998185653051505 Centerline is valid? [True, True] Translation: X:8.42, Y:-0.48, Z:0.09 [[ 9.99882901e-01 -2.37770256e-03 -1.51172433e-02 8.42256637e+00] [ 2.38156703e-03 9.99997136e-01 2.37636255e-04 -4.75701784e-01] [ 1.51166349e-02 -2.73611156e-04 9.99885700e-01 9.05187877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.54 meters Centerline goodness [0,1] 0.9997947080291971 Centerline is valid? [True, True] Translation: X:8.45, Y:-0.49, Z:0.09 [[ 9.99846605e-01 -1.31468587e-02 -1.15726616e-02 8.45179460e+00] [ 1.31498405e-02 9.99913521e-01 1.81602320e-04 -4.87759723e-01] [ 1.15692733e-02 -3.33753117e-04 9.99933018e-01 9.41084647e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.57 meters Centerline goodness [0,1] 0.9997720226153566 Centerline is valid? [True, True] Translation: X:8.48, Y:-0.50, Z:0.10 [[ 9.99732021e-01 -2.12912375e-02 -9.08682353e-03 8.48254418e+00] [ 2.12934096e-02 9.99773260e-01 1.42350215e-04 -4.96688701e-01] [ 9.08173237e-03 -3.35801524e-04 9.99958704e-01 9.62489302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.6 meters Centerline goodness [0,1] 0.9999081283447024 Centerline is valid? [True, True] Translation: X:8.51, Y:-0.50, Z:0.10 [[ 9.99675683e-01 -2.40953484e-02 -8.24272460e-03 8.51049214e+00] [ 2.40972319e-02 9.99709611e-01 1.29252536e-04 -5.00699756e-01] [ 8.23721662e-03 -3.27837464e-04 9.99966020e-01 9.82037302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.629999999999999 meters Centerline goodness [0,1] 0.9998629511192325 Centerline is valid? [True, True] Translation: X:8.54, Y:-0.50, Z:0.10 [[ 9.99746053e-01 -2.04423942e-02 -9.48360002e-03 8.54004678e+00] [ 2.04447156e-02 9.99790974e-01 1.47890609e-04 -4.96296565e-01] [ 9.47859446e-03 -3.41742558e-04 9.99955019e-01 9.68748320e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.66 meters Centerline goodness [0,1] 0.9999313972101532 Centerline is valid? [True, True] Translation: X:8.57, Y:-0.49, Z:0.10 [[ 9.99830011e-01 -1.31640511e-02 -1.29095598e-02 8.56958743e+00] [ 1.31677395e-02 9.99913281e-01 2.00752215e-04 -4.93890483e-01] [ 1.29057976e-02 -3.70707810e-04 9.99916648e-01 9.59177006e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.69 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:8.60, Y:-0.49, Z:0.10 [[ 9.99867874e-01 -4.84089093e-03 -1.55177642e-02 8.59925459e+00] [ 4.84521161e-03 9.99988233e-01 2.40850668e-04 -4.86142257e-01] [ 1.55164157e-02 -3.16005697e-04 9.99879563e-01 9.53311467e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.719999999999999 meters Centerline goodness [0,1] 0.9998417292213078 Centerline is valid? [True, True] Translation: X:8.63, Y:-0.48, Z:0.09 [[ 9.99871601e-01 3.17801634e-03 -1.57060863e-02 8.62881323e+00] [-3.17458781e-03 9.99994931e-01 2.43219856e-04 -4.78988455e-01] [ 1.57067796e-02 -1.93328277e-04 9.99876622e-01 9.29963489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.75 meters Centerline goodness [0,1] 0.9999321051916896 Centerline is valid? [True, True] Translation: X:8.66, Y:-0.48, Z:0.09 [[ 9.99860535e-01 7.45920262e-03 -1.49422461e-02 8.65710211e+00] [-7.45659067e-03 9.99972173e-01 2.30508109e-04 -4.75259496e-01] [ 1.49435497e-02 -1.19057748e-04 9.99888332e-01 9.43976681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.78 meters Centerline goodness [0,1] 0.9998427319703438 Centerline is valid? [True, True] Translation: X:8.69, Y:-0.47, Z:0.09 [[ 9.99774220e-01 1.53478977e-02 -1.46952994e-02 8.68616930e+00] [-1.53462571e-02 9.99882214e-01 2.24404274e-04 -4.66890909e-01] [ 1.46970126e-02 1.16423442e-06 9.99891993e-01 9.29271069e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.81 meters Centerline goodness [0,1] 0.9998205835519971 Centerline is valid? [True, True] Translation: X:8.72, Y:-0.46, Z:0.09 [[ 9.99643000e-01 2.28555761e-02 -1.38381804e-02 8.71748762e+00] [-2.28548733e-02 9.99738771e-01 2.08946379e-04 -4.61265821e-01] [ 1.38393410e-02 1.07398074e-04 9.99904226e-01 9.35327940e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.84 meters Centerline goodness [0,1] 0.9998205835519971 Centerline is valid? [True, True] Translation: X:8.75, Y:-0.46, Z:0.09 [[ 9.99636654e-01 2.31314796e-02 -1.38381623e-02 8.74987686e+00] [-2.31307869e-02 9.99732425e-01 2.10132216e-04 -4.61840663e-01] [ 1.38393203e-02 1.10031718e-04 9.99904226e-01 9.38859990e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.87 meters Centerline goodness [0,1] 0.9997094127903078 Centerline is valid? [True, True] Translation: X:8.78, Y:-0.46, Z:0.09 [[ 9.99476682e-01 2.94741676e-02 -1.33279661e-02 8.78155365e+00] [-2.94740429e-02 9.99565525e-01 2.05825123e-04 -4.57552602e-01] [ 1.33282419e-02 1.87111633e-04 9.99911158e-01 9.43617341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.9 meters Centerline goodness [0,1] 0.9999103721795245 Centerline is valid? [True, True] Translation: X:8.81, Y:-0.45, Z:0.10 [[ 9.99333822e-01 3.45160031e-02 -1.18557143e-02 8.81357092e+00] [-3.45162326e-02 9.99404120e-01 1.85318953e-04 -4.54038808e-01] [ 1.18550462e-02 2.24019096e-04 9.99929701e-01 9.78689915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.93 meters Centerline goodness [0,1] 0.9999327550265618 Centerline is valid? [True, True] Translation: X:8.85, Y:-0.45, Z:0.10 [[ 9.99235529e-01 3.73460592e-02 -1.15598559e-02 8.84544304e+00] [-3.73464564e-02 9.99302361e-01 1.81581154e-04 -4.53306513e-01] [ 1.15585726e-02 2.50277312e-04 9.99933166e-01 9.89386062e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.959999999999999 meters Centerline goodness [0,1] 0.9997984503068035 Centerline is valid? [True, True] Translation: X:8.88, Y:-0.45, Z:0.10 [[ 9.99178565e-01 3.84243246e-02 -1.28750571e-02 8.87661351e+00] [-3.84248634e-02 9.99261471e-01 2.05613433e-04 -4.53654452e-01] [ 1.28734490e-02 2.89277774e-04 9.99917092e-01 9.64362618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.99 meters Centerline goodness [0,1] 0.9998207845157822 Centerline is valid? [True, True] Translation: X:8.91, Y:-0.46, Z:0.10 [[ 9.99142723e-01 3.90401066e-02 -1.37727597e-02 8.90965695e+00] [-3.90407349e-02 9.99237595e-01 2.23343844e-04 -4.55747007e-01] [ 1.37709786e-02 3.14546283e-04 9.99905126e-01 9.58699716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.02 meters Centerline goodness [0,1] 0.9998429507314008 Centerline is valid? [True, True] Translation: X:8.94, Y:-0.46, Z:0.09 [[ 9.99111242e-01 3.91761367e-02 -1.55549474e-02 8.94277581e+00] [-3.91768810e-02 9.99232258e-01 2.56977234e-04 -4.57793914e-01] [ 1.55530725e-02 3.52645478e-04 9.99878981e-01 9.42796716e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.049999999999999 meters Centerline goodness [0,1] 0.9997750787224472 Centerline is valid? [True, True] Translation: X:8.97, Y:-0.46, Z:0.09 [[ 9.99110486e-01 3.86608398e-02 -1.68397455e-02 8.97342875e+00] [-3.86615608e-02 9.99252322e-01 2.82850585e-04 -4.59599292e-01] [ 1.68380900e-02 3.68451859e-04 9.99858161e-01 9.25917375e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.08 meters Centerline goodness [0,1] 0.9998189881437234 Centerline is valid? [True, True] Translation: X:9.01, Y:-0.46, Z:0.09 [[ 9.99139033e-01 3.76726231e-02 -1.73771501e-02 9.00596643e+00] [-3.76731873e-02 9.99290070e-01 2.95003614e-04 -4.64097477e-01] [ 1.73759271e-02 3.59903003e-04 9.99848962e-01 9.27876023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.11 meters Centerline goodness [0,1] 0.9998868471078121 Centerline is valid? [True, True] Translation: X:9.04, Y:-0.47, Z:0.09 [[ 9.99221370e-01 3.54226411e-02 -1.73750117e-02 9.03715998e+00] [-3.54228321e-02 9.99372370e-01 2.96863989e-04 -4.66518850e-01] [ 1.73746223e-02 3.18839281e-04 9.99848999e-01 9.37917668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.139999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.07, Y:-0.47, Z:0.10 [[ 9.99315957e-01 3.29261719e-02 -1.68369966e-02 9.06931383e+00] [-3.29259472e-02 9.99457752e-01 2.90626731e-04 -4.72830215e-01] [ 1.68374360e-02 2.63946132e-04 9.99858205e-01 9.74559919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.17 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.10, Y:-0.48, Z:0.10 [[ 9.99423732e-01 2.95179183e-02 -1.67599371e-02 9.10035910e+00] [-2.95171500e-02 9.99564231e-01 2.93263294e-04 -4.77587243e-01] [ 1.67612902e-02 2.01611282e-04 9.99859499e-01 9.82000289e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.2 meters Centerline goodness [0,1] 0.9998407027285346 Centerline is valid? [True, True] Translation: X:9.13, Y:-0.48, Z:0.10 [[ 9.99475216e-01 2.71962000e-02 -1.75971266e-02 9.13279178e+00] [-2.71949189e-02 9.99630101e-01 3.12139982e-04 -4.81099521e-01] [ 1.75991065e-02 1.66576254e-04 9.99845110e-01 9.56958142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.23 meters Centerline goodness [0,1] 0.9998857795545403 Centerline is valid? [True, True] Translation: X:9.17, Y:-0.49, Z:0.10 [[ 9.99564472e-01 2.34981908e-02 -1.78521930e-02 9.16512415e+00] [-2.34962031e-02 9.99723875e-01 3.21107297e-04 -4.85036344e-01] [ 1.78548090e-02 9.84913058e-05 9.99840585e-01 9.62487447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.26 meters Centerline goodness [0,1] 0.9999090826438767 Centerline is valid? [True, True] Translation: X:9.20, Y:-0.49, Z:0.10 [[ 9.99662856e-01 1.86163480e-02 -1.80998645e-02 9.19626697e+00] [-1.86134256e-02 9.99826701e-01 3.29927448e-04 -4.89382650e-01] [ 1.81028698e-02 7.08426550e-06 9.99836130e-01 9.68158214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.29 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.23, Y:-0.49, Z:0.10 [[ 9.99748199e-01 1.34536167e-02 -1.79593540e-02 9.22761427e+00] [-1.34498578e-02 9.99909492e-01 3.30072966e-04 -4.93559156e-01] [ 1.79621692e-02 -8.84390952e-05 9.99838663e-01 9.97267406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.32 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.26, Y:-0.50, Z:0.10 [[ 9.99783507e-01 1.03679398e-02 -1.80401097e-02 9.25707547e+00] [-1.03636424e-02 9.99946241e-01 3.31687596e-04 -4.95505705e-01] [ 1.80425788e-02 -1.44654544e-04 9.99837209e-01 1.00287801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.35 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.29, Y:-0.50, Z:0.10 [[ 9.99836633e-01 4.19340573e-03 -1.75818754e-02 9.28661657e+00] [-4.18838014e-03 9.99991177e-01 3.22652393e-04 -4.97984102e-01] [ 1.75830733e-02 -2.48960105e-04 9.99845375e-01 1.01286805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.379999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.31, Y:-0.50, Z:0.10 [[ 9.99857752e-01 -1.68624766e-03 -1.67818913e-02 9.31471439e+00] [ 1.69164385e-03 9.99998522e-01 3.07357513e-04 -5.01217137e-01] [ 1.67813482e-02 -3.35702775e-04 9.99859127e-01 1.02519735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.41 meters Centerline goodness [0,1] 0.9998400840700888 Centerline is valid? [True, True] Translation: X:9.34, Y:-0.50, Z:0.10 [[ 9.99860561e-01 -5.96250462e-03 -1.55982812e-02 9.34412860e+00] [ 5.96767734e-03 9.99982153e-01 2.85095779e-04 -5.02173539e-01] [ 1.55963029e-02 -3.78141534e-04 9.99878299e-01 1.01386581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.44 meters Centerline goodness [0,1] 0.9998400840700888 Centerline is valid? [True, True] Translation: X:9.37, Y:-0.50, Z:0.10 [[ 9.99873994e-01 -7.01059961e-03 -1.42424745e-02 9.37159548e+00] [ 7.01500918e-03 9.99975361e-01 2.59671608e-04 -5.02406918e-01] [ 1.42403032e-02 -3.59549977e-04 9.99898537e-01 1.02474006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.469999999999999 meters Centerline goodness [0,1] 0.9998178298986679 Centerline is valid? [True, True] Translation: X:9.40, Y:-0.50, Z:0.10 [[ 9.99897849e-01 -6.68613407e-03 -1.26327755e-02 9.40086830e+00] [ 6.68956125e-03 9.99977598e-01 2.29056089e-04 -4.99968177e-01] [ 1.26309610e-02 -3.13540417e-04 9.99920177e-01 1.03681276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.5 meters Centerline goodness [0,1] 0.9997963063552417 Centerline is valid? [True, True] Translation: X:9.43, Y:-0.50, Z:0.10 [[ 9.99927400e-01 -3.19374465e-03 -1.16186816e-02 9.43026174e+00] [ 3.19637780e-03 9.99994870e-01 2.08068249e-04 -4.95689734e-01] [ 1.16179574e-02 -2.45190839e-04 9.99932479e-01 1.04903317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.53 meters Centerline goodness [0,1] 0.999751849846598 Centerline is valid? [True, True] Translation: X:9.46, Y:-0.49, Z:0.11 [[ 9.99936423e-01 -7.11005509e-04 -1.12536412e-02 9.45963331e+00] [ 7.13291323e-04 9.99999726e-01 1.99105390e-04 -4.93236842e-01] [ 1.12534966e-02 -2.07119857e-04 9.99936656e-01 1.05581496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.559999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.49, Y:-0.49, Z:0.11 [[ 9.99934353e-01 6.06409978e-03 -9.72200328e-03 9.48824118e+00] [-6.06272477e-03 9.99981607e-01 1.70899005e-04 -4.85771789e-01] [ 9.72286081e-03 -1.11945956e-04 9.99952726e-01 1.08474870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.59 meters Centerline goodness [0,1] 0.9998212649969839 Centerline is valid? [True, True] Translation: X:9.52, Y:-0.48, Z:0.10 [[ 9.99851292e-01 1.25862661e-02 -1.17889594e-02 9.51851501e+00] [-1.25847086e-02 9.99920788e-01 2.06292328e-04 -4.76409043e-01] [ 1.17906220e-02 -5.79010315e-05 9.99930487e-01 1.03644367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.62 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:9.55, Y:-0.47, Z:0.10 [[ 9.99784513e-01 1.69797876e-02 -1.19421213e-02 9.55020930e+00] [-1.69785069e-02 9.99855833e-01 2.08623976e-04 -4.72285798e-01] [ 1.19439421e-02 -5.81963111e-06 9.99928669e-01 1.04906847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.65 meters Centerline goodness [0,1] 0.9998440597919313 Centerline is valid? [True, True] Translation: X:9.58, Y:-0.47, Z:0.10 [[ 9.99630204e-01 2.25764693e-02 -1.51577899e-02 9.58163154e+00] [-2.25750385e-02 9.99745116e-01 2.65515262e-04 -4.65272282e-01] [ 1.51599208e-02 7.67706146e-05 9.99885079e-01 9.92842827e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.68 meters Centerline goodness [0,1] 0.9998446136429221 Centerline is valid? [True, True] Translation: X:9.61, Y:-0.46, Z:0.10 [[ 9.99479507e-01 2.72175065e-02 -1.73182807e-02 9.61398166e+00] [-2.72162967e-02 9.99629521e-01 3.05581196e-04 -4.60510752e-01] [ 1.73201818e-02 1.65917322e-04 9.99849981e-01 9.79567851e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.709999999999999 meters Centerline goodness [0,1] 0.9998231848823075 Centerline is valid? [True, True] Translation: X:9.65, Y:-0.46, Z:0.10 [[ 9.99347715e-01 3.09207005e-02 -1.86562140e-02 9.64651453e+00] [-3.09198528e-02 9.99521811e-01 3.33955443e-04 -4.56906100e-01] [ 1.86576189e-02 2.43109781e-04 9.99825902e-01 9.78298961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.74 meters Centerline goodness [0,1] 0.9998672331386086 Centerline is valid? [True, True] Translation: X:9.68, Y:-0.46, Z:0.10 [[ 9.99304648e-01 3.23387003e-02 -1.85588092e-02 9.67757288e+00] [-3.23380240e-02 9.99476933e-01 3.36622025e-04 -4.55269493e-01] [ 1.85599876e-02 2.63767261e-04 9.99827714e-01 9.82888111e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.77 meters Centerline goodness [0,1] 0.9997790641155937 Centerline is valid? [True, True] Translation: X:9.71, Y:-0.45, Z:0.10 [[ 9.99280661e-01 3.31803820e-02 -1.83636080e-02 9.71056949e+00] [-3.31797778e-02 9.99449343e-01 3.37659119e-04 -4.53914682e-01] [ 1.83646996e-02 2.71884207e-04 9.99831318e-01 9.75924810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.799999999999999 meters Centerline goodness [0,1] 0.9997569597878921 Centerline is valid? [True, True] Translation: X:9.74, Y:-0.45, Z:0.10 [[ 9.99318905e-01 3.25272039e-02 -1.74272025e-02 9.74208761e+00] [-3.25264930e-02 9.99470821e-01 3.24309945e-04 -4.54053147e-01] [ 1.74285293e-02 2.42756722e-04 9.99848082e-01 9.79117345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.83 meters Centerline goodness [0,1] 0.9997565348265864 Centerline is valid? [True, True] Translation: X:9.77, Y:-0.46, Z:0.10 [[ 9.99390537e-01 3.09099525e-02 -1.62212463e-02 9.77422151e+00] [-3.09090792e-02 9.99522154e-01 3.04600312e-04 -4.56201681e-01] [ 1.62229102e-02 1.96969118e-04 9.99868381e-01 9.93729612e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.86 meters Centerline goodness [0,1] 0.9997572172684736 Centerline is valid? [True, True] Translation: X:9.81, Y:-0.46, Z:0.10 [[ 9.99411999e-01 3.02311425e-02 -1.61781928e-02 9.80582889e+00] [-3.02301211e-02 9.99542918e-01 3.07739983e-04 -4.57419204e-01] [ 1.61801013e-02 1.81509695e-04 9.99869077e-01 1.00007992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.889999999999999 meters Centerline goodness [0,1] 0.9998445273631841 Centerline is valid? [True, True] Translation: X:9.84, Y:-0.46, Z:0.10 [[ 9.99419830e-01 2.97123459e-02 -1.66487186e-02 9.83879876e+00] [-2.97111193e-02 9.99558476e-01 3.21070419e-04 -4.60139254e-01] [ 1.66509076e-02 1.73767922e-04 9.99861349e-01 1.01090450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.92 meters Centerline goodness [0,1] 0.9998891352549889 Centerline is valid? [True, True] Translation: X:9.87, Y:-0.46, Z:0.10 [[ 9.99348738e-01 3.07306474e-02 -1.89136682e-02 9.87032141e+00] [-3.07291588e-02 9.99527680e-01 3.69392840e-04 -4.60665287e-01] [ 1.89160866e-02 2.12048845e-04 9.99821052e-01 9.95248086e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.95 meters Centerline goodness [0,1] 0.9999113219677656 Centerline is valid? [True, True] Translation: X:9.90, Y:-0.46, Z:0.10 [[ 9.99241245e-01 3.32454897e-02 -2.02896728e-02 9.90188839e+00] [-3.32442186e-02 9.99447178e-01 4.00028718e-04 -4.61125750e-01] [ 2.02917554e-02 2.74789126e-04 9.99794063e-01 9.98868451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.98 meters Centerline goodness [0,1] 0.9998007835845674 Centerline is valid? [True, True] Translation: X:9.93, Y:-0.46, Z:0.10 [[ 9.99179434e-01 3.45702261e-02 -2.11034947e-02 9.93355776e+00] [-3.45690380e-02 9.99402223e-01 4.21206491e-04 -4.61268274e-01] [ 2.11054408e-02 3.08666648e-04 9.99777208e-01 9.85855008e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.01 meters Centerline goodness [0,1] 0.9999112845990064 Centerline is valid? [True, True] Translation: X:9.96, Y:-0.46, Z:0.10 [[ 9.99131332e-01 3.64912045e-02 -2.01239672e-02 9.96469687e+00] [-3.64904193e-02 9.99333920e-01 4.06338943e-04 -4.60680391e-01] [ 2.01253908e-02 3.28346031e-04 9.99797410e-01 9.98125305e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.04 meters Centerline goodness [0,1] 0.99980044345898 Centerline is valid? [True, True] Translation: X:10.00, Y:-0.46, Z:0.10 [[ 9.99127661e-01 3.72749420e-02 -1.88280316e-02 9.99758243e+00] [-3.72743083e-02 9.99304997e-01 3.84707286e-04 -4.62546192e-01] [ 1.88292860e-02 3.17430165e-04 9.99822663e-01 1.00852582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.07 meters Centerline goodness [0,1] 0.999754590277313 Centerline is valid? [True, True] Translation: X:10.03, Y:-0.47, Z:0.10 [[ 9.99145270e-01 3.77888075e-02 -1.67551917e-02 1.00291913e+01] [-3.77883087e-02 9.99285707e-01 3.46478217e-04 -4.65152888e-01] [ 1.67563166e-02 2.86968284e-04 9.99859562e-01 1.03287488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.1 meters Centerline goodness [0,1] 0.9998441708777632 Centerline is valid? [True, True] Translation: X:10.06, Y:-0.47, Z:0.11 [[ 9.99159024e-01 3.82922547e-02 -1.46611369e-02 1.00613999e+01] [-3.82918833e-02 9.99266550e-01 3.06156028e-04 -4.66929883e-01] [ 1.46621071e-02 2.55503986e-04 9.99892473e-01 1.06424147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.129999999999999 meters Centerline goodness [0,1] 0.9998881656937082 Centerline is valid? [True, True] Translation: X:10.09, Y:-0.47, Z:0.11 [[ 9.99157566e-01 3.86056454e-02 -1.39198822e-02 1.00933920e+01] [-3.86053051e-02 9.99254494e-01 2.93250729e-04 -4.68184319e-01] [ 1.39208259e-02 2.44377614e-04 9.99903071e-01 1.08187470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.16 meters Centerline goodness [0,1] 0.9997772034578023 Centerline is valid? [True, True] Translation: X:10.13, Y:-0.47, Z:0.11 [[ 9.99157487e-01 3.86611399e-02 -1.37707261e-02 1.01262218e+01] [-3.86607631e-02 9.99252350e-01 2.93662472e-04 -4.69015623e-01] [ 1.37717838e-02 2.38971724e-04 9.99905136e-01 1.06806933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.19 meters Centerline goodness [0,1] 0.999798716257017 Centerline is valid? [True, True] Translation: X:10.16, Y:-0.47, Z:0.11 [[ 9.99158237e-01 3.85982255e-02 -1.38922269e-02 1.01583207e+01] [-3.85977876e-02 9.99254783e-01 2.99735792e-04 -4.70400803e-01] [ 1.38934434e-02 2.36725738e-04 9.99903453e-01 1.06456963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.219999999999999 meters Centerline goodness [0,1] 0.9998212290502794 Centerline is valid? [True, True] Translation: X:10.19, Y:-0.47, Z:0.11 [[ 9.99155686e-01 3.84869357e-02 -1.43760363e-02 1.01914402e+01] [-3.84864138e-02 9.99259074e-01 3.13059095e-04 -4.74864888e-01] [ 1.43774334e-02 2.40487308e-04 9.99896610e-01 1.07508336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.25 meters Centerline goodness [0,1] 0.9997989231216068 Centerline is valid? [True, True] Translation: X:10.22, Y:-0.48, Z:0.11 [[ 9.99174871e-01 3.77953820e-02 -1.48689434e-02 1.02229660e+01] [-3.77946914e-02 9.99285472e-01 3.27537449e-04 -4.76455522e-01] [ 1.48706985e-02 2.34699939e-04 9.99889398e-01 1.06808600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.28 meters Centerline goodness [0,1] 0.9997760508812398 Centerline is valid? [True, True] Translation: X:10.26, Y:-0.48, Z:0.11 [[ 9.99196049e-01 3.71141677e-02 -1.51589734e-02 1.02555415e+01] [-3.71133425e-02 9.99311006e-01 3.35845657e-04 -4.78988196e-01] [ 1.51609936e-02 2.27024518e-04 9.99885040e-01 1.06663732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.309999999999999 meters Centerline goodness [0,1] 0.9998208968589787 Centerline is valid? [True, True] Translation: X:10.29, Y:-0.48, Z:0.11 [[ 9.99274426e-01 3.47940877e-02 -1.54916897e-02 1.02867664e+01] [-3.47929157e-02 9.99394484e-01 3.45241296e-04 -4.81847507e-01] [ 1.54943215e-02 1.94010255e-04 9.99879937e-01 1.05975898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.34 meters Centerline goodness [0,1] 0.9998652593757018 Centerline is valid? [True, True] Translation: X:10.32, Y:-0.48, Z:0.11 [[ 9.99318199e-01 3.34438154e-02 -1.56412420e-02 1.03184382e+01] [-3.34423980e-02 9.99440584e-01 3.52243111e-04 -4.84903656e-01] [ 1.56442724e-02 1.71077687e-04 9.99877606e-01 1.06501549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.37 meters Centerline goodness [0,1] 0.9997749167191861 Centerline is valid? [True, True] Translation: X:10.35, Y:-0.49, Z:0.11 [[ 9.99453334e-01 2.84418944e-02 -1.68550097e-02 1.03495314e+01] [-2.84394654e-02 9.99595443e-01 3.83835506e-04 -4.91280973e-01] [ 1.68591079e-02 9.57217897e-05 9.99857871e-01 1.05156377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.4 meters Centerline goodness [0,1] 0.9998643485338338 Centerline is valid? [True, True] Translation: X:10.38, Y:-0.50, Z:0.11 [[ 9.99632857e-01 2.18214267e-02 -1.60616595e-02 1.03817557e+01] [-2.18183083e-02 9.99761884e-01 3.69378242e-04 -4.99779764e-01] [ 1.60658953e-02 -1.88043897e-05 9.99870935e-01 1.07041317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.43 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.41, Y:-0.50, Z:0.11 [[ 9.99714279e-01 1.85851822e-02 -1.50316970e-02 1.04149346e+01] [-1.85820308e-02 9.99827278e-01 3.49301599e-04 -5.04461683e-01] [ 1.50355925e-02 -6.98823404e-05 9.99886957e-01 1.10661200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.459999999999999 meters Centerline goodness [0,1] 0.9998866624353976 Centerline is valid? [True, True] Translation: X:10.45, Y:-0.51, Z:0.11 [[ 9.99850962e-01 9.95304999e-03 -1.41063721e-02 1.04466234e+01] [-9.94937233e-03 9.99950449e-01 3.30865007e-04 -5.12767173e-01] [ 1.41089662e-02 -1.90466148e-04 9.99900445e-01 1.09998161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.49 meters Centerline goodness [0,1] 0.9997278603016215 Centerline is valid? [True, True] Translation: X:10.48, Y:-0.52, Z:0.11 [[ 9.99887736e-01 6.03945676e-03 -1.37127761e-02 1.04757355e+01] [-6.03560396e-03 9.99981734e-01 3.22331804e-04 -5.17707912e-01] [ 1.37144723e-02 -2.39530733e-04 9.99905924e-01 1.09596915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.52 meters Centerline goodness [0,1] 0.9998172347619483 Centerline is valid? [True, True] Translation: X:10.51, Y:-0.52, Z:0.11 [[ 9.99928504e-01 1.14523813e-04 -1.19571576e-02 1.05055534e+01] [-1.11173459e-04 9.99999954e-01 2.80860866e-04 -5.22491983e-01] [ 1.19571892e-02 -2.79511467e-04 9.99928471e-01 1.12455542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.549999999999999 meters Centerline goodness [0,1] 0.9999315271723005 Centerline is valid? [True, True] Translation: X:10.53, Y:-0.52, Z:0.11 [[ 9.99936113e-01 -1.77743481e-03 -1.11629073e-02 1.05343568e+01] [ 1.78046840e-03 9.99998381e-01 2.61824567e-04 -5.24981675e-01] [ 1.11624239e-02 -2.81683044e-04 9.99937659e-01 1.14833302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.58 meters Centerline goodness [0,1] 0.9998176180922852 Centerline is valid? [True, True] Translation: X:10.56, Y:-0.53, Z:0.11 [[ 9.99931224e-01 -3.88777457e-03 -1.10648918e-02 1.05617934e+01] [ 3.89087553e-03 9.99992397e-01 2.58738970e-04 -5.27345709e-01] [ 1.10638018e-02 -3.01773292e-04 9.99938749e-01 1.13253252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.61 meters Centerline goodness [0,1] 0.9998855678125143 Centerline is valid? [True, True] Translation: X:10.59, Y:-0.53, Z:0.11 [[ 9.99930636e-01 -3.85971371e-03 -1.11276831e-02 1.05894623e+01] [ 3.86283457e-03 9.99992506e-01 2.58979813e-04 -5.27024894e-01] [ 1.11266002e-02 -3.01946248e-04 9.99938052e-01 1.14006591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.639999999999999 meters Centerline goodness [0,1] 0.9999544875295832 Centerline is valid? [True, True] Translation: X:10.62, Y:-0.52, Z:0.11 [[ 9.99917171e-01 -4.15713937e-04 -1.28638092e-02 1.06180851e+01] [ 4.19552143e-04 9.99999868e-01 2.95675229e-04 -5.24696035e-01] [ 1.28636846e-02 -3.01047778e-04 9.99917214e-01 1.13373844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.67 meters Centerline goodness [0,1] 0.9997957145451244 Centerline is valid? [True, True] Translation: X:10.65, Y:-0.52, Z:0.11 [[ 9.99858249e-01 4.57330065e-03 -1.62039261e-02 1.06459817e+01] [-4.56789120e-03 9.99989498e-01 3.70831184e-04 -5.21334878e-01] [ 1.62054518e-02 -2.96760847e-04 9.99868639e-01 1.08833588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.7 meters Centerline goodness [0,1] 0.9999318166321962 Centerline is valid? [True, True] Translation: X:10.68, Y:-0.52, Z:0.11 [[ 9.99831401e-01 7.97609804e-03 -1.65394079e-02 1.06750465e+01] [-7.97097290e-03 9.99968161e-01 3.75774707e-04 -5.19279502e-01] [ 1.65418785e-02 -2.43876180e-04 9.99863144e-01 1.09784362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.73 meters Centerline goodness [0,1] 0.9998184994441546 Centerline is valid? [True, True] Translation: X:10.70, Y:-0.51, Z:0.11 [[ 9.99735626e-01 1.42484303e-02 -1.80460516e-02 1.07028320e+01] [-1.42434189e-02 9.99898475e-01 4.06210500e-04 -5.14627198e-01] [ 1.80500073e-02 -1.49065637e-04 9.99837074e-01 1.07594285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.76 meters Centerline goodness [0,1] 0.9998184994441546 Centerline is valid? [True, True] Translation: X:10.73, Y:-0.52, Z:0.11 [[ 9.99736120e-01 1.42136637e-02 -1.80460871e-02 1.07320060e+01] [-1.42086752e-02 9.99898970e-01 4.04627688e-04 -5.15250418e-01] [ 1.80500152e-02 -1.48109926e-04 9.99837074e-01 1.07911687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.79 meters Centerline goodness [0,1] 0.9998189266879428 Centerline is valid? [True, True] Translation: X:10.76, Y:-0.51, Z:0.11 [[ 9.99682452e-01 1.70087679e-02 -1.85929371e-02 1.07619549e+01] [-1.70039680e-02 9.99855335e-01 4.16230029e-04 -5.13290207e-01] [ 1.85973269e-02 -9.99441492e-05 9.99827050e-01 1.08064434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.82 meters Centerline goodness [0,1] 0.9999548471576286 Centerline is valid? [True, True] Translation: X:10.79, Y:-0.51, Z:0.11 [[ 9.99606513e-01 2.15540315e-02 -1.79511262e-02 1.07920368e+01] [-2.15502945e-02 9.99767685e-01 4.01616954e-04 -5.10294064e-01] [ 1.79556123e-02 -1.46068677e-05 9.99838785e-01 1.09884156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.85 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:10.82, Y:-0.51, Z:0.11 [[ 9.99547153e-01 2.48388108e-02 -1.69859677e-02 1.08237441e+01] [-2.48359108e-02 9.99691468e-01 3.81691396e-04 -5.09187168e-01] [ 1.69902077e-02 4.03434287e-05 9.99855655e-01 1.11997496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.879999999999999 meters Centerline goodness [0,1] 0.9998867317581497 Centerline is valid? [True, True] Translation: X:10.86, Y:-0.51, Z:0.11 [[ 9.99524477e-01 2.56698132e-02 -1.70844882e-02 1.08567977e+01] [-2.56669250e-02 9.99670475e-01 3.88336189e-04 -5.09677941e-01] [ 1.70888269e-02 5.03547506e-05 9.99853974e-01 1.11019462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.91 meters Centerline goodness [0,1] 0.9996845994412904 Centerline is valid? [True, True] Translation: X:10.89, Y:-0.51, Z:0.11 [[ 9.99492515e-01 2.71149085e-02 -1.67180681e-02 1.08883923e+01] [-2.71122689e-02 9.99632321e-01 3.84558558e-04 -5.09328742e-01] [ 1.67223485e-02 6.89013577e-05 9.99860169e-01 1.09672473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.94 meters Centerline goodness [0,1] 0.9999098489970701 Centerline is valid? [True, True] Translation: X:10.92, Y:-0.51, Z:0.11 [[ 9.99470844e-01 2.86003806e-02 -1.54935671e-02 1.09214577e+01] [-2.85982315e-02 9.99590922e-01 3.60292427e-04 -5.09521114e-01] [ 1.54975335e-02 8.29868429e-05 9.99879903e-01 1.12556926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.969999999999999 meters Centerline goodness [0,1] 0.9997970413133682 Centerline is valid? [True, True] Translation: X:10.95, Y:-0.51, Z:0.11 [[ 9.99411959e-01 3.03115846e-02 -1.60294741e-02 1.09530098e+01] [-3.03094350e-02 9.99540492e-01 3.77079389e-04 -5.09262660e-01] [ 1.60335383e-02 1.08986653e-04 9.99871449e-01 1.09995407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.0 meters Centerline goodness [0,1] 0.9997059754828788 Centerline is valid? [True, True] Translation: X:10.99, Y:-0.51, Z:0.11 [[ 9.99367650e-01 3.13913669e-02 -1.66997535e-02 1.09854781e+01] [-3.13891096e-02 9.99507162e-01 3.97329627e-04 -5.10903372e-01] [ 1.67039959e-02 1.27112017e-04 9.99860470e-01 1.10341643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.03 meters Centerline goodness [0,1] 0.9997953522215653 Centerline is valid? [True, True] Translation: X:11.02, Y:-0.51, Z:0.11 [[ 9.99339628e-01 3.24898174e-02 -1.62701923e-02 1.10179056e+01] [-3.24877469e-02 9.99472057e-01 3.91620472e-04 -5.12940211e-01] [ 1.62743262e-02 1.37220032e-04 9.99867555e-01 1.11397038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.059999999999999 meters Centerline goodness [0,1] 0.9999320529081356 Centerline is valid? [True, True] Translation: X:11.05, Y:-0.51, Z:0.11 [[ 9.99309541e-01 3.33211248e-02 -1.64360318e-02 1.10494560e+01] [-3.33190493e-02 9.99444686e-01 4.00173800e-04 -5.13696339e-01] [ 1.64402389e-02 1.47735460e-04 9.99864839e-01 1.12913103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.09 meters Centerline goodness [0,1] 0.9998182644252612 Centerline is valid? [True, True] Translation: X:11.08, Y:-0.51, Z:0.11 [[ 9.99231982e-01 3.49664165e-02 -1.76860583e-02 1.10811771e+01] [-3.49641870e-02 9.99388471e-01 4.35352204e-04 -5.13778407e-01] [ 1.76904654e-02 1.83360804e-04 9.99843495e-01 1.10635941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.12 meters Centerline goodness [0,1] 0.9998641273579565 Centerline is valid? [True, True] Translation: X:11.11, Y:-0.51, Z:0.11 [[ 9.99103178e-01 3.72942425e-02 -2.00494149e-02 1.11131693e+01] [-3.72917400e-02 9.99304297e-01 4.98811099e-04 -5.13389241e-01] [ 2.00540693e-02 2.49313814e-04 9.99798866e-01 1.09980302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.15 meters Centerline goodness [0,1] 0.9999320667557346 Centerline is valid? [True, True] Translation: X:11.14, Y:-0.51, Z:0.11 [[ 9.98995490e-01 3.92700970e-02 -2.15840541e-02 1.11448711e+01] [-3.92675394e-02 9.99228585e-01 5.42471058e-04 -5.12985846e-01] [ 2.15887068e-02 3.05626556e-04 9.99766890e-01 1.09589979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.18 meters Centerline goodness [0,1] 0.9998189184906856 Centerline is valid? [True, True] Translation: X:11.18, Y:-0.51, Z:0.11 [[ 9.98969147e-01 3.93040858e-02 -2.27119537e-02 1.11782078e+01] [-3.93011226e-02 9.99227246e-01 5.76984045e-04 -5.14993976e-01] [ 2.27170808e-02 3.16216019e-04 9.99741884e-01 1.08947647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.209999999999999 meters Centerline goodness [0,1] 0.999727192124946 Centerline is valid? [True, True] Translation: X:11.21, Y:-0.52, Z:0.11 [[ 9.98968232e-01 3.92173762e-02 -2.29012895e-02 1.12106406e+01] [-3.92141897e-02 9.99230655e-01 5.88382336e-04 -5.16787096e-01] [ 2.29067453e-02 3.10280249e-04 9.99737558e-01 1.09458231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.24 meters Centerline goodness [0,1] 0.9998184870898943 Centerline is valid? [True, True] Translation: X:11.24, Y:-0.52, Z:0.11 [[ 9.99085034e-01 3.71715850e-02 -2.11510795e-02 1.12416176e+01] [-3.71683163e-02 9.99308869e-01 5.47774826e-04 -5.18855025e-01] [ 2.11568230e-02 2.38876384e-04 9.99776141e-01 1.11295233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.27 meters Centerline goodness [0,1] 0.9998633662013526 Centerline is valid? [True, True] Translation: X:11.27, Y:-0.52, Z:0.11 [[ 9.99207117e-01 3.46594703e-02 -1.95922966e-02 1.12732190e+01] [-3.46561121e-02 9.99399166e-01 5.11008281e-04 -5.22588114e-01] [ 1.95982362e-02 1.68389717e-04 9.99807922e-01 1.14346905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.299999999999999 meters Centerline goodness [0,1] 0.9999318708270881 Centerline is valid? [True, True] Translation: X:11.31, Y:-0.52, Z:0.12 [[ 9.99251655e-01 3.38334977e-02 -1.87462914e-02 1.13054097e+01] [-3.38301926e-02 9.99427473e-01 4.93488802e-04 -5.24883845e-01] [ 1.87522551e-02 1.41071146e-04 9.99824151e-01 1.16659020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.33 meters Centerline goodness [0,1] 0.9998633381924198 Centerline is valid? [True, True] Translation: X:11.34, Y:-0.53, Z:0.12 [[ 9.99293448e-01 3.27143639e-02 -1.85033843e-02 1.13367832e+01] [-3.27108703e-02 9.99464735e-01 4.91518446e-04 -5.26648010e-01] [ 1.85095598e-02 1.14090639e-04 9.99828677e-01 1.16705567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.36 meters Centerline goodness [0,1] 0.9999318119829076 Centerline is valid? [True, True] Translation: X:11.37, Y:-0.53, Z:0.12 [[ 9.99335125e-01 3.17418101e-02 -1.79378348e-02 1.13692704e+01] [-3.17382959e-02 9.99496098e-01 4.80628801e-04 -5.28382692e-01] [ 1.79440519e-02 8.90070645e-05 9.99838989e-01 1.18651517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.389999999999999 meters Centerline goodness [0,1] 0.9999318228302616 Centerline is valid? [True, True] Translation: X:11.40, Y:-0.53, Z:0.12 [[ 9.99336345e-01 3.12461202e-02 -1.87229618e-02 1.14009377e+01] [-3.12421148e-02 9.99511718e-01 5.06461141e-04 -5.29066104e-01] [ 1.87296447e-02 7.88198957e-05 9.99824582e-01 1.18230073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.42 meters Centerline goodness [0,1] 0.9997732374883784 Centerline is valid? [True, True] Translation: X:11.43, Y:-0.53, Z:0.12 [[ 9.99315251e-01 3.10000764e-02 -2.01995972e-02 1.14340638e+01] [-3.09952506e-02 9.99519379e-01 5.52017592e-04 -5.29905403e-01] [ 2.02070014e-02 7.44519775e-05 9.99795815e-01 1.16724312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.45 meters Centerline goodness [0,1] 0.9999546824371786 Centerline is valid? [True, True] Translation: X:11.47, Y:-0.53, Z:0.12 [[ 9.99298484e-01 3.15717073e-02 -2.01436787e-02 1.14665988e+01] [-3.15669114e-02 9.99501486e-01 5.56087597e-04 -5.30064889e-01] [ 2.01511934e-02 8.01762281e-05 9.99796941e-01 1.19179728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.48 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:11.50, Y:-0.53, Z:0.12 [[ 9.99291284e-01 3.18371072e-02 -2.00830337e-02 1.14995344e+01] [-3.18322797e-02 9.99493068e-01 5.60089783e-04 -5.30689601e-01] [ 2.00906846e-02 7.95959078e-05 9.99798159e-01 1.20464560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.51 meters Centerline goodness [0,1] 0.9999319604463395 Centerline is valid? [True, True] Translation: X:11.53, Y:-0.53, Z:0.12 [[ 9.99335037e-01 3.02811522e-02 -2.03109597e-02 1.15312124e+01] [-3.02757783e-02 9.99541420e-01 5.72096700e-04 -5.31871749e-01] [ 2.03189692e-02 4.32138358e-05 9.99793547e-01 1.20445105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.54 meters Centerline goodness [0,1] 0.9998868752686713 Centerline is valid? [True, True] Translation: X:11.56, Y:-0.53, Z:0.12 [[ 9.99430840e-01 2.79138529e-02 -1.89423351e-02 1.15623506e+01] [-2.79086812e-02 9.99610332e-01 5.37372353e-04 -5.33561046e-01] [ 1.89499540e-02 -8.41091101e-06 9.99820433e-01 1.21114117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.57 meters Centerline goodness [0,1] 0.9998183180796221 Centerline is valid? [True, True] Translation: X:11.59, Y:-0.54, Z:0.12 [[ 9.99467019e-01 2.68898765e-02 -1.85097944e-02 1.15944214e+01] [-2.68847112e-02 9.99638401e-01 5.27882384e-04 -5.35071869e-01] [ 1.85172960e-02 -2.99705551e-05 9.99828540e-01 1.21242320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.6 meters Centerline goodness [0,1] 0.9999772468714448 Centerline is valid? [True, True] Translation: X:11.63, Y:-0.54, Z:0.12 [[ 9.99513180e-01 2.58473360e-02 -1.74733311e-02 1.16272001e+01] [-2.58425106e-02 9.99665901e-01 5.01933210e-04 -5.36820506e-01] [ 1.74804669e-02 -5.01341156e-05 9.99847204e-01 1.23791585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.629999999999999 meters Centerline goodness [0,1] 0.9997964215431248 Centerline is valid? [True, True] Translation: X:11.66, Y:-0.54, Z:0.12 [[ 9.99543122e-01 2.41529055e-02 -1.81709754e-02 1.16584784e+01] [-2.41473311e-02 9.99708272e-01 5.26156137e-04 -5.38509342e-01] [ 1.81783826e-02 -8.71351884e-05 9.99834756e-01 1.21588466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.66 meters Centerline goodness [0,1] 0.9999091569767442 Centerline is valid? [True, True] Translation: X:11.69, Y:-0.54, Z:0.12 [[ 9.99593398e-01 2.29670644e-02 -1.68982982e-02 1.16910956e+01] [-2.29620224e-02 9.99736217e-01 4.92365804e-04 -5.41896769e-01] [ 1.69051489e-02 -1.04146506e-04 9.99857092e-01 1.23623659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.69 meters Centerline goodness [0,1] 0.9997722925585208 Centerline is valid? [True, True] Translation: X:11.72, Y:-0.54, Z:0.12 [[ 9.99613111e-01 2.16292153e-02 -1.74872881e-02 1.17229454e+01] [-2.16235266e-02 9.99766052e-01 5.14347273e-04 -5.44059091e-01] [ 1.74943219e-02 -1.36011438e-04 9.99846953e-01 1.23309120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.719999999999999 meters Centerline goodness [0,1] 0.9997495788371352 Centerline is valid? [True, True] Translation: X:11.76, Y:-0.55, Z:0.12 [[ 9.99659678e-01 2.04321208e-02 -1.62190096e-02 1.17550362e+01] [-2.04270135e-02 9.99791231e-01 4.80512528e-04 -5.47182978e-01] [ 1.62254414e-02 -1.49043071e-04 9.99868348e-01 1.23899946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.75 meters Centerline goodness [0,1] 0.999750204378236 Centerline is valid? [True, True] Translation: X:11.79, Y:-0.55, Z:0.12 [[ 9.99657546e-01 2.06540398e-02 -1.60686461e-02 1.17870565e+01] [-2.06490033e-02 9.99786672e-01 4.79304962e-04 -5.48735953e-01] [ 1.60751178e-02 -1.47339296e-04 9.99870776e-01 1.24013174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.78 meters Centerline goodness [0,1] 0.9997720018239854 Centerline is valid? [True, True] Translation: X:11.82, Y:-0.55, Z:0.12 [[ 9.99645729e-01 2.16213726e-02 -1.55219760e-02 1.18191858e+01] [-2.16167294e-02 9.99766222e-01 4.66872820e-04 -5.47525985e-01] [ 1.55284418e-02 -1.31173064e-04 9.99879418e-01 1.24082888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.809999999999999 meters Centerline goodness [0,1] 0.9998186886657752 Centerline is valid? [True, True] Translation: X:11.85, Y:-0.55, Z:0.12 [[ 9.99591016e-01 2.40951003e-02 -1.54021878e-02 1.18506291e+01] [-2.40907705e-02 9.99709666e-01 4.66618583e-04 -5.45953125e-01] [ 1.54089592e-02 -9.53771724e-05 9.99881270e-01 1.23905710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.84 meters Centerline goodness [0,1] 0.9998638436925591 Centerline is valid? [True, True] Translation: X:11.88, Y:-0.55, Z:0.12 [[ 9.99533186e-01 2.60610473e-02 -1.59446574e-02 1.18832759e+01] [-2.60566086e-02 9.99660351e-01 4.86096933e-04 -5.45639270e-01] [ 1.59519100e-02 -7.04063181e-05 9.99872758e-01 1.23940776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.87 meters Centerline goodness [0,1] 0.999818037074946 Centerline is valid? [True, True] Translation: X:11.92, Y:-0.54, Z:0.12 [[ 9.99398925e-01 2.99610265e-02 -1.74392052e-02 1.19158265e+01] [-2.99562183e-02 9.99551068e-01 5.36929018e-04 -5.44047051e-01] [ 1.74474631e-02 -1.41936458e-05 9.99847781e-01 1.22243350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.9 meters Centerline goodness [0,1] 0.999841575195202 Centerline is valid? [True, True] Translation: X:11.95, Y:-0.54, Z:0.12 [[ 9.99240883e-01 3.47042145e-02 -1.76995979e-02 1.19482493e+01] [-3.46999170e-02 9.99397625e-01 5.49947118e-04 -5.41316207e-01] [ 1.77080216e-02 6.46449353e-05 9.99843199e-01 1.22365624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.93 meters Centerline goodness [0,1] 0.9999096922764319 Centerline is valid? [True, True] Translation: X:11.98, Y:-0.54, Z:0.12 [[ 9.99147493e-01 3.75425493e-02 -1.71710267e-02 1.19805349e+01] [-3.75388466e-02 9.99295024e-01 5.38014099e-04 -5.39729614e-01] [ 1.71791200e-02 1.07025100e-04 9.99852422e-01 1.22956462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.959999999999999 meters Centerline goodness [0,1] 0.9998424877928039 Centerline is valid? [True, True] Translation: X:12.01, Y:-0.54, Z:0.12 [[ 9.98982298e-01 4.17756096e-02 -1.70049154e-02 1.20126472e+01] [-4.17725173e-02 9.99127003e-01 5.37155491e-04 -5.35966714e-01] [ 1.70125102e-02 1.73729297e-04 9.99855262e-01 1.21967564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.99 meters Centerline goodness [0,1] 0.9999102192893857 Centerline is valid? [True, True] Translation: X:12.05, Y:-0.53, Z:0.12 [[ 9.98886813e-01 4.41408557e-02 -1.66348807e-02 1.20450664e+01] [-4.41381579e-02 9.99025296e-01 5.29461954e-04 -5.34753912e-01] [ 1.66420375e-02 2.05360428e-04 9.99861491e-01 1.22845566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.02 meters Centerline goodness [0,1] 0.999932449167999 Centerline is valid? [True, True] Translation: X:12.08, Y:-0.53, Z:0.12 [[ 9.98719060e-01 4.76106073e-02 -1.71309537e-02 1.20769069e+01] [-4.76081832e-02 9.98865936e-01 5.49528336e-04 -5.32759208e-01] [ 1.71376895e-02 2.66749158e-04 9.99853103e-01 1.22554615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.049999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.11, Y:-0.53, Z:0.12 [[ 9.98634229e-01 4.93994355e-02 -1.70109218e-02 1.21090304e+01] [-4.93972334e-02 9.98779060e-01 5.49861473e-04 -5.33381352e-01] [ 1.70173153e-02 2.91181983e-04 9.99855153e-01 1.23980797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.08 meters Centerline goodness [0,1] 0.9997522578320308 Centerline is valid? [True, True] Translation: X:12.14, Y:-0.53, Z:0.12 [[ 9.98595790e-01 4.99139902e-02 -1.77494290e-02 1.21414036e+01] [-4.99115913e-02 9.98753472e-01 5.78392533e-04 -5.33454752e-01] [ 1.77561738e-02 3.08321901e-04 9.99842299e-01 1.21555274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.11 meters Centerline goodness [0,1] 0.9998197670489107 Centerline is valid? [True, True] Translation: X:12.17, Y:-0.54, Z:0.12 [[ 9.98546836e-01 5.08266743e-02 -1.79127254e-02 1.21745825e+01] [-5.08242893e-02 9.98707437e-01 5.88653085e-04 -5.35247745e-01] [ 1.79194914e-02 3.22603863e-04 9.99839381e-01 1.22735055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.139999999999999 meters Centerline goodness [0,1] 0.9997969726364231 Centerline is valid? [True, True] Translation: X:12.21, Y:-0.54, Z:0.12 [[ 9.98538976e-01 5.08287660e-02 -1.83398336e-02 1.22066989e+01] [-5.08261714e-02 9.98707330e-01 6.07861598e-04 -5.36222982e-01] [ 1.83470231e-02 3.25170028e-04 9.99831626e-01 1.22114539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.17 meters Centerline goodness [0,1] 0.999842239300444 Centerline is valid? [True, True] Translation: X:12.24, Y:-0.54, Z:0.12 [[ 9.98537481e-01 5.08331662e-02 -1.84089399e-02 1.22399483e+01] [-5.08304596e-02 9.98707107e-01 6.15207136e-04 -5.37824863e-01] [ 1.84164120e-02 3.21427491e-04 9.99830352e-01 1.22537752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.2 meters Centerline goodness [0,1] 0.9997522076049739 Centerline is valid? [True, True] Translation: X:12.27, Y:-0.54, Z:0.12 [[ 9.98664472e-01 4.81485768e-02 -1.87346452e-02 1.22716170e+01] [-4.81452054e-02 9.98840148e-01 6.31208655e-04 -5.41231925e-01] [ 1.87433076e-02 2.71617682e-04 9.99824292e-01 1.21624389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.229999999999999 meters Centerline goodness [0,1] 0.9997739193344185 Centerline is valid? [True, True] Translation: X:12.30, Y:-0.54, Z:0.12 [[ 9.98769310e-01 4.62449941e-02 -1.79239150e-02 1.23037538e+01] [-4.62415237e-02 9.98930103e-01 6.08238639e-04 -5.44605359e-01] [ 1.79328663e-02 2.21339055e-04 9.99839169e-01 1.22509877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.26 meters Centerline goodness [0,1] 0.9998184870898943 Centerline is valid? [True, True] Translation: X:12.33, Y:-0.55, Z:0.13 [[ 9.99053306e-01 4.03599857e-02 -1.62346257e-02 1.23345855e+01] [-4.03563095e-02 9.99185199e-01 5.54121718e-04 -5.51768497e-01] [ 1.62437620e-02 1.01572442e-04 9.99868056e-01 1.25992751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.29 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.37, Y:-0.56, Z:0.13 [[ 9.99173818e-01 3.79303509e-02 -1.45934587e-02 1.23666289e+01] [-3.79270874e-02 9.99280384e-01 5.00423058e-04 -5.56799341e-01] [ 1.46019383e-02 5.34777661e-05 9.99893385e-01 1.30778222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.32 meters Centerline goodness [0,1] 0.9998179915366064 Centerline is valid? [True, True] Translation: X:12.40, Y:-0.56, Z:0.13 [[ 9.99447578e-01 3.09672008e-02 -1.20652536e-02 1.23982731e+01] [-3.09644315e-02 9.99520400e-01 4.16311778e-04 -5.63325272e-01] [ 1.20723591e-02 -4.24880786e-05 9.99927126e-01 1.30475644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.35 meters Centerline goodness [0,1] 0.9997956310459148 Centerline is valid? [True, True] Translation: X:12.43, Y:-0.57, Z:0.13 [[ 9.99518321e-01 2.89762719e-02 -1.11131168e-02 1.24314863e+01] [-2.89737687e-02 9.99580098e-01 3.86219234e-04 -5.66266379e-01] [ 1.11196416e-02 -6.40443249e-05 9.99938173e-01 1.31423859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.379999999999999 meters Centerline goodness [0,1] 0.9998406918525262 Centerline is valid? [True, True] Translation: X:12.46, Y:-0.57, Z:0.13 [[ 9.99618305e-01 2.58582976e-02 -9.72592312e-03 1.24626773e+01] [-2.58562089e-02 9.99665614e-01 3.40453128e-04 -5.70438327e-01] [ 9.73147445e-03 -8.88476787e-05 9.99952644e-01 1.32023062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.41 meters Centerline goodness [0,1] 0.9998179708298255 Centerline is valid? [True, True] Translation: X:12.50, Y:-0.57, Z:0.13 [[ 9.99633867e-01 2.51045754e-02 -1.00941663e-02 1.24953147e+01] [-2.51022634e-02 9.99684825e-01 3.55700342e-04 -5.72857093e-01] [ 1.00999146e-02 -1.02183687e-04 9.99948989e-01 1.31472107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.44 meters Centerline goodness [0,1] 0.9998407172275696 Centerline is valid? [True, True] Translation: X:12.53, Y:-0.58, Z:0.13 [[ 9.99645527e-01 2.42750238e-02 -1.09336222e-02 1.25285599e+01] [-2.42722253e-02 9.99705311e-01 3.88598516e-04 -5.75809014e-01] [ 1.09398334e-02 -1.23077427e-04 9.99940151e-01 1.31579086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.469999999999999 meters Centerline goodness [0,1] 0.9999315818281336 Centerline is valid? [True, True] Translation: X:12.56, Y:-0.58, Z:0.13 [[ 9.99625330e-01 2.47961220e-02 -1.15910349e-02 1.25615675e+01] [-2.47929717e-02 9.99692521e-01 4.15423700e-04 -5.77108880e-01] [ 1.15977718e-02 -1.27891853e-04 9.99932735e-01 1.32248494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.5 meters Centerline goodness [0,1] 0.9997262024276719 Centerline is valid? [True, True] Translation: X:12.59, Y:-0.58, Z:0.13 [[ 9.99566743e-01 2.60004145e-02 -1.37950703e-02 1.25941758e+01] [-2.59960046e-02 9.99661922e-01 4.98923385e-04 -5.77727156e-01] [ 1.38033787e-02 -1.40090511e-04 9.99904719e-01 1.28547109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.53 meters Centerline goodness [0,1] 0.9998860398860399 Centerline is valid? [True, True] Translation: X:12.63, Y:-0.58, Z:0.13 [[ 9.99430034e-01 2.99530451e-02 -1.55699000e-02 1.26251678e+01] [-2.99478355e-02 9.99551302e-01 5.67695633e-04 -5.77575015e-01] [ 1.55799181e-02 -1.01087260e-04 9.99878621e-01 1.28563606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.559999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.66, Y:-0.58, Z:0.13 [[ 9.99326783e-01 3.29513588e-02 -1.61303429e-02 1.26573404e+01] [-3.29460952e-02 9.99456955e-01 5.92013297e-04 -5.77691565e-01] [ 1.61410910e-02 -6.01829311e-05 9.99869722e-01 1.30229245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.59 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.69, Y:-0.58, Z:0.13 [[ 9.99103903e-01 3.88355692e-02 -1.68282505e-02 1.26900639e+01] [-3.88305995e-02 9.99245614e-01 6.22091454e-04 -5.75887760e-01] [ 1.68397148e-02 3.19170543e-05 9.99858201e-01 1.30343486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.62 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.72, Y:-0.57, Z:0.13 [[ 9.98878353e-01 4.44738135e-02 -1.62516167e-02 1.27214658e+01] [-4.44698569e-02 9.99010543e-01 6.04934552e-04 -5.73339516e-01] [ 1.62624402e-02 1.18451042e-04 9.99867751e-01 1.30529954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.65 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.75, Y:-0.57, Z:0.13 [[ 9.98865986e-01 4.47507665e-02 -1.62514692e-02 1.27538314e+01] [-4.47467824e-02 9.98998176e-01 6.08876897e-04 -5.74631152e-01] [ 1.62624358e-02 1.19014533e-04 9.99867751e-01 1.30884079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.68 meters Centerline goodness [0,1] 0.9998863842937648 Centerline is valid? [True, True] Translation: X:12.79, Y:-0.57, Z:0.13 [[ 9.98780345e-01 4.71026242e-02 -1.48042605e-02 1.27868510e+01] [-4.70995196e-02 9.98890046e-01 5.58488754e-04 -5.74754110e-01] [ 1.48141347e-02 1.39465966e-04 9.99890255e-01 1.30559745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.709999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:12.82, Y:-0.57, Z:0.13 [[ 9.98707392e-01 4.90915720e-02 -1.31743126e-02 1.28191849e+01] [-4.90892437e-02 9.98794271e-01 5.00237821e-04 -5.74835162e-01] [ 1.31829854e-02 1.47125832e-04 9.99913090e-01 1.34240019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.74 meters Centerline goodness [0,1] 0.9998641304347826 Centerline is valid? [True, True] Translation: X:12.85, Y:-0.58, Z:0.13 [[ 9.98749344e-01 4.81709948e-02 -1.33904402e-02 1.28505149e+01] [-4.81684622e-02 9.98839095e-01 5.11770084e-04 -5.76046123e-01] [ 1.33995476e-02 1.33866876e-04 9.99910213e-01 1.32197874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.77 meters Centerline goodness [0,1] 0.9998416612002081 Centerline is valid? [True, True] Translation: X:12.88, Y:-0.57, Z:0.13 [[ 9.98820056e-01 4.66514622e-02 -1.34958169e-02 1.28815689e+01] [-4.66487088e-02 9.98911222e-01 5.18912706e-04 -5.73960048e-01] [ 1.35053310e-02 1.11262013e-04 9.99908793e-01 1.30690299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.799999999999999 meters Centerline goodness [0,1] 0.9998196532834374 Centerline is valid? [True, True] Translation: X:12.91, Y:-0.57, Z:0.13 [[ 9.98782460e-01 4.72839822e-02 -1.40649692e-02 1.29144346e+01] [-4.72810056e-02 9.98881480e-01 5.44259373e-04 -5.71367366e-01] [ 1.40749720e-02 1.21409172e-04 9.99900935e-01 1.29130483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.83 meters Centerline goodness [0,1] 0.999932423300446 Centerline is valid? [True, True] Translation: X:12.95, Y:-0.57, Z:0.13 [[ 9.98717152e-01 4.85695823e-02 -1.43193958e-02 1.29465554e+01] [-4.85665722e-02 9.98819792e-01 5.58086320e-04 -5.66844016e-01] [ 1.43296019e-02 1.38073587e-04 9.99897316e-01 1.29191389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.86 meters Centerline goodness [0,1] 0.9997752354408757 Centerline is valid? [True, True] Translation: X:12.98, Y:-0.57, Z:0.13 [[ 9.98689845e-01 4.90392178e-02 -1.46201484e-02 1.29793468e+01] [-4.90360728e-02 9.98796843e-01 5.73728952e-04 -5.66684592e-01] [ 1.46306933e-02 1.43937383e-04 9.99892955e-01 1.27811634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.889999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.01, Y:-0.57, Z:0.13 [[ 9.98646426e-01 5.01258300e-02 -1.38822211e-02 1.30117974e+01] [-5.01230481e-02 9.98742899e-01 5.48468777e-04 -5.66883903e-01] [ 1.38922622e-02 1.48092850e-04 9.99903487e-01 1.33150998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.92 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.04, Y:-0.57, Z:0.13 [[ 9.98636065e-01 5.02993299e-02 -1.39995064e-02 1.30442466e+01] [-5.02964631e-02 9.98734177e-01 5.57009096e-04 -5.67432289e-01] [ 1.40098027e-02 1.47876286e-04 9.99901847e-01 1.33854339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.95 meters Centerline goodness [0,1] 0.9998436697411618 Centerline is valid? [True, True] Translation: X:13.08, Y:-0.56, Z:0.13 [[ 9.98681892e-01 4.89643866e-02 -1.53937380e-02 1.30759824e+01] [-4.89606940e-02 9.98800516e-01 6.16881509e-04 -5.64825770e-01] [ 1.54054786e-02 1.37619701e-04 9.99881319e-01 1.30221546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.979999999999999 meters Centerline goodness [0,1] 0.9998658348426913 Centerline is valid? [True, True] Translation: X:13.11, Y:-0.56, Z:0.13 [[ 9.98654435e-01 4.92405093e-02 -1.62693460e-02 1.31092800e+01] [-4.92363521e-02 9.98786940e-01 6.56216470e-04 -5.63398510e-01] [ 1.62819228e-02 1.45709762e-04 9.99867430e-01 1.29230346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.01 meters Centerline goodness [0,1] 0.9997319274416943 Centerline is valid? [True, True] Translation: X:13.14, Y:-0.56, Z:0.13 [[ 9.98608907e-01 4.98780545e-02 -1.71006092e-02 1.31424424e+01] [-4.98734722e-02 9.98755303e-01 6.94588051e-04 -5.64580217e-01] [ 1.71139688e-02 1.59244945e-04 9.99853533e-01 1.27905770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.04 meters Centerline goodness [0,1] 0.9998213767387858 Centerline is valid? [True, True] Translation: X:13.17, Y:-0.57, Z:0.13 [[ 9.98514154e-01 5.16999551e-02 -1.72220487e-02 1.31745232e+01] [-5.16955007e-02 9.98662646e-01 7.04025339e-04 -5.66065133e-01] [ 1.72354148e-02 1.87323165e-04 9.99851442e-01 1.29788048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.07 meters Centerline goodness [0,1] 0.9998427178357974 Centerline is valid? [True, True] Translation: X:13.21, Y:-0.57, Z:0.13 [[ 9.98476207e-01 5.25518482e-02 -1.68394279e-02 1.32069584e+01] [-5.25476388e-02 9.98618178e-01 6.92648649e-04 -5.68219372e-01] [ 1.68525588e-02 1.93278977e-04 9.99857967e-01 1.30706447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.1 meters Centerline goodness [0,1] 0.9997981202754537 Centerline is valid? [True, True] Translation: X:13.24, Y:-0.57, Z:0.13 [[ 9.98434086e-01 5.33449457e-02 -1.68431823e-02 1.32389686e+01] [-5.33407669e-02 9.98576124e-01 6.97566821e-04 -5.68117853e-01] [ 1.68564114e-02 2.01953772e-04 9.99857900e-01 1.29999272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.129999999999999 meters Centerline goodness [0,1] 0.9998439033092499 Centerline is valid? [True, True] Translation: X:13.27, Y:-0.57, Z:0.13 [[ 9.98354771e-01 5.49057477e-02 -1.65260206e-02 1.32696808e+01] [-5.49018795e-02 9.98491517e-01 6.88007427e-04 -5.66557009e-01] [ 1.65388669e-02 2.20434093e-04 9.99863199e-01 1.30311819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.16 meters Centerline goodness [0,1] 0.9998886042107609 Centerline is valid? [True, True] Translation: X:13.30, Y:-0.57, Z:0.13 [[ 9.98304027e-01 5.60776764e-02 -1.56321426e-02 1.33030490e+01] [-5.60743183e-02 9.98426384e-01 6.53388136e-04 -5.66913448e-01] [ 1.56441841e-02 2.24281730e-04 9.99877597e-01 1.32117851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.19 meters Centerline goodness [0,1] 0.9998661610528664 Centerline is valid? [True, True] Translation: X:13.33, Y:-0.57, Z:0.13 [[ 9.98168684e-01 5.85617729e-02 -1.51590395e-02 1.33338915e+01] [-5.85588421e-02 9.98283755e-01 6.37522048e-04 -5.67997997e-01] [ 1.51703573e-02 2.51341259e-04 9.99884892e-01 1.34203737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.219999999999999 meters Centerline goodness [0,1] 0.9996872766261615 Centerline is valid? [True, True] Translation: X:13.37, Y:-0.57, Z:0.13 [[ 9.98020546e-01 6.09605284e-02 -1.54532734e-02 1.33662671e+01] [-6.09577139e-02 9.98140135e-01 6.53531429e-04 -5.70319082e-01] [ 1.54643721e-02 2.89758427e-04 9.99880377e-01 1.34721821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.25 meters Centerline goodness [0,1] 0.9998219848687139 Centerline is valid? [True, True] Translation: X:13.40, Y:-0.57, Z:0.14 [[ 9.97906611e-01 6.27764830e-02 -1.55405514e-02 1.33983093e+01] [-6.27737964e-02 9.98027561e-01 6.61098680e-04 -5.71196972e-01] [ 1.55514000e-02 3.15824664e-04 9.99879020e-01 1.36398885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.28 meters Centerline goodness [0,1] 0.9998441639395356 Centerline is valid? [True, True] Translation: X:13.43, Y:-0.57, Z:0.14 [[ 9.97802532e-01 6.42513587e-02 -1.61823820e-02 1.34301310e+01] [-6.42485726e-02 9.97933686e-01 6.92532069e-04 -5.70789330e-01] [ 1.61934402e-02 3.48684692e-04 9.99868817e-01 1.36170763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.309999999999999 meters Centerline goodness [0,1] 0.9997998665777185 Centerline is valid? [True, True] Translation: X:13.46, Y:-0.57, Z:0.14 [[ 9.97657559e-01 6.63926681e-02 -1.64744646e-02 1.34624654e+01] [-6.63900044e-02 9.97793498e-01 7.09143313e-04 -5.69514069e-01] [ 1.64851956e-02 3.86257593e-04 9.99864035e-01 1.35251467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.34 meters Centerline goodness [0,1] 0.9998439589835042 Centerline is valid? [True, True] Translation: X:13.49, Y:-0.57, Z:0.14 [[ 9.97603644e-01 6.71507106e-02 -1.66658784e-02 1.34943381e+01] [-6.71480215e-02 9.97742764e-01 7.21516224e-04 -5.70893997e-01] [ 1.66767099e-02 3.99293545e-04 9.99860854e-01 1.36024591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.37 meters Centerline goodness [0,1] 0.9998659397622666 Centerline is valid? [True, True] Translation: X:13.53, Y:-0.57, Z:0.14 [[ 9.97644618e-01 6.65633553e-02 -1.65691487e-02 1.35250823e+01] [-6.65605590e-02 9.97782127e-01 7.20787291e-04 -5.74467813e-01] [ 1.65803785e-02 3.83762241e-04 9.99862462e-01 1.37471063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.399999999999999 meters Centerline goodness [0,1] 0.99986570571646 Centerline is valid? [True, True] Translation: X:13.56, Y:-0.58, Z:0.14 [[ 9.97822567e-01 6.40168388e-02 -1.58735448e-02 1.35569053e+01] [-6.40139072e-02 9.97948766e-01 6.93233807e-04 -5.81076042e-01] [ 1.58853631e-02 3.24403290e-04 9.99873767e-01 1.39626552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.43 meters Centerline goodness [0,1] 0.9997549347235218 Centerline is valid? [True, True] Translation: X:13.59, Y:-0.58, Z:0.14 [[ 9.97933886e-01 6.22930407e-02 -1.57332566e-02 1.35877903e+01] [-6.22898863e-02 9.98057860e-01 6.90931878e-04 -5.82987969e-01] [ 1.57457407e-02 2.90518431e-04 9.99875986e-01 1.38956528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.459999999999999 meters Centerline goodness [0,1] 0.9997990263945336 Centerline is valid? [True, True] Translation: X:13.62, Y:-0.59, Z:0.14 [[ 9.98044818e-01 6.07101291e-02 -1.48600498e-02 1.36198383e+01] [-6.07070900e-02 9.98155408e-01 6.55928702e-04 -5.87583883e-01] [ 1.48724606e-02 2.47464141e-04 9.99889368e-01 1.40293608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.49 meters Centerline goodness [0,1] 0.9997764463918448 Centerline is valid? [True, True] Translation: X:13.65, Y:-0.59, Z:0.14 [[ 9.98293907e-01 5.70817100e-02 -1.22862840e-02 1.36504424e+01] [-5.70793266e-02 9.98369498e-01 5.44842706e-04 -5.92372164e-01] [ 1.22973518e-02 1.57379666e-04 9.99924372e-01 1.41663783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.52 meters Centerline goodness [0,1] 0.999775487752857 Centerline is valid? [True, True] Translation: X:13.68, Y:-0.60, Z:0.14 [[ 9.98487729e-01 5.39595621e-02 -1.05175956e-02 1.36825038e+01] [-5.39576212e-02 9.98543117e-01 4.68421129e-04 -5.98880414e-01] [ 1.05275484e-02 9.97916877e-05 9.99944579e-01 1.43310102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.549999999999999 meters Centerline goodness [0,1] 0.9997975799559174 Centerline is valid? [True, True] Translation: X:13.71, Y:-0.60, Z:0.14 [[ 9.98565845e-01 5.24527765e-02 -1.07218909e-02 1.37147446e+01] [-5.24506437e-02 9.98623402e-01 4.80205893e-04 -6.03476051e-01] [ 1.07323193e-02 8.28528781e-05 9.99942404e-01 1.44073422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.58 meters Centerline goodness [0,1] 0.9998199819981998 Centerline is valid? [True, True] Translation: X:13.75, Y:-0.61, Z:0.14 [[ 9.98629340e-01 5.11897980e-02 -1.09107996e-02 1.37458676e+01] [-5.11874835e-02 9.98688941e-01 4.91469782e-04 -6.06718630e-01] [ 1.09216531e-02 6.77002283e-05 9.99940355e-01 1.44148357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.61 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.78, Y:-0.61, Z:0.15 [[ 9.98638511e-01 5.10937193e-02 -1.05146071e-02 1.37791049e+01] [-5.10915500e-02 9.98693861e-01 4.75002538e-04 -6.10055541e-01] [ 1.05251433e-02 6.28517495e-05 9.99944607e-01 1.47035231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.639999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:13.81, Y:-0.61, Z:0.15 [[ 9.98639214e-01 5.07562668e-02 -1.19800890e-02 1.38104829e+01] [-5.07533815e-02 9.98711068e-01 5.44943811e-04 -6.13492602e-01] [ 1.19923068e-02 6.38277684e-05 9.99928088e-01 1.45029710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.67 meters Centerline goodness [0,1] 0.9997957655388385 Centerline is valid? [True, True] Translation: X:13.84, Y:-0.62, Z:0.14 [[ 9.98630309e-01 5.07674192e-02 -1.26560652e-02 1.38432213e+01] [-5.07641678e-02 9.98710501e-01 5.78233413e-04 -6.15584710e-01] [ 1.26691006e-02 6.50332050e-05 9.99919742e-01 1.41117596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.7 meters Centerline goodness [0,1] 0.9997747950635077 Centerline is valid? [True, True] Translation: X:13.87, Y:-0.62, Z:0.14 [[ 9.98527493e-01 5.28160225e-02 -1.23819879e-02 1.38746398e+01] [-5.28130278e-02 9.98604256e-01 5.68934151e-04 -6.16123003e-01] [ 1.23947547e-02 8.58338801e-05 9.99923178e-01 1.41361415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.729999999999999 meters Centerline goodness [0,1] 0.999931917211329 Centerline is valid? [True, True] Translation: X:13.91, Y:-0.62, Z:0.14 [[ 9.98462737e-01 5.42979991e-02 -1.11305658e-02 1.39077677e+01] [-5.42956557e-02 9.98524771e-01 5.12831688e-04 -6.17211512e-01] [ 1.11419914e-02 9.22980368e-05 9.99937922e-01 1.44122327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.76 meters Centerline goodness [0,1] 0.9998642257473241 Centerline is valid? [True, True] Translation: X:13.94, Y:-0.62, Z:0.14 [[ 9.98347710e-01 5.64784313e-02 -1.05847518e-02 1.39397040e+01] [-5.64764047e-02 9.98403814e-01 4.90513345e-04 -6.17883882e-01] [ 1.05955600e-02 1.08085850e-04 9.99943860e-01 1.44170252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.79 meters Centerline goodness [0,1] 0.9997293640054127 Centerline is valid? [True, True] Translation: X:13.97, Y:-0.62, Z:0.14 [[ 9.98257882e-01 5.80085840e-02 -1.07798114e-02 1.39709071e+01] [-5.80065420e-02 9.98316077e-01 5.02258160e-04 -6.18231385e-01] [ 1.07907943e-02 1.23916415e-04 9.99941770e-01 1.43065673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.82 meters Centerline goodness [0,1] 0.9999548990867065 Centerline is valid? [True, True] Translation: X:14.00, Y:-0.62, Z:0.15 [[ 9.98169776e-01 5.95583982e-02 -1.04831363e-02 1.40031116e+01] [-5.95565282e-02 9.98224814e-01 4.90743778e-04 -6.18814918e-01] [ 1.04937547e-02 1.34493597e-04 9.99944930e-01 1.45165717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.85 meters Centerline goodness [0,1] 0.9998870413880354 Centerline is valid? [True, True] Translation: X:14.03, Y:-0.62, Z:0.14 [[ 9.98208543e-01 5.82648517e-02 -1.35982201e-02 1.40344403e+01] [-5.82615304e-02 9.98301149e-01 6.40593079e-04 -6.19106473e-01] [ 1.36124428e-02 1.52807628e-04 9.99907335e-01 1.40071034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.879999999999999 meters Centerline goodness [0,1] 0.9997963662692038 Centerline is valid? [True, True] Translation: X:14.07, Y:-0.62, Z:0.14 [[ 9.98233391e-01 5.77121883e-02 -1.41209533e-02 1.40669728e+01] [-5.77085028e-02 9.98333252e-01 6.68663970e-04 -6.21731892e-01] [ 1.41360073e-02 1.47416371e-04 9.99900071e-01 1.38890797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.91 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.10, Y:-0.62, Z:0.14 [[ 9.98214126e-01 5.81867282e-02 -1.35226701e-02 1.41000515e+01] [-5.81833417e-02 9.98305707e-01 6.44047531e-04 -6.23773149e-01] [ 1.35372337e-02 1.43896789e-04 9.99908357e-01 1.42003153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.94 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.13, Y:-0.63, Z:0.14 [[ 9.98298847e-01 5.65779564e-02 -1.40835822e-02 1.41310943e+01] [-5.65740713e-02 9.98398177e-01 6.74428795e-04 -6.27540194e-01] [ 1.40991806e-02 1.23484094e-04 9.99900594e-01 1.42400253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.969999999999999 meters Centerline goodness [0,1] 0.999909377194771 Centerline is valid? [True, True] Translation: X:14.16, Y:-0.63, Z:0.14 [[ 9.98371555e-01 5.54234523e-02 -1.35084867e-02 1.41626066e+01] [-5.54197438e-02 9.98462934e-01 6.48999465e-04 -6.31233864e-01] [ 1.35236931e-02 1.00694268e-04 9.99908546e-01 1.41584388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.0 meters Centerline goodness [0,1] 0.9999093155591829 Centerline is valid? [True, True] Translation: X:14.19, Y:-0.63, Z:0.14 [[ 9.98446772e-01 5.40925052e-02 -1.33433390e-02 1.41933745e+01] [-5.40887250e-02 9.98535926e-01 6.44289233e-04 -6.33994841e-01] [ 1.33586546e-02 7.84356906e-05 9.99910766e-01 1.42669304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.03 meters Centerline goodness [0,1] 0.9998637416541764 Centerline is valid? [True, True] Translation: X:14.23, Y:-0.64, Z:0.14 [[ 9.98571497e-01 5.17288958e-02 -1.33823554e-02 1.42257118e+01] [-5.17248395e-02 9.98661163e-01 6.49280364e-04 -6.37676081e-01] [ 1.33980251e-02 4.38473193e-05 9.99910241e-01 1.42726058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.059999999999999 meters Centerline goodness [0,1] 0.9999316597567087 Centerline is valid? [True, True] Translation: X:14.26, Y:-0.64, Z:0.14 [[ 9.98556961e-01 5.21485491e-02 -1.28266888e-02 1.42575241e+01] [-5.21448198e-02 9.98639338e-01 6.25233630e-04 -6.38729513e-01] [ 1.28418410e-02 4.45139822e-05 9.99917539e-01 1.43844980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.09 meters Centerline goodness [0,1] 0.99990930116548 Centerline is valid? [True, True] Translation: X:14.29, Y:-0.64, Z:0.14 [[ 9.98506955e-01 5.30667423e-02 -1.29530845e-02 1.42906710e+01] [-5.30629838e-02 9.98590966e-01 6.33910125e-04 -6.39002863e-01] [ 1.29684727e-02 5.43656431e-05 9.99915904e-01 1.42671116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.12 meters Centerline goodness [0,1] 0.9999320944340071 Centerline is valid? [True, True] Translation: X:14.32, Y:-0.64, Z:0.14 [[ 9.98482008e-01 5.33971998e-02 -1.35062169e-02 1.43230179e+01] [-5.33930906e-02 9.98573350e-01 6.64905086e-04 -6.40263801e-01] [ 1.35224524e-02 5.72428984e-05 9.99908566e-01 1.42356303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.149999999999999 meters Centerline goodness [0,1] 0.9998866727107888 Centerline is valid? [True, True] Translation: X:14.36, Y:-0.64, Z:0.14 [[ 9.98454771e-01 5.37538961e-02 -1.40921573e-02 1.43557117e+01] [-5.37494029e-02 9.98554212e-01 6.97665811e-04 -6.42322255e-01] [ 1.41092853e-02 6.08572814e-05 9.99900457e-01 1.41538822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.18 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.39, Y:-0.64, Z:0.14 [[ 9.98464669e-01 5.34780828e-02 -1.44360526e-02 1.43875766e+01] [-5.34732794e-02 9.98569022e-01 7.18797362e-04 -6.44588460e-01] [ 1.44538348e-02 5.42493023e-05 9.99895536e-01 1.43290214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.209999999999999 meters Centerline goodness [0,1] 0.9998638776714007 Centerline is valid? [True, True] Translation: X:14.42, Y:-0.65, Z:0.14 [[ 9.98495363e-01 5.27794801e-02 -1.48773969e-02 1.44196752e+01] [-5.27742418e-02 9.98606191e-01 7.44744798e-04 -6.47231060e-01] [ 1.48959678e-02 4.15191118e-05 9.99889048e-01 1.41485117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.24 meters Centerline goodness [0,1] 0.9997279775128077 Centerline is valid? [True, True] Translation: X:14.45, Y:-0.65, Z:0.14 [[ 9.98461500e-01 5.32795013e-02 -1.53599340e-02 1.44525847e+01] [-5.32739135e-02 9.98579638e-01 7.73015529e-04 -6.48872430e-01] [ 1.53793032e-02 4.64575525e-05 9.99881730e-01 1.41006640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.27 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:14.48, Y:-0.65, Z:0.14 [[ 9.98409170e-01 5.43826256e-02 -1.48882528e-02 1.44841735e+01] [-5.43774376e-02 9.98520168e-01 7.53356661e-04 -6.49295223e-01] [ 1.49071902e-02 5.74268416e-05 9.99888880e-01 1.44700121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.299999999999999 meters Centerline goodness [0,1] 0.9997067051710135 Centerline is valid? [True, True] Translation: X:14.52, Y:-0.65, Z:0.14 [[ 9.98253457e-01 5.66061944e-02 -1.69048506e-02 1.45162815e+01] [-5.65997436e-02 9.98396579e-01 8.60173521e-04 -6.48148916e-01] [ 1.69264362e-02 9.81390184e-05 9.99856733e-01 1.39577911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.33 meters Centerline goodness [0,1] 0.9998417435340929 Centerline is valid? [True, True] Translation: X:14.55, Y:-0.65, Z:0.14 [[ 9.98168872e-01 5.80528005e-02 -1.69934089e-02 1.45494472e+01] [-5.80464163e-02 9.98313507e-01 8.69100985e-04 -6.48495553e-01] [ 1.70152034e-02 1.18896936e-04 9.99855224e-01 1.40881209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.36 meters Centerline goodness [0,1] 0.9997517994539588 Centerline is valid? [True, True] Translation: X:14.58, Y:-0.65, Z:0.14 [[ 9.98072988e-01 5.93635277e-02 -1.80632936e-02 1.45810532e+01] [-5.93564398e-02 9.98236420e-01 9.28741173e-04 -6.48920840e-01] [ 1.80865709e-02 1.45221323e-04 9.99836414e-01 1.40495498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.389999999999999 meters Centerline goodness [0,1] 0.9997972196561746 Centerline is valid? [True, True] Translation: X:14.61, Y:-0.65, Z:0.14 [[ 9.97899952e-01 6.20320191e-02 -1.86471283e-02 1.46135614e+01] [-6.20248473e-02 9.98074141e-01 9.63258393e-04 -6.47914926e-01] [ 1.86709694e-02 1.95349783e-04 9.99825663e-01 1.41288357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.42 meters Centerline goodness [0,1] 0.9999099869481075 Centerline is valid? [True, True] Translation: X:14.65, Y:-0.65, Z:0.14 [[ 9.97802837e-01 6.37809213e-02 -1.79301969e-02 1.46464863e+01] [-6.37744905e-02 9.97963901e-01 9.30807899e-04 -6.48125776e-01] [ 1.79530571e-02 2.14726411e-04 9.99838808e-01 1.43001504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.45 meters Centerline goodness [0,1] 0.9997752808988764 Centerline is valid? [True, True] Translation: X:14.68, Y:-0.65, Z:0.14 [[ 9.97706315e-01 6.51438153e-02 -1.83954403e-02 1.46784306e+01] [-6.51371851e-02 9.97875857e-01 9.59998226e-04 -6.48672453e-01] [ 1.84189037e-02 2.40430907e-04 9.99830329e-01 1.42400718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.479999999999999 meters Centerline goodness [0,1] 0.9997528423133959 Centerline is valid? [True, True] Translation: X:14.71, Y:-0.65, Z:0.14 [[ 9.97596473e-01 6.70010275e-02 -1.76674766e-02 1.47104980e+01] [-6.69951267e-02 9.97752873e-01 9.26310186e-04 -6.47901692e-01] [ 1.76898393e-02 2.59551060e-04 9.99843489e-01 1.42729020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.51 meters Centerline goodness [0,1] 0.9997751040143933 Centerline is valid? [True, True] Translation: X:14.74, Y:-0.65, Z:0.14 [[ 9.97552154e-01 6.78045662e-02 -1.70950314e-02 1.47428320e+01] [-6.77990863e-02 9.97698588e-01 9.00572701e-04 -6.48464685e-01] [ 1.71167516e-02 2.60659269e-04 9.99853464e-01 1.43327378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.54 meters Centerline goodness [0,1] 0.9997976846127908 Centerline is valid? [True, True] Translation: X:14.78, Y:-0.65, Z:0.14 [[ 9.97542827e-01 6.81969172e-02 -1.60464522e-02 1.47755896e+01] [-6.81920727e-02 9.97671850e-01 8.49502815e-04 -6.50221677e-01] [ 1.60670271e-02 2.46825394e-04 9.99870887e-01 1.44804769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.57 meters Centerline goodness [0,1] 0.9997976846127908 Centerline is valid? [True, True] Translation: X:14.81, Y:-0.65, Z:0.15 [[ 9.97523613e-01 6.84774530e-02 -1.60462121e-02 1.48079380e+01] [-6.84725722e-02 9.97652634e-01 8.54017171e-04 -6.52018529e-01] [ 1.60670267e-02 2.46823125e-04 9.99870887e-01 1.45159185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.6 meters Centerline goodness [0,1] 0.9999551408577068 Centerline is valid? [True, True] Translation: X:14.84, Y:-0.65, Z:0.15 [[ 9.97523075e-01 6.87292234e-02 -1.49668940e-02 1.48409195e+01] [-6.87249453e-02 9.97635325e-01 8.00587227e-04 -6.53909618e-01] [ 1.49865259e-02 2.29994736e-04 9.99887669e-01 1.48268945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.629999999999999 meters Centerline goodness [0,1] 0.9997978164173069 Centerline is valid? [True, True] Translation: X:14.87, Y:-0.66, Z:0.15 [[ 9.97584932e-01 6.79625304e-02 -1.43317254e-02 1.48719218e+01] [-6.79584752e-02 9.97687853e-01 7.70332864e-04 -6.56154451e-01] [ 1.43509421e-02 2.05489744e-04 9.99896999e-01 1.47550398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.66 meters Centerline goodness [0,1] 0.999730124817272 Centerline is valid? [True, True] Translation: X:14.90, Y:-0.66, Z:0.15 [[ 9.97667958e-01 6.69499973e-02 -1.32794096e-02 1.49040898e+01] [-6.69463877e-02 9.97756317e-01 7.16654510e-04 -6.59649248e-01] [ 1.32975949e-02 1.74025265e-04 9.99911568e-01 1.48750497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.69 meters Centerline goodness [0,1] 0.9999775078722447 Centerline is valid? [True, True] Translation: X:14.94, Y:-0.66, Z:0.15 [[ 9.97663990e-01 6.72131926e-02 -1.22044703e-02 1.49373608e+01] [-6.72101285e-02 9.97738624e-01 6.61495995e-04 -6.61929419e-01] [ 1.22213326e-02 1.60313282e-04 9.99925304e-01 1.52487376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.719999999999999 meters Centerline goodness [0,1] 0.9997977482640059 Centerline is valid? [True, True] Translation: X:14.97, Y:-0.66, Z:0.15 [[ 9.97723246e-01 6.62209300e-02 -1.27715985e-02 1.49684138e+01] [-6.62174487e-02 9.97804974e-01 6.95722474e-04 -6.63810811e-01] [ 1.27896359e-02 1.51564181e-04 9.99918198e-01 1.50505474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.75 meters Centerline goodness [0,1] 0.9997752505955859 Centerline is valid? [True, True] Translation: X:15.00, Y:-0.67, Z:0.15 [[ 9.97743847e-01 6.57512755e-02 -1.35641249e-02 1.50008892e+01] [-6.57472733e-02 9.97836032e-01 7.41250871e-04 -6.66269678e-01] [ 1.35835107e-02 1.52225728e-04 9.99907728e-01 1.49683328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.78 meters Centerline goodness [0,1] 0.9997296262082329 Centerline is valid? [True, True] Translation: X:15.03, Y:-0.67, Z:0.15 [[ 9.97752206e-01 6.54969362e-02 -1.41664250e-02 1.50324663e+01] [-6.54924920e-02 9.97852759e-01 7.77904521e-04 -6.68318374e-01] [ 1.41869566e-02 1.51638524e-04 9.99899349e-01 1.48586201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.809999999999999 meters Centerline goodness [0,1] 0.9997746123332131 Centerline is valid? [True, True] Translation: X:15.06, Y:-0.67, Z:0.15 [[ 9.97765071e-01 6.51805957e-02 -1.47089299e-02 1.50647630e+01] [-6.51757258e-02 9.97873473e-01 8.10707752e-04 -6.71095346e-01] [ 1.47304933e-02 1.49769303e-04 9.99891489e-01 1.48944985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.84 meters Centerline goodness [0,1] 0.9998416361250622 Centerline is valid? [True, True] Translation: X:15.10, Y:-0.67, Z:0.15 [[ 9.97784342e-01 6.49241415e-02 -1.45348959e-02 1.50970814e+01] [-6.49193072e-02 9.97890192e-01 8.04677302e-04 -6.73267347e-01] [ 1.45564731e-02 1.40700961e-04 9.99894039e-01 1.49935715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.87 meters Centerline goodness [0,1] 0.9997744343942435 Centerline is valid? [True, True] Translation: X:15.13, Y:-0.68, Z:0.15 [[ 9.97773781e-01 6.48883411e-02 -1.53943031e-02 1.51299803e+01] [-6.48828642e-02 9.97892520e-01 8.55479375e-04 -6.77271871e-01] [ 1.54173705e-02 1.45251584e-04 9.99881135e-01 1.49815272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.899999999999999 meters Centerline goodness [0,1] 0.9998194864389187 Centerline is valid? [True, True] Translation: X:15.16, Y:-0.68, Z:0.15 [[ 9.97773168e-01 6.47230415e-02 -1.61131283e-02 1.51615464e+01] [-6.47169456e-02 9.97903255e-01 9.00009100e-04 -6.79119715e-01] [ 1.61375945e-02 1.44787517e-04 9.99869770e-01 1.49431859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.93 meters Centerline goodness [0,1] 0.9998643853264924 Centerline is valid? [True, True] Translation: X:15.19, Y:-0.68, Z:0.15 [[ 9.97752959e-01 6.49415111e-02 -1.64813160e-02 1.51945262e+01] [-6.49350886e-02 9.97889061e-01 9.25093115e-04 -6.83363943e-01] [ 1.65066019e-02 1.47201322e-04 9.99863746e-01 1.50544271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.959999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.23, Y:-0.69, Z:0.15 [[ 9.97708145e-01 6.57855461e-02 -1.58341046e-02 1.52273139e+01] [-6.57796547e-02 9.97833773e-01 8.93163190e-04 -6.85719879e-01] [ 1.58585616e-02 1.50445744e-04 9.99874234e-01 1.53035025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.99 meters Centerline goodness [0,1] 0.9997739755441539 Centerline is valid? [True, True] Translation: X:15.26, Y:-0.69, Z:0.15 [[ 9.97691847e-01 6.57691120e-02 -1.68938320e-02 1.52593877e+01] [-6.57623205e-02 9.97834856e-01 9.57827818e-04 -6.88955214e-01] [ 1.69202499e-02 1.55360590e-04 9.99856830e-01 1.50347360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.02 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:15.29, Y:-0.69, Z:0.15 [[ 9.97594540e-01 6.75259502e-02 -1.56646089e-02 1.52921501e+01] [-6.75202648e-02 9.97717504e-01 8.92137936e-04 -6.90267020e-01] [ 1.56890970e-02 1.67686609e-04 9.99876904e-01 1.54123751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.05 meters Centerline goodness [0,1] 0.9999094592453428 Centerline is valid? [True, True] Translation: X:15.32, Y:-0.69, Z:0.15 [[ 9.97539673e-01 6.82944357e-02 -1.58262817e-02 1.53244530e+01] [-6.82886597e-02 9.97665194e-01 9.05715826e-04 -6.91151089e-01] [ 1.58511857e-02 1.77268097e-04 9.99874346e-01 1.52677566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.08 meters Centerline goodness [0,1] 0.999819600414919 Centerline is valid? [True, True] Translation: X:15.36, Y:-0.69, Z:0.15 [[ 9.97371409e-01 7.06250154e-02 -1.61981336e-02 1.53562539e+01] [-7.06192039e-02 9.97502913e-01 9.31193712e-04 -6.91676614e-01] [ 1.62234511e-02 2.15153318e-04 9.99868368e-01 1.51773237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.11 meters Centerline goodness [0,1] 0.9998417649984177 Centerline is valid? [True, True] Translation: X:15.39, Y:-0.69, Z:0.15 [[ 9.97242710e-01 7.23636221e-02 -1.64464137e-02 1.53881957e+01] [-7.23578005e-02 9.97378287e-01 9.49532072e-04 -6.93324276e-01] [ 1.64720075e-02 2.43112384e-04 9.99864298e-01 1.51959086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.14 meters Centerline goodness [0,1] 0.9998196492177285 Centerline is valid? [True, True] Translation: X:15.42, Y:-0.69, Z:0.15 [[ 9.97043162e-01 7.47622648e-02 -1.77633320e-02 1.54206074e+01] [-7.47557714e-02 9.97201340e-01 1.03021078e-03 -6.93882411e-01] [ 1.77906394e-02 3.00746979e-04 9.99841689e-01 1.50739048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.169999999999998 meters Centerline goodness [0,1] 0.9997968993297678 Centerline is valid? [True, True] Translation: X:15.45, Y:-0.70, Z:0.15 [[ 9.96990210e-01 7.54647342e-02 -1.77649903e-02 1.54532037e+01] [-7.54582676e-02 9.97148424e-01 1.03499160e-03 -6.95652536e-01] [ 1.77924375e-02 3.08638899e-04 9.99841654e-01 1.50409671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.2 meters Centerline goodness [0,1] 0.9997746224926752 Centerline is valid? [True, True] Translation: X:15.49, Y:-0.70, Z:0.15 [[ 9.96970302e-01 7.57529249e-02 -1.76553711e-02 1.54853020e+01] [-7.57464965e-02 9.97126572e-01 1.03350022e-03 -6.97660666e-01] [ 1.76829303e-02 3.06963478e-04 9.99843598e-01 1.50825501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.23 meters Centerline goodness [0,1] 0.9998648009193537 Centerline is valid? [True, True] Translation: X:15.52, Y:-0.70, Z:0.15 [[ 9.97017960e-01 7.51307641e-02 -1.76226109e-02 1.55162005e+01] [-7.51241948e-02 9.97173648e-01 1.03540812e-03 -6.99381739e-01] [ 1.76505942e-02 2.91563962e-04 9.99844174e-01 1.51470076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.259999999999998 meters Centerline goodness [0,1] 0.9997294982191967 Centerline is valid? [True, True] Translation: X:15.55, Y:-0.70, Z:0.15 [[ 9.97071322e-01 7.43009583e-02 -1.81148017e-02 1.55477228e+01] [-7.42938199e-02 9.97235824e-01 1.06764178e-03 -7.02970853e-01] [ 1.81440560e-02 2.81302817e-04 9.99835343e-01 1.50680734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.29 meters Centerline goodness [0,1] 0.9998193763970107 Centerline is valid? [True, True] Translation: X:15.58, Y:-0.71, Z:0.15 [[ 9.97125974e-01 7.35163717e-02 -1.83067105e-02 1.55792409e+01] [-7.35088664e-02 9.97293975e-01 1.08345622e-03 -7.06507061e-01] [ 1.83368238e-02 2.65363191e-04 9.99831831e-01 1.52006144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.32 meters Centerline goodness [0,1] 0.9997965182003166 Centerline is valid? [True, True] Translation: X:15.61, Y:-0.71, Z:0.15 [[ 9.97243036e-01 7.13078912e-02 -2.05307454e-02 1.56098509e+01] [-7.12978770e-02 9.97454322e-01 1.22026389e-03 -7.11165614e-01] [ 2.05654952e-02 2.46898896e-04 9.99788477e-01 1.51046288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.349999999999998 meters Centerline goodness [0,1] 0.999773648113357 Centerline is valid? [True, True] Translation: X:15.64, Y:-0.72, Z:0.15 [[ 9.97301664e-01 7.03447271e-02 -2.10002621e-02 1.56415146e+01] [-7.03339322e-02 9.97522715e-01 1.25310699e-03 -7.15375825e-01] [ 2.10363880e-02 2.27305329e-04 9.99778685e-01 1.51476758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.38 meters Centerline goodness [0,1] 0.9997511424822406 Centerline is valid? [True, True] Translation: X:15.67, Y:-0.72, Z:0.15 [[ 9.97385177e-01 6.90918015e-02 -2.11927268e-02 1.56730183e+01] [-6.90804156e-02 9.97610287e-01 1.26974845e-03 -7.19784065e-01] [ 2.12298115e-02 1.97574093e-04 9.99774603e-01 1.52808332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.41 meters Centerline goodness [0,1] 0.9997722458833443 Centerline is valid? [True, True] Translation: X:15.70, Y:-0.72, Z:0.15 [[ 9.97590000e-01 6.64253120e-02 -2.00467076e-02 1.57040055e+01] [-6.64145094e-02 9.97791392e-01 1.20488942e-03 -7.24435314e-01] [ 2.00824675e-02 1.29406620e-04 9.99798319e-01 1.54582500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.439999999999998 meters Centerline goodness [0,1] 0.9999546927032599 Centerline is valid? [True, True] Translation: X:15.74, Y:-0.73, Z:0.16 [[ 9.97635030e-01 6.61713281e-02 -1.85930968e-02 1.57355230e+01] [-6.61619303e-02 9.97808270e-01 1.12079518e-03 -7.26889114e-01] [ 1.86265103e-02 1.12010640e-04 9.99826505e-01 1.58204184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.47 meters Centerline goodness [0,1] 0.9997051351841771 Centerline is valid? [True, True] Translation: X:15.77, Y:-0.73, Z:0.16 [[ 9.97744198e-01 6.44928660e-02 -1.86329079e-02 1.57671198e+01] [-6.44830513e-02 9.97918165e-01 1.12769072e-03 -7.29983053e-01] [ 1.86668452e-02 7.63598766e-05 9.99825756e-01 1.56685878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.5 meters Centerline goodness [0,1] 0.9998869519998191 Centerline is valid? [True, True] Translation: X:15.80, Y:-0.73, Z:0.16 [[ 9.97916424e-01 6.20786549e-02 -1.75798810e-02 1.57980707e+01] [-6.20694843e-02 9.98071260e-01 1.06733173e-03 -7.33653399e-01] [ 1.76122325e-02 2.60662857e-05 9.99844892e-01 1.59990034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.53 meters Centerline goodness [0,1] 0.9996827842479721 Centerline is valid? [True, True] Translation: X:15.83, Y:-0.74, Z:0.16 [[ 9.98006450e-01 6.05307359e-02 -1.78649580e-02 1.58303595e+01] [-6.05209569e-02 9.98166334e-01 1.08801973e-03 -7.37008446e-01] [ 1.78980583e-02 -4.64635581e-06 9.99839817e-01 1.59133525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.56 meters Centerline goodness [0,1] 0.9998640935036694 Centerline is valid? [True, True] Translation: X:15.86, Y:-0.74, Z:0.16 [[ 9.98086456e-01 5.94324490e-02 -1.70648838e-02 1.58635399e+01] [-5.94232897e-02 9.98232329e-01 1.04374085e-03 -7.40627168e-01] [ 1.70967507e-02 -2.76920702e-05 9.99853839e-01 1.61807710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.59 meters Centerline goodness [0,1] 0.9997948250313462 Centerline is valid? [True, True] Translation: X:15.90, Y:-0.74, Z:0.16 [[ 9.98096773e-01 5.91247407e-02 -1.75241768e-02 1.58960820e+01] [-5.91149486e-02 9.98250602e-01 1.07671759e-03 -7.42879548e-01] [ 1.75571806e-02 -3.87275430e-05 9.99845860e-01 1.61521211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.62 meters Centerline goodness [0,1] 0.9998412518426125 Centerline is valid? [True, True] Translation: X:15.93, Y:-0.75, Z:0.16 [[ 9.98083424e-01 5.92065945e-02 -1.80016214e-02 1.59280266e+01] [-5.91961828e-02 9.98245750e-01 1.11115023e-03 -7.45323878e-01] [ 1.80358295e-02 -4.33933568e-05 9.99837340e-01 1.60512654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.65 meters Centerline goodness [0,1] 0.9998184582567454 Centerline is valid? [True, True] Translation: X:15.96, Y:-0.75, Z:0.16 [[ 9.98078898e-01 5.91370954e-02 -1.84747649e-02 1.59609991e+01] [-5.91260232e-02 9.98249869e-01 1.14543321e-03 -7.47206021e-01] [ 1.85101692e-02 -5.08933395e-05 9.99828671e-01 1.59849662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.68 meters Centerline goodness [0,1] 0.9998183387074799 Centerline is valid? [True, True] Translation: X:15.99, Y:-0.75, Z:0.16 [[ 9.98053842e-01 5.92408318e-02 -1.94692863e-02 1.59937978e+01] [-5.92284465e-02 9.98243718e-01 1.21266093e-03 -7.48848187e-01] [ 1.95069318e-02 -5.71653176e-05 9.99809720e-01 1.59837674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.71 meters Centerline goodness [0,1] 0.9999318862955227 Centerline is valid? [True, True] Translation: X:16.03, Y:-0.75, Z:0.16 [[ 9.98007797e-01 6.01153352e-02 -1.91463495e-02 1.60265020e+01] [-6.01034167e-02 9.98191437e-01 1.19784344e-03 -7.50428089e-01] [ 1.91837309e-02 -4.46960667e-05 9.99815974e-01 1.61203954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.74 meters Centerline goodness [0,1] 0.9998637354651163 Centerline is valid? [True, True] Translation: X:16.06, Y:-0.75, Z:0.16 [[ 9.97981830e-01 6.06394496e-02 -1.88447304e-02 1.60589876e+01] [-6.06278984e-02 9.98159735e-01 1.18419657e-03 -7.51832003e-01] [ 1.88818601e-02 -3.92902671e-05 9.99821721e-01 1.61183816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.77 meters Centerline goodness [0,1] 0.9998863791301186 Centerline is valid? [True, True] Translation: X:16.09, Y:-0.75, Z:0.16 [[ 9.97894450e-01 6.22337861e-02 -1.82653102e-02 1.60921058e+01] [-6.22231081e-02 9.98061599e-01 1.15288488e-03 -7.52415946e-01] [ 1.83016531e-02 -1.39330578e-05 9.99832511e-01 1.62978451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.8 meters Centerline goodness [0,1] 0.9999544263415746 Centerline is valid? [True, True] Translation: X:16.12, Y:-0.75, Z:0.16 [[ 9.97871955e-01 6.27778262e-02 -1.76211596e-02 1.61244653e+01] [-6.27678848e-02 9.98027527e-01 1.11721883e-03 -7.54293898e-01] [ 1.76565389e-02 -8.79842163e-06 9.99844111e-01 1.64580058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.83 meters Centerline goodness [0,1] 0.9998179252583186 Centerline is valid? [True, True] Translation: X:16.16, Y:-0.76, Z:0.16 [[ 9.97897930e-01 6.22369856e-02 -1.80631928e-02 1.61560941e+01] [-6.22263566e-02 9.98061399e-01 1.15042897e-03 -7.56781005e-01] [ 1.80997747e-02 -2.40040055e-05 9.99836185e-01 1.62922842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.86 meters Centerline goodness [0,1] 0.9998864694262165 Centerline is valid? [True, True] Translation: X:16.19, Y:-0.76, Z:0.16 [[ 9.97902746e-01 6.22789645e-02 -1.76476556e-02 1.61879206e+01] [-6.22687538e-02 9.98058781e-01 1.12801822e-03 -7.59154886e-01] [ 1.76836495e-02 -2.67549566e-05 9.99843632e-01 1.64110044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.89 meters Centerline goodness [0,1] 0.9999092044035864 Centerline is valid? [True, True] Translation: X:16.22, Y:-0.76, Z:0.16 [[ 9.97861528e-01 6.29571229e-02 -1.75718737e-02 1.62205881e+01] [-6.29470385e-02 9.98016233e-01 1.12694294e-03 -7.61142334e-01] [ 1.76079643e-02 -1.84355956e-05 9.99844968e-01 1.64663446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.919999999999998 meters Centerline goodness [0,1] 0.9999316270483397 Centerline is valid? [True, True] Translation: X:16.25, Y:-0.76, Z:0.16 [[ 9.97829954e-01 6.32093005e-02 -1.84382167e-02 1.62536425e+01] [-6.31981411e-02 9.98000293e-01 1.18786772e-03 -7.62873341e-01] [ 1.84764299e-02 -2.00289783e-05 9.99829296e-01 1.63878127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.95 meters Centerline goodness [0,1] 0.9998404631127926 Centerline is valid? [True, True] Translation: X:16.29, Y:-0.77, Z:0.16 [[ 9.97844593e-01 6.28369033e-02 -1.89127670e-02 1.62861917e+01] [-6.28249914e-02 9.98023809e-01 1.22391310e-03 -7.65402224e-01] [ 1.89522987e-02 -3.30806369e-05 9.99820389e-01 1.62973194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.98 meters Centerline goodness [0,1] 0.9997255135184592 Centerline is valid? [True, True] Translation: X:16.32, Y:-0.77, Z:0.16 [[ 9.97874664e-01 6.24168152e-02 -1.87162152e-02 1.63185435e+01] [-6.24049767e-02 9.98050169e-01 1.21646946e-03 -7.68124674e-01] [ 1.87556499e-02 -4.58990809e-05 9.99824096e-01 1.63119607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.009999999999998 meters Centerline goodness [0,1] 0.9998396738508051 Centerline is valid? [True, True] Translation: X:16.35, Y:-0.77, Z:0.16 [[ 9.97928276e-01 6.17026228e-02 -1.82192594e-02 1.63515894e+01] [-6.16911934e-02 9.98094576e-01 1.18922814e-03 -7.71007711e-01] [ 1.82579225e-02 -6.27965344e-05 9.99833308e-01 1.64484483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.04 meters Centerline goodness [0,1] 0.9999316613134696 Centerline is valid? [True, True] Translation: X:16.38, Y:-0.77, Z:0.17 [[ 9.97950823e-01 6.15986012e-02 -1.73138029e-02 1.63831564e+01] [-6.15881842e-02 9.98101001e-01 1.13472759e-03 -7.73356772e-01] [ 1.73508216e-02 -6.60766499e-05 9.99849461e-01 1.65762729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.07 meters Centerline goodness [0,1] 0.9997955660548792 Centerline is valid? [True, True] Translation: X:16.42, Y:-0.78, Z:0.17 [[ 9.97960354e-01 6.14810579e-02 -1.71817375e-02 1.64156898e+01] [-6.14707024e-02 9.98108248e-01 1.13067915e-03 -7.75405922e-01] [ 1.72187493e-02 -7.21994884e-05 9.99851744e-01 1.65828890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.099999999999998 meters Centerline goodness [0,1] 0.9999089543406018 Centerline is valid? [True, True] Translation: X:16.45, Y:-0.78, Z:0.17 [[ 9.97973116e-01 6.13404482e-02 -1.69413642e-02 1.64470559e+01] [-6.13302819e-02 9.98116899e-01 1.11947686e-03 -7.76861603e-01] [ 1.69781311e-02 -7.81891681e-05 9.99855858e-01 1.66583420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.13 meters Centerline goodness [0,1] 0.9998864023628309 Centerline is valid? [True, True] Translation: X:16.48, Y:-0.78, Z:0.17 [[ 9.97965161e-01 6.13407984e-02 -1.74024337e-02 1.64794328e+01] [-6.13299899e-02 9.98116877e-01 1.15460136e-03 -7.78386159e-01] [ 1.74404869e-02 -8.49608486e-05 9.99847900e-01 1.66433535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.16 meters Centerline goodness [0,1] 0.9998403211825357 Centerline is valid? [True, True] Translation: X:16.51, Y:-0.78, Z:0.17 [[ 9.98026993e-01 6.01316124e-02 -1.80640877e-02 1.65111857e+01] [-6.01196812e-02 9.98190451e-01 1.20330381e-03 -7.80130781e-01] [ 1.81037564e-02 -1.14922490e-04 9.99836107e-01 1.65769549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.189999999999998 meters Centerline goodness [0,1] 0.9998640565524741 Centerline is valid? [True, True] Translation: X:16.54, Y:-0.78, Z:0.17 [[ 9.98048245e-01 5.96466992e-02 -1.84924958e-02 1.65434246e+01] [-5.96340224e-02 9.98219542e-01 1.23668433e-03 -7.83353170e-01] [ 1.85333348e-02 -1.31488719e-04 9.99828234e-01 1.65733182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.22 meters Centerline goodness [0,1] 0.999750459381593 Centerline is valid? [True, True] Translation: X:16.57, Y:-0.79, Z:0.17 [[ 9.98108658e-01 5.85292641e-02 -1.87998028e-02 1.65743025e+01] [-5.85158884e-02 9.98285681e-01 1.26125909e-03 -7.86616711e-01] [ 1.88413945e-02 -1.58786456e-04 9.99822473e-01 1.65178497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.25 meters Centerline goodness [0,1] 0.9997958720798367 Centerline is valid? [True, True] Translation: X:16.61, Y:-0.79, Z:0.17 [[ 9.98253355e-01 5.64615651e-02 -1.73876415e-02 1.66066375e+01] [-5.64497586e-02 9.98404756e-01 1.16945794e-03 -7.89916120e-01] [ 1.74259334e-02 -1.85887148e-04 9.99848140e-01 1.68152127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.28 meters Centerline goodness [0,1] 0.9997948998427566 Centerline is valid? [True, True] Translation: X:16.64, Y:-0.79, Z:0.17 [[ 9.98317084e-01 5.55869190e-02 -1.65255629e-02 1.66398159e+01] [-5.55760660e-02 9.98453833e-01 1.11561620e-03 -7.92490133e-01] [ 1.65620253e-02 -1.95312940e-04 9.99862821e-01 1.69959808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.31 meters Centerline goodness [0,1] 0.9997963939099156 Centerline is valid? [True, True] Translation: X:16.67, Y:-0.80, Z:0.17 [[ 9.98440077e-01 5.37853177e-02 -1.49850822e-02 1.66705034e+01] [-5.37761347e-02 9.98552501e-01 1.01536861e-03 -7.95765275e-01] [ 1.50180033e-02 -2.07944911e-04 9.99887202e-01 1.71441208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.34 meters Centerline goodness [0,1] 0.9997508663058002 Centerline is valid? [True, True] Translation: X:16.70, Y:-0.80, Z:0.17 [[ 9.98493383e-01 5.29373179e-02 -1.44431286e-02 1.67022192e+01] [-5.29286511e-02 9.98597814e-01 9.81923768e-04 -7.97743464e-01] [ 1.44748571e-02 -2.15989070e-04 9.99895210e-01 1.71602714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.37 meters Centerline goodness [0,1] 0.9999092888243831 Centerline is valid? [True, True] Translation: X:16.73, Y:-0.80, Z:0.17 [[ 9.98511512e-01 5.28428401e-02 -1.35053702e-02 1.67344270e+01] [-5.28352106e-02 9.98602820e-01 9.21347509e-04 -8.00215492e-01] [ 1.35351873e-02 -2.06417018e-04 9.99908374e-01 1.72745944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.4 meters Centerline goodness [0,1] 0.9999546680568463 Centerline is valid? [True, True] Translation: X:16.77, Y:-0.80, Z:0.17 [[ 9.98528602e-01 5.24552070e-02 -1.37506820e-02 1.67654021e+01] [-5.24472160e-02 9.98623254e-01 9.41353689e-04 -8.02678905e-01] [ 1.37811297e-02 -2.18783595e-04 9.99905012e-01 1.72672945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.43 meters Centerline goodness [0,1] 0.9996828776587311 Centerline is valid? [True, True] Translation: X:16.80, Y:-0.81, Z:0.17 [[ 9.98544805e-01 5.13772487e-02 -1.63905783e-02 1.67972727e+01] [-5.13656995e-02 9.98679277e-01 1.12511457e-03 -8.05826123e-01] [ 1.64267362e-02 -2.81563786e-04 9.99865032e-01 1.70368611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.46 meters Centerline goodness [0,1] 0.9996828776587311 Centerline is valid? [True, True] Translation: X:16.83, Y:-0.81, Z:0.17 [[ 9.98530862e-01 5.16476044e-02 -1.63902982e-02 1.68295865e+01] [-5.16360248e-02 9.98665332e-01 1.12918283e-03 -8.08136236e-01] [ 1.64267422e-02 -2.81194064e-04 9.99865032e-01 1.70722864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.49 meters Centerline goodness [0,1] 0.9999093258376026 Centerline is valid? [True, True] Translation: X:16.86, Y:-0.81, Z:0.17 [[ 9.98513995e-01 5.20346836e-02 -1.61923954e-02 1.68625355e+01] [-5.20233619e-02 9.98645240e-01 1.11991560e-03 -8.10486759e-01] [ 1.62287330e-02 -2.75868553e-04 9.99868267e-01 1.71776210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.52 meters Centerline goodness [0,1] 0.9998639455782313 Centerline is valid? [True, True] Translation: X:16.89, Y:-0.81, Z:0.17 [[ 9.98491056e-01 5.20350866e-02 -1.75488232e-02 1.68948050e+01] [-5.20217035e-02 9.98645211e-01 1.21856420e-03 -8.11374674e-01] [ 1.75884563e-02 -3.03805780e-04 9.99845265e-01 1.71238560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.55 meters Centerline goodness [0,1] 0.9997956681651001 Centerline is valid? [True, True] Translation: X:16.93, Y:-0.81, Z:0.17 [[ 9.98472689e-01 5.23738147e-02 -1.75861724e-02 1.69276855e+01] [-5.23603472e-02 9.98627504e-01 1.22569075e-03 -8.13788622e-01] [ 1.76262296e-02 -3.03000647e-04 9.99844600e-01 1.70534959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.58 meters Centerline goodness [0,1] 0.9998188241688559 Centerline is valid? [True, True] Translation: X:16.96, Y:-0.81, Z:0.17 [[ 9.98416756e-01 5.31214028e-02 -1.84958801e-02 1.69604623e+01] [-5.31065345e-02 9.98588013e-01 1.29446075e-03 -8.14335041e-01] [ 1.85385277e-02 -3.10159208e-04 9.99828099e-01 1.71105607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.61 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:16.99, Y:-0.82, Z:0.17 [[ 9.98335513e-01 5.47505889e-02 -1.81266886e-02 1.69927789e+01] [-5.47364880e-02 9.98500023e-01 1.27350183e-03 -8.15294093e-01] [ 1.81692240e-02 -2.79190823e-04 9.99834887e-01 1.72343394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.64 meters Centerline goodness [0,1] 0.999841675525298 Centerline is valid? [True, True] Translation: X:17.02, Y:-0.82, Z:0.17 [[ 9.98156309e-01 5.76016702e-02 -1.91318982e-02 1.70235894e+01] [-5.75863932e-02 9.98339615e-01 1.34892797e-03 -8.16463269e-01] [ 1.91778324e-02 -2.44703951e-04 9.99816059e-01 1.71284709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.669999999999998 meters Centerline goodness [0,1] 0.9998186023309601 Centerline is valid? [True, True] Translation: X:17.06, Y:-0.82, Z:0.17 [[ 9.98037869e-01 5.95765902e-02 -1.92624679e-02 1.70559486e+01] [-5.95613819e-02 9.98223715e-01 1.36278209e-03 -8.17951272e-01] [ 1.93094422e-02 -2.12808926e-04 9.99813533e-01 1.71929198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.7 meters Centerline goodness [0,1] 0.9998407715754515 Centerline is valid? [True, True] Translation: X:17.09, Y:-0.82, Z:0.17 [[ 9.97847967e-01 6.25668895e-02 -1.96168180e-02 1.70884170e+01] [-6.25515960e-02 9.98040760e-01 1.39283555e-03 -8.18565546e-01] [ 1.96655293e-02 -1.62774850e-04 9.99806602e-01 1.71951923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.73 meters Centerline goodness [0,1] 0.999886631598041 Centerline is valid? [True, True] Translation: X:17.12, Y:-0.82, Z:0.17 [[ 9.97748801e-01 6.42082859e-02 -1.93552523e-02 1.71201949e+01] [-6.41936128e-02 9.97936510e-01 1.37908647e-03 -8.19992488e-01] [ 1.94038617e-02 -1.33498302e-04 9.99811718e-01 1.72656468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.759999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.15, Y:-0.82, Z:0.17 [[ 9.97613864e-01 6.64986101e-02 -1.85610888e-02 1.71515905e+01] [-6.64854312e-02 9.97786514e-01 1.32688357e-03 -8.20961176e-01] [ 1.86082400e-02 -8.96754486e-05 9.99826848e-01 1.74042349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.79 meters Centerline goodness [0,1] 0.9998191150202365 Centerline is valid? [True, True] Translation: X:17.18, Y:-0.82, Z:0.17 [[ 9.97350562e-01 7.03008910e-02 -1.86986840e-02 1.71832499e+01] [-7.02881162e-02 9.97525831e-01 1.34033710e-03 -8.20722566e-01] [ 1.87466472e-02 -2.24906858e-05 9.99824266e-01 1.72925482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.82 meters Centerline goodness [0,1] 0.9998648344221671 Centerline is valid? [True, True] Translation: X:17.22, Y:-0.82, Z:0.17 [[ 9.97174074e-01 7.27769396e-02 -1.86382346e-02 1.72157373e+01] [-7.27646106e-02 9.97348242e-01 1.33969873e-03 -8.21676482e-01] [ 1.86863097e-02 2.02910400e-05 9.99825395e-01 1.73621222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.849999999999998 meters Centerline goodness [0,1] 0.999887072002891 Centerline is valid? [True, True] Translation: X:17.25, Y:-0.82, Z:0.17 [[ 9.97058472e-01 7.42935851e-02 -1.88378917e-02 1.72483572e+01] [-7.42811602e-02 9.97236412e-01 1.35939388e-03 -8.23133506e-01] [ 1.88868258e-02 4.39052682e-05 9.99821627e-01 1.73576272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.88 meters Centerline goodness [0,1] 0.9996841796566581 Centerline is valid? [True, True] Translation: X:17.28, Y:-0.82, Z:0.17 [[ 9.96988514e-01 7.50788171e-02 -1.94183985e-02 1.72801048e+01] [-7.50656579e-02 9.97177601e-01 1.40670907e-03 -8.24726273e-01] [ 1.94692061e-02 5.51820687e-05 9.99810456e-01 1.72042480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.91 meters Centerline goodness [0,1] 0.9997278294397822 Centerline is valid? [True, True] Translation: X:17.31, Y:-0.83, Z:0.17 [[ 9.96898956e-01 7.64561949e-02 -1.86258511e-02 1.73126651e+01] [-7.64442362e-02 9.97072939e-01 1.35423066e-03 -8.26875207e-01] [ 1.86748714e-02 7.38078332e-05 9.99825607e-01 1.72938057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.939999999999998 meters Centerline goodness [0,1] 0.9998183057006587 Centerline is valid? [True, True] Translation: X:17.35, Y:-0.83, Z:0.17 [[ 9.96865065e-01 7.69696942e-02 -1.83223392e-02 1.73458720e+01] [-7.69581140e-02 9.97033430e-01 1.33732293e-03 -8.29888861e-01] [ 1.83709180e-02 7.69221573e-05 9.99831237e-01 1.74433946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.97 meters Centerline goodness [0,1] 0.9998642533936651 Centerline is valid? [True, True] Translation: X:17.38, Y:-0.83, Z:0.17 [[ 9.96869248e-01 7.70497708e-02 -1.77492389e-02 1.73779237e+01] [-7.70388298e-02 9.97027245e-01 1.30035965e-03 -8.32796533e-01] [ 1.77966672e-02 7.10920504e-05 9.99841624e-01 1.74936424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.0 meters Centerline goodness [0,1] 0.999841212231195 Centerline is valid? [True, True] Translation: X:17.41, Y:-0.84, Z:0.18 [[ 9.96908407e-01 7.66475518e-02 -1.72852600e-02 1.74100920e+01] [-7.66370345e-02 9.97058248e-01 1.27100969e-03 -8.37423912e-01] [ 1.73318309e-02 5.76108203e-05 9.99849791e-01 1.75905666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.029999999999998 meters Centerline goodness [0,1] 0.9997274771194331 Centerline is valid? [True, True] Translation: X:17.44, Y:-0.84, Z:0.18 [[ 9.96942379e-01 7.61612172e-02 -1.74746017e-02 1.74429187e+01] [-7.61503063e-02 9.97095515e-01 1.28991043e-03 -8.41316286e-01] [ 1.75220881e-02 4.47299001e-05 9.99846475e-01 1.75871846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.06 meters Centerline goodness [0,1] 0.9999773304316286 Centerline is valid? [True, True] Translation: X:17.47, Y:-0.85, Z:0.18 [[ 9.97000523e-01 7.57004088e-02 -1.61060397e-02 1.74749935e+01] [-7.56910132e-02 9.97130607e-01 1.19301803e-03 -8.46447861e-01] [ 1.61501371e-02 2.96428635e-05 9.99869578e-01 1.78951397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.09 meters Centerline goodness [0,1] 0.9999318181818182 Centerline is valid? [True, True] Translation: X:17.51, Y:-0.85, Z:0.18 [[ 9.97066172e-01 7.47820541e-02 -1.63307493e-02 1.75075342e+01] [-7.47722012e-02 9.97199902e-01 1.21394296e-03 -8.50150435e-01] [ 1.63758028e-02 1.07046144e-05 9.99865907e-01 1.78550814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.12 meters Centerline goodness [0,1] 0.9998177302863913 Centerline is valid? [True, True] Translation: X:17.54, Y:-0.85, Z:0.18 [[ 9.97135148e-01 7.36950464e-02 -1.70451363e-02 1.75388536e+01] [-7.36840704e-02 9.97280823e-01 1.27192334e-03 -8.54032116e-01] [ 1.70925220e-02 -1.23244530e-05 9.99853912e-01 1.76944108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.15 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:17.57, Y:-0.86, Z:0.18 [[ 9.97167095e-01 7.32763183e-02 -1.69813277e-02 1.75713830e+01] [-7.32652851e-02 9.97311677e-01 1.27176794e-03 -8.57813725e-01] [ 1.70288669e-02 -2.40233206e-05 9.99854998e-01 1.78482661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.18 meters Centerline goodness [0,1] 0.9998408367439745 Centerline is valid? [True, True] Translation: X:17.60, Y:-0.86, Z:0.18 [[ 9.97266771e-01 7.17607907e-02 -1.75891237e-02 1.76036282e+01] [-7.17486304e-02 9.97421869e-01 1.32224457e-03 -8.61134651e-01] [ 1.76386619e-02 -5.66350423e-05 9.99844425e-01 1.76439913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.21 meters Centerline goodness [0,1] 0.9998406991033635 Centerline is valid? [True, True] Translation: X:17.64, Y:-0.86, Z:0.18 [[ 9.97385944e-01 7.01664794e-02 -1.72610279e-02 1.76359146e+01] [-7.01544506e-02 9.97535291e-01 1.30215049e-03 -8.64152246e-01] [ 1.73098519e-02 -8.78086641e-05 9.99850169e-01 1.76676695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.24 meters Centerline goodness [0,1] 0.9998635433249943 Centerline is valid? [True, True] Translation: X:17.67, Y:-0.87, Z:0.18 [[ 9.97420027e-01 6.96287690e-02 -1.74678317e-02 1.76680863e+01] [-6.96162951e-02 9.97572967e-01 1.32190019e-03 -8.67428794e-01] [ 1.75174790e-02 -1.02443990e-04 9.99846552e-01 1.77710906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.27 meters Centerline goodness [0,1] 0.9998406084204294 Centerline is valid? [True, True] Translation: X:17.70, Y:-0.87, Z:0.18 [[ 9.97464242e-01 6.89917575e-02 -1.74706549e-02 1.77007838e+01] [-6.89791168e-02 9.97617223e-01 1.32582894e-03 -8.70122475e-01] [ 1.75204975e-02 -1.17356613e-04 9.99846497e-01 1.78709346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.3 meters Centerline goodness [0,1] 0.9997727737508237 Centerline is valid? [True, True] Translation: X:17.73, Y:-0.87, Z:0.18 [[ 9.97608121e-01 6.69572059e-02 -1.71688718e-02 1.77331568e+01] [-6.69446185e-02 9.97755836e-01 1.30747309e-03 -8.73167025e-01] [ 1.72178867e-02 -1.54982200e-04 9.99851749e-01 1.79977000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.33 meters Centerline goodness [0,1] 0.9997957284550262 Centerline is valid? [True, True] Translation: X:17.77, Y:-0.88, Z:0.18 [[ 9.97646376e-01 6.64258307e-02 -1.70093188e-02 1.77653861e+01] [-6.64133265e-02 9.97791352e-01 1.29957413e-03 -8.75948041e-01] [ 1.70580765e-02 -1.66869983e-04 9.99854487e-01 1.80622131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.36 meters Centerline goodness [0,1] 0.9998413705583756 Centerline is valid? [True, True] Translation: X:17.80, Y:-0.88, Z:0.18 [[ 9.97689279e-01 6.59005222e-02 -1.65294974e-02 1.77976345e+01] [-6.58885715e-02 9.97826183e-01 1.26713467e-03 -8.78596379e-01] [ 1.65770702e-02 -1.75101707e-04 9.99862576e-01 1.80783847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.39 meters Centerline goodness [0,1] 0.9998188077550281 Centerline is valid? [True, True] Translation: X:17.83, Y:-0.88, Z:0.18 [[ 9.97797453e-01 6.42983394e-02 -1.63084909e-02 1.78292906e+01] [-6.42864353e-02 9.97930700e-01 1.25367015e-03 -8.79571847e-01] [ 1.63553526e-02 -2.02494142e-04 9.99866222e-01 1.80509522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.419999999999998 meters Centerline goodness [0,1] 0.9998414424209477 Centerline is valid? [True, True] Translation: X:17.86, Y:-0.88, Z:0.18 [[ 9.97823364e-01 6.37395561e-02 -1.69056931e-02 1.78614278e+01] [-6.37266332e-02 9.97966542e-01 1.30256947e-03 -8.80249979e-01] [ 1.69543413e-02 -2.22391351e-04 9.99856240e-01 1.81077163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.45 meters Centerline goodness [0,1] 0.9999323287918434 Centerline is valid? [True, True] Translation: X:17.89, Y:-0.88, Z:0.18 [[ 9.97940416e-01 6.18519223e-02 -1.70078214e-02 1.78921210e+01] [-6.18384979e-02 9.98085303e-01 1.31459074e-03 -8.82557637e-01] [ 1.70565666e-02 -2.60145095e-04 9.99854492e-01 1.80698751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.48 meters Centerline goodness [0,1] 0.9999322860238353 Centerline is valid? [True, True] Translation: X:17.92, Y:-0.88, Z:0.18 [[ 9.97988679e-01 6.09392979e-02 -1.74642279e-02 1.79237559e+01] [-6.09249303e-02 9.98141433e-01 1.35405045e-03 -8.84940353e-01] [ 1.75142844e-02 -2.87320149e-04 9.99846572e-01 1.81355075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.509999999999998 meters Centerline goodness [0,1] 0.999774200103868 Centerline is valid? [True, True] Translation: X:17.96, Y:-0.89, Z:0.18 [[ 9.98044621e-01 5.98552792e-02 -1.80077752e-02 1.79551172e+01] [-5.98397483e-02 9.98207014e-01 1.40053967e-03 -8.87947781e-01] [ 1.80593172e-02 -3.20220348e-04 9.99836866e-01 1.80330862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.54 meters Centerline goodness [0,1] 0.9998194782922647 Centerline is valid? [True, True] Translation: X:17.99, Y:-0.89, Z:0.18 [[ 9.98102616e-01 5.90217392e-02 -1.75385655e-02 1.79866520e+01] [-5.90068099e-02 9.98256643e-01 1.36795395e-03 -8.89596065e-01] [ 1.75887286e-02 -3.30463619e-04 9.99845252e-01 1.81185299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.57 meters Centerline goodness [0,1] 0.9998645017050202 Centerline is valid? [True, True] Translation: X:18.02, Y:-0.89, Z:0.18 [[ 9.98127334e-01 5.86944963e-02 -1.72273625e-02 1.80198017e+01] [-5.86799704e-02 9.98275936e-01 1.34790509e-03 -8.91946595e-01] [ 1.72767760e-02 -3.34479796e-04 9.99850689e-01 1.82030511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.599999999999998 meters Centerline goodness [0,1] 0.999842505512307 Centerline is valid? [True, True] Translation: X:18.05, Y:-0.89, Z:0.18 [[ 9.98092785e-01 5.89679325e-02 -1.82640607e-02 1.80516816e+01] [-5.89515561e-02 9.98259814e-01 1.43421622e-03 -8.94741049e-01] [ 1.83168506e-02 -3.54786066e-04 9.99832169e-01 1.81798620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.63 meters Centerline goodness [0,1] 0.9997975025312184 Centerline is valid? [True, True] Translation: X:18.09, Y:-0.89, Z:0.18 [[ 9.98040315e-01 5.97482861e-02 -1.85922809e-02 1.80851886e+01] [-5.97313557e-02 9.98213413e-01 1.46510315e-03 -8.94176143e-01] [ 1.86466016e-02 -3.51689860e-04 9.99826075e-01 1.82069451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.66 meters Centerline goodness [0,1] 0.999729778418303 Centerline is valid? [True, True] Translation: X:18.12, Y:-0.90, Z:0.18 [[ 9.97953826e-01 6.10488788e-02 -1.90051625e-02 1.81162016e+01] [-6.10313276e-02 9.98134720e-01 1.50268260e-03 -8.95781238e-01] [ 1.90614496e-02 -3.39697549e-04 9.99818256e-01 1.81061758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.689999999999998 meters Centerline goodness [0,1] 0.999865371238809 Centerline is valid? [True, True] Translation: X:18.15, Y:-0.89, Z:0.18 [[ 9.97754894e-01 6.43705294e-02 -1.84826213e-02 1.81481530e+01] [-6.43544198e-02 9.97926030e-01 1.46567911e-03 -8.94881548e-01] [ 1.85386355e-02 -2.72950130e-04 9.99828107e-01 1.82265613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.72 meters Centerline goodness [0,1] 0.9998207523918353 Centerline is valid? [True, True] Translation: X:18.18, Y:-0.90, Z:0.18 [[ 9.97653886e-01 6.61799697e-02 -1.75195613e-02 1.81788099e+01] [-6.61657030e-02 9.97807676e-01 1.39335960e-03 -8.95946346e-01] [ 1.75733652e-02 -2.30896536e-04 9.99845550e-01 1.82790889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.75 meters Centerline goodness [0,1] 0.9999103862353258 Centerline is valid? [True, True] Translation: X:18.21, Y:-0.90, Z:0.18 [[ 9.97560702e-01 6.78536813e-02 -1.63867039e-02 1.82102854e+01] [-6.78413675e-02 9.97695265e-01 1.30681015e-03 -8.97222368e-01] [ 1.64376088e-02 -1.91926050e-04 9.99864875e-01 1.84707518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.779999999999998 meters Centerline goodness [0,1] 0.9998658798283262 Centerline is valid? [True, True] Translation: X:18.24, Y:-0.90, Z:0.19 [[ 9.97505866e-01 6.92669535e-02 -1.35697092e-02 1.82414745e+01] [-6.92586047e-02 9.97598150e-01 1.08478446e-03 -8.98090582e-01] [ 1.36122565e-02 -1.42259734e-04 9.99907339e-01 1.86403288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.81 meters Centerline goodness [0,1] 0.999732166770824 Centerline is valid? [True, True] Translation: X:18.27, Y:-0.90, Z:0.19 [[ 9.97517079e-01 6.94163016e-02 -1.18766035e-02 1.82744405e+01] [-6.94098884e-02 9.97587771e-01 9.51824666e-04 -9.00790889e-01] [ 1.19140265e-02 -1.25107640e-04 9.99929018e-01 1.87465102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.84 meters Centerline goodness [0,1] 0.9998213528058775 Centerline is valid? [True, True] Translation: X:18.31, Y:-0.90, Z:0.19 [[ 9.97512247e-01 6.97214709e-02 -1.04034913e-02 1.83067699e+01] [-6.97165408e-02 9.97566491e-01 8.36234091e-04 -9.03173948e-01] [ 1.04364778e-02 -1.08858321e-04 9.99945533e-01 1.89939985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.87 meters Centerline goodness [0,1] 0.9997769549895169 Centerline is valid? [True, True] Translation: X:18.34, Y:-0.91, Z:0.19 [[ 9.97508603e-01 6.98916309e-02 -9.57848556e-03 1.83400335e+01] [-6.98874369e-02 9.97554585e-01 7.72284699e-04 -9.05430204e-01] [ 9.60903842e-03 -1.00944826e-04 9.99953827e-01 1.90393049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.9 meters Centerline goodness [0,1] 0.9998221787548067 Centerline is valid? [True, True] Translation: X:18.37, Y:-0.91, Z:0.19 [[ 9.97449007e-01 7.06491448e-02 -1.02066611e-02 1.83720617e+01] [-7.06443920e-02 9.97501222e-01 8.25885206e-04 -9.05930969e-01] [ 1.02395050e-02 -1.02735009e-04 9.99947570e-01 1.89178521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.93 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:18.40, Y:-0.91, Z:0.19 [[ 9.97338420e-01 7.21106374e-02 -1.07764502e-02 1.84040947e+01] [-7.21053936e-02 9.97396635e-01 8.74846480e-04 -9.07071083e-01] [ 1.08114809e-02 -9.54778241e-05 9.99941550e-01 1.90853602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.96 meters Centerline goodness [0,1] 0.9998441778153729 Centerline is valid? [True, True] Translation: X:18.44, Y:-0.91, Z:0.19 [[ 9.97282640e-01 7.27093901e-02 -1.18609176e-02 1.84369992e+01] [-7.27030440e-02 9.97353164e-01 9.65916272e-04 -9.08579902e-01] [ 1.18997549e-02 -1.00966713e-04 9.99929190e-01 1.87653146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.99 meters Centerline goodness [0,1] 0.9997326620179562 Centerline is valid? [True, True] Translation: X:18.47, Y:-0.91, Z:0.19 [[ 9.97059915e-01 7.53614764e-02 -1.38626578e-02 1.84691914e+01] [-7.53530068e-02 9.97156277e-01 1.13302329e-03 -9.08046569e-01] [ 1.39086226e-02 -8.50991622e-05 9.99903267e-01 1.86066721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.02 meters Centerline goodness [0,1] 0.9998215082552432 Centerline is valid? [True, True] Translation: X:18.50, Y:-0.91, Z:0.19 [[ 9.96935723e-01 7.68450111e-02 -1.46290562e-02 1.85007863e+01] [-7.68356877e-02 9.97043048e-01 1.19913446e-03 -9.10224808e-01] [ 1.46779463e-02 -7.14263831e-05 9.99892271e-01 1.86092235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.05 meters Centerline goodness [0,1] 0.9998220996686606 Centerline is valid? [True, True] Translation: X:18.53, Y:-0.91, Z:0.18 [[ 9.96817799e-01 7.81710415e-02 -1.56065121e-02 1.85322163e+01] [-7.81605428e-02 9.96939960e-01 1.28246181e-03 -9.11958673e-01] [ 1.56590069e-02 -5.85673043e-05 9.99877389e-01 1.84786002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.08 meters Centerline goodness [0,1] 0.9997997908927102 Centerline is valid? [True, True] Translation: X:18.57, Y:-0.91, Z:0.18 [[ 9.96590310e-01 8.09008181e-02 -1.62114525e-02 1.85654175e+01] [-8.08897808e-02 9.96722156e-01 1.33647291e-03 -9.12555527e-01] [ 1.62664357e-02 -2.05751139e-05 9.99867693e-01 1.84859019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.11 meters Centerline goodness [0,1] 0.9997549674775016 Centerline is valid? [True, True] Translation: X:18.60, Y:-0.92, Z:0.18 [[ 9.96478609e-01 8.22268585e-02 -1.64050650e-02 1.85969665e+01] [-8.22156616e-02 9.96613638e-01 1.35692831e-03 -9.15102718e-01] [ 1.64610874e-02 -3.39676675e-06 9.99864507e-01 1.83512868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.14 meters Centerline goodness [0,1] 0.9997994652406417 Centerline is valid? [True, True] Translation: X:18.63, Y:-0.92, Z:0.18 [[ 9.96271372e-01 8.45962474e-02 -1.69360048e-02 1.86300244e+01] [-8.45845785e-02 9.96415312e-01 1.40541827e-03 -9.18095217e-01] [ 1.69941876e-02 3.23468450e-05 9.99855588e-01 1.84591653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.169999999999998 meters Centerline goodness [0,1] 0.9998429190135314 Centerline is valid? [True, True] Translation: X:18.66, Y:-0.92, Z:0.19 [[ 9.96163538e-01 8.59805266e-02 -1.62958236e-02 1.86631087e+01] [-8.59698372e-02 9.96296817e-01 1.35664873e-03 -9.21204317e-01] [ 1.63521225e-02 4.95053062e-05 9.99866294e-01 1.85812265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.2 meters Centerline goodness [0,1] 0.999776885319054 Centerline is valid? [True, True] Translation: X:18.70, Y:-0.92, Z:0.19 [[ 9.96053321e-01 8.72811774e-02 -1.61176308e-02 1.86960561e+01] [-8.72708202e-02 9.96183714e-01 1.34617818e-03 -9.24320918e-01] [ 1.61736173e-02 6.57336084e-05 9.99869196e-01 1.86265243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.23 meters Centerline goodness [0,1] 0.9998882057015093 Centerline is valid? [True, True] Translation: X:18.73, Y:-0.93, Z:0.19 [[ 9.95963466e-01 8.83504602e-02 -1.58420283e-02 1.87280069e+01] [-8.83405232e-02 9.96089449e-01 1.32732080e-03 -9.27513643e-01] [ 1.58973467e-02 7.75300434e-05 9.99873626e-01 1.87607949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.259999999999998 meters Centerline goodness [0,1] 0.9997538984719332 Centerline is valid? [True, True] Translation: X:18.76, Y:-0.93, Z:0.19 [[ 9.95853940e-01 8.95819181e-02 -1.58116773e-02 1.87607585e+01] [-8.95721099e-02 9.95979453e-01 1.32884329e-03 -9.31135219e-01] [ 1.58671460e-02 9.29514708e-05 9.99874105e-01 1.87109002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.29 meters Centerline goodness [0,1] 0.9997313753581661 Centerline is valid? [True, True] Translation: X:18.79, Y:-0.93, Z:0.19 [[ 9.95808066e-01 9.01926854e-02 -1.52175820e-02 1.87923753e+01] [-9.01836123e-02 9.95924330e-01 1.28280098e-03 -9.33968936e-01] [ 1.52712594e-02 9.49529543e-05 9.99883383e-01 1.87026597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.32 meters Centerline goodness [0,1] 0.9997534295705192 Centerline is valid? [True, True] Translation: X:18.83, Y:-0.94, Z:0.19 [[ 9.95726890e-01 9.11268945e-02 -1.49616247e-02 1.88255466e+01] [-9.11181731e-02 9.95839283e-01 1.26498296e-03 -9.37263578e-01] [ 1.50146476e-02 1.03698355e-04 9.99887268e-01 1.87356552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.349999999999998 meters Centerline goodness [0,1] 0.9996408368501392 Centerline is valid? [True, True] Translation: X:18.86, Y:-0.94, Z:0.19 [[ 9.95686243e-01 9.16554479e-02 -1.44285969e-02 1.88579473e+01] [-9.16473385e-02 9.95790775e-01 1.22363818e-03 -9.40875442e-01] [ 1.44800168e-02 1.03982800e-04 9.99895154e-01 1.87869577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.38 meters Centerline goodness [0,1] 0.9996408368501392 Centerline is valid? [True, True] Translation: X:18.89, Y:-0.94, Z:0.19 [[ 9.95662084e-01 9.19175704e-02 -1.44282734e-02 1.88902250e+01] [-9.19094334e-02 9.95766614e-01 1.22744207e-03 -9.43719033e-01] [ 1.44800164e-02 1.03976896e-04 9.99895154e-01 1.88223956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.41 meters Centerline goodness [0,1] 0.9997303431383564 Centerline is valid? [True, True] Translation: X:18.92, Y:-0.95, Z:0.19 [[ 9.95542778e-01 9.32501706e-02 -1.41061150e-02 1.89214828e+01] [-9.32424755e-02 9.95642703e-01 1.20365196e-03 -9.47715908e-01] [ 1.41568912e-02 1.17002065e-04 9.99899779e-01 1.89202720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.439999999999998 meters Centerline goodness [0,1] 0.999842182392064 Centerline is valid? [True, True] Translation: X:18.95, Y:-0.95, Z:0.19 [[ 9.95482149e-01 9.38929711e-02 -1.41209343e-02 1.89544274e+01] [-9.38852744e-02 9.95582289e-01 1.20844819e-03 -9.50528214e-01] [ 1.41720169e-02 1.22759194e-04 9.99899564e-01 1.89600994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.47 meters Centerline goodness [0,1] 0.9997969909548192 Centerline is valid? [True, True] Translation: X:18.99, Y:-0.95, Z:0.19 [[ 9.95387428e-01 9.47283600e-02 -1.51791138e-02 1.89870551e+01] [-9.47194984e-02 9.95503148e-01 1.30328019e-03 -9.54960173e-01] [ 1.52343131e-02 1.40489327e-04 9.99883941e-01 1.89305018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.5 meters Centerline goodness [0,1] 0.999842232189141 Centerline is valid? [True, True] Translation: X:19.02, Y:-0.96, Z:0.19 [[ 9.95281230e-01 9.56895092e-02 -1.60869712e-02 1.90193753e+01] [-9.56796057e-02 9.95411218e-01 1.38592061e-03 -9.57501367e-01] [ 1.61457696e-02 1.59814287e-04 9.99869636e-01 1.88426383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.529999999999998 meters Centerline goodness [0,1] 0.9998418257823974 Centerline is valid? [True, True] Translation: X:19.05, Y:-0.96, Z:0.19 [[ 9.95179690e-01 9.64864463e-02 -1.75427899e-02 1.90511878e+01] [-9.64747084e-02 9.95334282e-01 1.51613509e-03 -9.60121270e-01] [ 1.76072267e-02 1.83608691e-04 9.99844964e-01 1.87103441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.56 meters Centerline goodness [0,1] 0.9997296140240193 Centerline is valid? [True, True] Translation: X:19.08, Y:-0.96, Z:0.18 [[ 9.95080926e-01 9.72477882e-02 -1.88896484e-02 1.90820029e+01] [-9.72342407e-02 9.95260179e-01 1.63649879e-03 -9.60822471e-01] [ 1.89592607e-02 2.08271884e-04 9.99820235e-01 1.82889878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.59 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.11, Y:-0.97, Z:0.19 [[ 9.94959040e-01 9.85703316e-02 -1.84498749e-02 1.91146439e+01] [-9.85575693e-02 9.95130062e-01 1.60194360e-03 -9.65965311e-01] [ 1.85179292e-02 2.24506550e-04 9.99828503e-01 1.87425930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.62 meters Centerline goodness [0,1] 0.9998423068258617 Centerline is valid? [True, True] Translation: X:19.15, Y:-0.97, Z:0.19 [[ 9.94972977e-01 9.82585232e-02 -1.93400498e-02 1.91466162e+01] [-9.82443364e-02 9.95160898e-01 1.68459892e-03 -9.69814937e-01] [ 1.94119875e-02 2.23919956e-04 9.99811545e-01 1.85737677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.65 meters Centerline goodness [0,1] 0.9997964399610975 Centerline is valid? [True, True] Translation: X:19.18, Y:-0.97, Z:0.19 [[ 9.94958227e-01 9.84431433e-02 -1.91591524e-02 1.91794260e+01] [-9.84291576e-02 9.95142653e-01 1.67390667e-03 -9.73861895e-01] [ 1.92308744e-02 2.20352016e-04 9.99815045e-01 1.86288363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.68 meters Centerline goodness [0,1] 0.9997734327208464 Centerline is valid? [True, True] Translation: X:19.21, Y:-0.98, Z:0.19 [[ 9.95071238e-01 9.75790293e-02 -1.76511824e-02 1.92097543e+01] [-9.75669575e-02 9.95227762e-01 1.54583658e-03 -9.78790204e-01] [ 1.77177880e-02 1.83954644e-04 9.99843011e-01 1.88234926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.71 meters Centerline goodness [0,1] 0.9996610092883454 Centerline is valid? [True, True] Translation: X:19.24, Y:-0.98, Z:0.19 [[ 9.95168287e-01 9.67024490e-02 -1.69916888e-02 1.92417622e+01] [-9.66910854e-02 9.95313323e-01 1.49096631e-03 -9.83080286e-01] [ 1.70562344e-02 1.59182451e-04 9.99854519e-01 1.88525607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.74 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.27, Y:-0.99, Z:0.19 [[ 9.95188557e-01 9.67251891e-02 -1.56196609e-02 1.92732867e+01] [-9.67155346e-02 9.95311116e-01 1.37407613e-03 -9.86695846e-01] [ 1.56793299e-02 1.43199018e-04 9.99877061e-01 1.92959663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.77 meters Centerline goodness [0,1] 0.9998416683630771 Centerline is valid? [True, True] Translation: X:19.31, Y:-0.99, Z:0.19 [[ 9.95292327e-01 9.56653821e-02 -1.55344524e-02 1.93052127e+01] [-9.56556466e-02 9.95413542e-01 1.37023103e-03 -9.90825437e-01] [ 1.55942880e-02 1.22177656e-04 9.99878394e-01 1.91524614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.8 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.34, Y:-0.99, Z:0.19 [[ 9.95376999e-01 9.48430167e-02 -1.51470101e-02 1.93375139e+01] [-9.48336124e-02 9.95492236e-01 1.33954925e-03 -9.93737856e-01] [ 1.52057779e-02 1.03089171e-04 9.99884380e-01 1.93028375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.83 meters Centerline goodness [0,1] 0.9998641642706754 Centerline is valid? [True, True] Translation: X:19.37, Y:-1.00, Z:0.19 [[ 9.95421129e-01 9.42611327e-02 -1.58623474e-02 1.93698270e+01] [-9.42506815e-02 9.95547503e-01 1.40681498e-03 -9.96683198e-01] [ 1.59243283e-02 9.46636931e-05 9.99873195e-01 1.91532821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.86 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.40, Y:-1.00, Z:0.19 [[ 9.95383644e-01 9.46145082e-02 -1.61088970e-02 1.94030098e+01] [-9.46037056e-02 9.95513980e-01 1.43302981e-03 -9.97045440e-01] [ 1.61722176e-02 9.75469089e-05 9.99869216e-01 1.91741755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.89 meters Centerline goodness [0,1] 0.9998418329303839 Centerline is valid? [True, True] Translation: X:19.44, Y:-1.00, Z:0.19 [[ 9.95366658e-01 9.44786935e-02 -1.78603519e-02 1.94362562e+01] [-9.44653004e-02 9.95526879e-01 1.59394908e-03 -9.99554356e-01] [ 1.79310546e-02 1.00619745e-04 9.99839221e-01 1.89742862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.919999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.47, Y:-1.00, Z:0.19 [[ 9.95293269e-01 9.53920448e-02 -1.70782430e-02 1.94680500e+01] [-9.53798582e-02 9.95439775e-01 1.52853931e-03 -1.00047059e+00] [ 1.71461729e-02 1.07575511e-04 9.99852988e-01 1.91258007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.95 meters Centerline goodness [0,1] 0.9997969634759853 Centerline is valid? [True, True] Translation: X:19.50, Y:-1.00, Z:0.19 [[ 9.95279371e-01 9.53400741e-02 -1.81450707e-02 1.95002322e+01] [-9.53262177e-02 9.95444754e-01 1.62901572e-03 -1.00450417e+00] [ 1.82177259e-02 1.08375216e-04 9.99834038e-01 1.90948336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.98 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.53, Y:-1.01, Z:0.19 [[ 9.95180267e-01 9.64745248e-02 -1.75755918e-02 1.95316561e+01] [-9.64616171e-02 9.95335447e-01 1.58266882e-03 -1.00657711e+00] [ 1.76462968e-02 1.20329228e-04 9.99844285e-01 1.93118351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.009999999999998 meters Centerline goodness [0,1] 0.9998870745533799 Centerline is valid? [True, True] Translation: X:19.56, Y:-1.01, Z:0.19 [[ 9.95210943e-01 9.59241558e-02 -1.88078382e-02 1.95643134e+01] [-9.59091754e-02 9.95388639e-01 1.69896951e-03 -1.01011317e+00] [ 1.88840807e-02 1.13011206e-04 9.99821673e-01 1.92377686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.04 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.60, Y:-1.01, Z:0.19 [[ 9.95177190e-01 9.63650567e-02 -1.83340459e-02 1.95975684e+01] [-9.63508024e-02 9.95346052e-01 1.66128197e-03 -1.01273391e+00] [ 1.84088098e-02 1.13230112e-04 9.99830537e-01 1.93882816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.07 meters Centerline goodness [0,1] 0.9998867907440112 Centerline is valid? [True, True] Translation: X:19.63, Y:-1.02, Z:0.19 [[ 9.95219840e-01 9.56662463e-02 -1.96326333e-02 1.96306202e+01] [-9.56496513e-02 9.95413461e-01 1.78472063e-03 -1.01633321e+00] [ 1.97133250e-02 1.01665151e-04 9.99805668e-01 1.92283082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.099999999999998 meters Centerline goodness [0,1] 0.9999323715058611 Centerline is valid? [True, True] Translation: X:19.66, Y:-1.02, Z:0.19 [[ 9.95217261e-01 9.57649713e-02 -1.92788189e-02 1.96635743e+01] [-9.57488825e-02 9.95403969e-01 1.75798459e-03 -1.01929352e+00] [ 1.93585662e-02 9.63487636e-05 9.99812601e-01 1.92880381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.13 meters Centerline goodness [0,1] 0.9997736839722989 Centerline is valid? [True, True] Translation: X:19.70, Y:-1.02, Z:0.19 [[ 9.95261762e-01 9.51660553e-02 -1.99360954e-02 1.96951477e+01] [-9.51486182e-02 9.95461408e-01 1.82352596e-03 -1.02217456e+00] [ 2.00191514e-02 8.20062785e-05 9.99799593e-01 1.91236804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.16 meters Centerline goodness [0,1] 0.9999773550724638 Centerline is valid? [True, True] Translation: X:19.73, Y:-1.03, Z:0.19 [[ 9.95262535e-01 9.54303488e-02 -1.85885437e-02 1.97272454e+01] [-9.54151493e-02 9.95436107e-01 1.70489599e-03 -1.02522677e+00] [ 1.86664064e-02 7.68095666e-05 9.99825765e-01 1.93811504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.189999999999998 meters Centerline goodness [0,1] 0.9998870490433054 Centerline is valid? [True, True] Translation: X:19.76, Y:-1.03, Z:0.19 [[ 9.95278629e-01 9.51760951e-02 -1.90253060e-02 1.97599393e+01] [-9.51600277e-02 9.95460449e-01 1.75011761e-03 -1.02912347e+00] [ 1.91055090e-02 6.85939908e-05 9.99817471e-01 1.93415317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.22 meters Centerline goodness [0,1] 0.9997516088969177 Centerline is valid? [True, True] Translation: X:19.79, Y:-1.03, Z:0.19 [[ 9.95289195e-01 9.49074284e-02 -1.97989458e-02 1.97916144e+01] [-9.48898615e-02 9.95486101e-01 1.82696473e-03 -1.03260248e+00] [ 1.98829679e-02 6.03609666e-05 9.99802312e-01 1.92824194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.25 meters Centerline goodness [0,1] 0.9996840656240832 Centerline is valid? [True, True] Translation: X:19.82, Y:-1.04, Z:0.19 [[ 9.95297232e-01 9.48233903e-02 -1.97976156e-02 1.98232716e+01] [-9.48057040e-02 9.95494109e-01 1.83213080e-03 -1.03555267e+00] [ 1.98821385e-02 5.34121614e-05 9.99802329e-01 1.91682623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.279999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.86, Y:-1.04, Z:0.20 [[ 9.95138772e-01 9.66283686e-02 -1.90205872e-02 1.98557563e+01] [-9.66122767e-02 9.95320527e-01 1.76526855e-03 -1.03848980e+00] [ 1.91021559e-02 8.09350506e-05 9.99817534e-01 1.95893738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.31 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.89, Y:-1.04, Z:0.20 [[ 9.95078093e-01 9.71710627e-02 -1.94261062e-02 1.98888408e+01] [-9.71542717e-02 9.95267691e-01 1.80848594e-03 -1.04152447e+00] [ 1.95099084e-02 8.77444622e-05 9.99809660e-01 1.96425621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.34 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.92, Y:-1.04, Z:0.20 [[ 9.94999711e-01 9.79300226e-02 -1.96287230e-02 1.99213002e+01] [-9.79129148e-02 9.95193298e-01 1.83304584e-03 -1.04475229e+00] [ 1.97138838e-02 9.80254019e-05 9.99805658e-01 1.96495639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.37 meters Centerline goodness [0,1] 0.9998646270475159 Centerline is valid? [True, True] Translation: X:19.95, Y:-1.05, Z:0.20 [[ 9.94950422e-01 9.81561138e-02 -2.09531523e-02 1.99532275e+01] [-9.81365460e-02 9.95171024e-01 1.96258841e-03 -1.04793125e+00] [ 2.10446101e-02 1.03591830e-04 9.99778532e-01 1.95326331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.4 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:19.98, Y:-1.05, Z:0.20 [[ 9.94865703e-01 9.91556622e-02 -2.02580306e-02 1.99846793e+01] [-9.91374743e-02 9.95071928e-01 1.90260003e-03 -1.05048885e+00] [ 2.03468511e-02 1.15498463e-04 9.99792975e-01 1.96762720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.43 meters Centerline goodness [0,1] 0.9998414998641427 Centerline is valid? [True, True] Translation: X:20.02, Y:-1.05, Z:0.19 [[ 9.94931161e-01 9.82830320e-02 -2.12704161e-02 2.00172168e+01] [-9.82626539e-02 9.95158498e-01 2.00363864e-03 -1.05407505e+00] [ 2.13643590e-02 9.66050148e-05 9.99771751e-01 1.94741051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.46 meters Centerline goodness [0,1] 0.9998421218819071 Centerline is valid? [True, True] Translation: X:20.05, Y:-1.06, Z:0.20 [[ 9.94959628e-01 9.80189968e-02 -2.11569269e-02 2.00497914e+01] [-9.79986502e-02 9.95184540e-01 1.99886053e-03 -1.05748869e+00] [ 2.12509729e-02 8.45647456e-05 9.99774169e-01 1.95173851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.49 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.08, Y:-1.06, Z:0.20 [[ 9.95054415e-01 9.71668292e-02 -2.06232535e-02 2.00806513e+01] [-9.71472063e-02 9.95268106e-01 1.95359615e-03 -1.06153413e+00] [ 2.07154912e-02 5.95569869e-05 9.99785409e-01 1.97280136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.52 meters Centerline goodness [0,1] 0.9998869724438818 Centerline is valid? [True, True] Translation: X:20.11, Y:-1.07, Z:0.20 [[ 9.95242552e-01 9.52281780e-02 -2.05877797e-02 2.01121189e+01] [-9.52081058e-02 9.95455471e-01 1.95516887e-03 -1.06631775e+00] [ 2.06804051e-02 1.42562496e-05 9.99786137e-01 1.96173171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.55 meters Centerline goodness [0,1] 0.9997969359897114 Centerline is valid? [True, True] Translation: X:20.14, Y:-1.07, Z:0.20 [[ 9.95418788e-01 9.33288655e-02 -2.07643995e-02 2.01449648e+01] [-9.33079192e-02 9.95635336e-01 1.97745035e-03 -1.07158354e+00] [ 2.08583230e-02 -3.09083189e-05 9.99782441e-01 1.96316353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.58 meters Centerline goodness [0,1] 0.9998407824405777 Centerline is valid? [True, True] Translation: X:20.18, Y:-1.08, Z:0.20 [[ 9.95624677e-01 9.12193631e-02 -2.02615255e-02 2.01768745e+01] [-9.11988747e-02 9.95830820e-01 1.93484329e-03 -1.07692897e+00] [ 2.03535467e-02 -7.85494067e-05 9.99792842e-01 1.97429875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.61 meters Centerline goodness [0,1] 0.9999318708270881 Centerline is valid? [True, True] Translation: X:20.21, Y:-1.08, Z:0.20 [[ 9.96029854e-01 8.69980678e-02 -1.88644037e-02 2.02076294e+01] [-8.69794824e-02 9.96208468e-01 1.80501926e-03 -1.08360413e+00] [ 1.89499119e-02 -1.57036999e-04 9.99820422e-01 1.99338057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.64 meters Centerline goodness [0,1] 0.9999318197313697 Centerline is valid? [True, True] Translation: X:20.24, Y:-1.09, Z:0.20 [[ 9.96161343e-01 8.55149101e-02 -1.87023822e-02 2.02393129e+01] [-8.54963212e-02 9.96336873e-01 1.79271189e-03 -1.08768265e+00] [ 1.87871766e-02 -1.86845408e-04 9.99823488e-01 1.99936888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.669999999999998 meters Centerline goodness [0,1] 0.9999316737650032 Centerline is valid? [True, True] Translation: X:20.27, Y:-1.09, Z:0.20 [[ 9.96290139e-01 8.41100354e-02 -1.82060699e-02 2.02714089e+01] [-8.40921099e-02 9.96456450e-01 1.74927548e-03 -1.09200106e+00] [ 1.82886874e-02 -2.11799073e-04 9.99832726e-01 2.00277913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.7 meters Centerline goodness [0,1] 0.9998187995469988 Centerline is valid? [True, True] Translation: X:20.30, Y:-1.10, Z:0.20 [[ 9.96461142e-01 8.20466051e-02 -1.82632585e-02 2.03025052e+01] [-8.20281455e-02 9.96628461e-01 1.75884507e-03 -1.09706028e+00] [ 1.83459905e-02 -2.54519546e-04 9.99831666e-01 1.99906717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.73 meters Centerline goodness [0,1] 0.999977290275696 Centerline is valid? [True, True] Translation: X:20.34, Y:-1.10, Z:0.20 [[ 9.96456335e-01 8.22259206e-02 -1.77107335e-02 2.03352719e+01] [-8.22085177e-02 9.96613685e-01 1.70966438e-03 -1.09958197e+00] [ 1.77913381e-02 -2.47632758e-04 9.99841691e-01 2.02787024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.759999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.37, Y:-1.10, Z:0.20 [[ 9.96458655e-01 8.22683544e-02 -1.73800665e-02 2.03676834e+01] [-8.22515212e-02 9.96610183e-01 1.68236154e-03 -1.10088550e+00] [ 1.74595564e-02 -2.46866809e-04 9.99847540e-01 2.04249774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.79 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.40, Y:-1.10, Z:0.20 [[ 9.96482662e-01 8.19601305e-02 -1.74597189e-02 2.04004269e+01] [-8.19430096e-02 9.96635575e-01 1.69495688e-03 -1.10381957e+00] [ 1.75398959e-02 -2.58293228e-04 9.99846131e-01 2.04587928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.82 meters Centerline goodness [0,1] 0.9999320698322125 Centerline is valid? [True, True] Translation: X:20.43, Y:-1.11, Z:0.20 [[ 9.96557516e-01 8.09574983e-02 -1.78605860e-02 2.04307858e+01] [-8.09393375e-02 9.96717513e-01 1.73853130e-03 -1.10874018e+00] [ 1.79427060e-02 -2.86922437e-04 9.99838976e-01 2.02510268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.849999999999998 meters Centerline goodness [0,1] 0.999842086266017 Centerline is valid? [True, True] Translation: X:20.46, Y:-1.11, Z:0.20 [[ 9.96591961e-01 8.04556511e-02 -1.82030848e-02 2.04617936e+01] [-8.04366304e-02 9.96758143e-01 1.77585769e-03 -1.11201393e+00] [ 1.82869508e-02 -3.05610691e-04 9.99832733e-01 2.01407710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.88 meters Centerline goodness [0,1] 0.9999548624432959 Centerline is valid? [True, True] Translation: X:20.49, Y:-1.12, Z:0.20 [[ 9.96588173e-01 8.06218907e-02 -1.76670308e-02 2.04942140e+01] [-8.06039311e-02 9.96744713e-01 1.72744462e-03 -1.11522377e+00] [ 1.77487894e-02 -2.97518744e-04 9.99842434e-01 2.03439327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.91 meters Centerline goodness [0,1] 0.9999323287918434 Centerline is valid? [True, True] Translation: X:20.53, Y:-1.12, Z:0.20 [[ 9.96633716e-01 8.00084037e-02 -1.78854996e-02 2.05261057e+01] [-7.99898211e-02 9.96794139e-01 1.75310961e-03 -1.11892521e+00] [ 1.79684246e-02 -3.16550233e-04 9.99838505e-01 2.03715487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.939999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.56, Y:-1.12, Z:0.21 [[ 9.96713660e-01 7.90339524e-02 -1.77627048e-02 2.05582856e+01] [-7.90153983e-02 9.96871868e-01 1.74505775e-03 -1.11931903e+00] [ 1.78450595e-02 -3.35795700e-04 9.99840708e-01 2.06099901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.97 meters Centerline goodness [0,1] 0.9998643914566617 Centerline is valid? [True, True] Translation: X:20.59, Y:-1.13, Z:0.20 [[ 9.96797673e-01 7.79297964e-02 -1.79261470e-02 2.05888346e+01] [-7.79106467e-02 9.96958783e-01 1.76522471e-03 -1.12637412e+00] [ 1.80091933e-02 -3.62934177e-04 9.99837755e-01 2.03711670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.0 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.62, Y:-1.12, Z:0.21 [[ 9.96769934e-01 7.84001836e-02 -1.74100570e-02 2.06219262e+01] [-7.83821199e-02 9.96921908e-01 1.71855179e-03 -1.12329872e+00] [ 1.74912020e-02 -3.48363581e-04 9.99846957e-01 2.08151669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.029999999999998 meters Centerline goodness [0,1] 0.9997971556717528 Centerline is valid? [True, True] Translation: X:20.65, Y:-1.13, Z:0.21 [[ 9.96811511e-01 7.77104605e-02 -1.81078690e-02 2.06522441e+01] [-7.76907219e-02 9.96975898e-01 1.79204781e-03 -1.12830754e+00] [ 1.81923698e-02 -3.79520477e-04 9.99834433e-01 2.05049949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.06 meters Centerline goodness [0,1] 0.9999098733720878 Centerline is valid? [True, True] Translation: X:20.68, Y:-1.13, Z:0.21 [[ 9.96755187e-01 7.84735342e-02 -1.79165000e-02 2.06845552e+01] [-7.84542665e-02 9.96916130e-01 1.77685135e-03 -1.13102306e+00] [ 1.80006836e-02 -3.65459934e-04 9.99837908e-01 2.06866866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.09 meters Centerline goodness [0,1] 0.9998876429743152 Centerline is valid? [True, True] Translation: X:20.72, Y:-1.13, Z:0.21 [[ 9.96668383e-01 7.97436766e-02 -1.71195895e-02 2.07151862e+01] [-7.97262072e-02 9.96815347e-01 1.70159737e-03 -1.13288922e+00] [ 1.72007611e-02 -3.31048363e-04 9.99852001e-01 2.07191111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.119999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.75, Y:-1.13, Z:0.21 [[ 9.96550719e-01 8.12894820e-02 -1.66938574e-02 2.07479975e+01] [-8.12730406e-02 9.96690489e-01 1.66207990e-03 -1.13219169e+00] [ 1.67737185e-02 -2.99586367e-04 9.99859266e-01 2.10385998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.15 meters Centerline goodness [0,1] 0.9999774261270006 Centerline is valid? [True, True] Translation: X:20.78, Y:-1.14, Z:0.21 [[ 9.96454721e-01 8.26236851e-02 -1.58529277e-02 2.07785640e+01] [-8.26089947e-02 9.96580783e-01 1.58040445e-03 -1.13524768e+00] [ 1.59293019e-02 -2.65207053e-04 9.99873085e-01 2.10392017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.18 meters Centerline goodness [0,1] 0.9999775845064108 Centerline is valid? [True, True] Translation: X:20.81, Y:-1.14, Z:0.21 [[ 9.96307600e-01 8.43731127e-02 -1.58853244e-02 2.08101646e+01] [-8.43585260e-02 9.96434202e-01 1.58729712e-03 -1.13694801e+00] [ 1.59626058e-02 -2.41373637e-04 9.99872560e-01 2.11247326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.21 meters Centerline goodness [0,1] 0.9998874735562857 Centerline is valid? [True, True] Translation: X:20.84, Y:-1.14, Z:0.21 [[ 9.95983287e-01 8.78982196e-02 -1.70644528e-02 2.08418542e+01] [-8.78818335e-02 9.96129440e-01 1.70922249e-03 -1.13642830e+00] [ 1.71486415e-02 -2.02701635e-04 9.99852931e-01 2.09436097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.24 meters Centerline goodness [0,1] 0.9998211371207548 Centerline is valid? [True, True] Translation: X:20.87, Y:-1.14, Z:0.21 [[ 9.95792166e-01 8.99112531e-02 -1.77180182e-02 2.08735911e+01] [-8.98938340e-02 9.95949765e-01 1.77873532e-03 -1.13771110e+00] [ 1.78061844e-02 -1.78510108e-04 9.99841441e-01 2.08680259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.27 meters Centerline goodness [0,1] 0.9998211371207548 Centerline is valid? [True, True] Translation: X:20.91, Y:-1.14, Z:0.21 [[ 9.95768433e-01 9.01738039e-02 -1.77175847e-02 2.09058214e+01] [-9.01563497e-02 9.95926028e-01 1.78304522e-03 -1.14104791e+00] [ 1.78061877e-02 -1.78147379e-04 9.99841441e-01 2.09034490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.3 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.94, Y:-1.14, Z:0.21 [[ 9.95501833e-01 9.31406290e-02 -1.73471264e-02 2.09381120e+01] [-9.31242711e-02 9.95652955e-01 1.75014462e-03 -1.14154859e+00] [ 1.74347273e-02 -1.26833677e-04 9.99847996e-01 2.11283710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.33 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.97, Y:-1.14, Z:0.21 [[ 9.95293810e-01 9.52110640e-02 -1.80300900e-02 2.09698225e+01] [-9.51936501e-02 9.95457103e-01 1.82357155e-03 -1.14348106e+00] [ 1.81218054e-02 -9.86393944e-05 9.99835782e-01 2.10524235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.36 meters Centerline goodness [0,1] 0.9997988512169501 Centerline is valid? [True, True] Translation: X:21.00, Y:-1.14, Z:0.21 [[ 9.95016935e-01 9.74967148e-02 -2.08731677e-02 2.10021332e+01] [-9.74737626e-02 9.95235844e-01 2.11663190e-03 -1.14414129e+00] [ 2.09800893e-02 -7.14983948e-05 9.99779891e-01 2.06831940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.39 meters Centerline goodness [0,1] 0.9998213528058775 Centerline is valid? [True, True] Translation: X:21.04, Y:-1.15, Z:0.21 [[ 9.94852419e-01 9.91117699e-02 -2.11073641e-02 2.10352357e+01] [-9.90885518e-02 9.95076306e-01 2.14561928e-03 -1.14619139e+00] [ 2.12160941e-02 -4.30763832e-05 9.99774912e-01 2.06986893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.419999999999998 meters Centerline goodness [0,1] 0.999843620847575 Centerline is valid? [True, True] Translation: X:21.07, Y:-1.15, Z:0.21 [[ 9.94721144e-01 1.00372740e-01 -2.13344626e-02 2.10676333e+01] [-1.00349182e-01 9.94949905e-01 2.17460991e-03 -1.14839654e+00] [ 2.14449931e-02 -2.22345747e-05 9.99770029e-01 2.09215578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.45 meters Centerline goodness [0,1] 0.9999776780731713 Centerline is valid? [True, True] Translation: X:21.10, Y:-1.15, Z:0.21 [[ 9.94570990e-01 1.01824075e-01 -2.14570351e-02 2.10989493e+01] [-1.01800455e-01 9.94802421e-01 2.19307483e-03 -1.15133345e+00] [ 2.15688183e-02 3.16733424e-06 9.99767366e-01 2.10364833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.48 meters Centerline goodness [0,1] 0.9997545355142481 Centerline is valid? [True, True] Translation: X:21.13, Y:-1.16, Z:0.21 [[ 9.94537121e-01 1.01586652e-01 -2.40014150e-02 2.11298577e+01] [-1.01556877e-01 9.94826694e-01 2.45937916e-03 -1.15538533e+00] [ 2.41270885e-02 -8.43510690e-06 9.99708899e-01 2.07557675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.509999999999998 meters Centerline goodness [0,1] 0.9999328783980311 Centerline is valid? [True, True] Translation: X:21.16, Y:-1.16, Z:0.21 [[ 9.94451328e-01 1.02456494e-01 -2.38583873e-02 2.11620231e+01] [-1.02427177e-01 9.94737486e-01 2.45083145e-03 -1.15934973e+00] [ 2.39839359e-02 6.51467570e-06 9.99712344e-01 2.09577469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.54 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.20, Y:-1.16, Z:0.21 [[ 9.94388773e-01 1.03117640e-01 -2.36160859e-02 2.11950398e+01] [-1.03088946e-01 9.94669167e-01 2.43251095e-03 -1.16357260e+00] [ 2.37410272e-02 1.56958211e-05 9.99718142e-01 2.10752859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.23, Y:-1.17, Z:0.21 [[ 9.94314412e-01 1.03665314e-01 -2.43382949e-02 2.12266623e+01] [-1.03634840e-01 9.94612237e-01 2.51352171e-03 -1.16941658e+00] [ 2.44677309e-02 2.30644413e-05 9.99700620e-01 2.11429253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.599999999999998 meters Centerline goodness [0,1] 0.9999775659001683 Centerline is valid? [True, True] Translation: X:21.26, Y:-1.17, Z:0.21 [[ 9.94230276e-01 1.04541662e-01 -2.40249500e-02 2.12580444e+01] [-1.04512075e-01 9.94520507e-01 2.48733221e-03 -1.17314379e+00] [ 2.41533353e-02 3.79163752e-05 9.99708265e-01 2.12183335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.63 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.29, Y:-1.18, Z:0.21 [[ 9.94059779e-01 1.06235154e-01 -2.36484001e-02 2.12903301e+01] [-1.06206817e-01 9.94341031e-01 2.45458972e-03 -1.17634188e+00] [ 2.37753383e-02 7.16124046e-05 9.99717324e-01 2.13058645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.66 meters Centerline goodness [0,1] 0.9998205835519971 Centerline is valid? [True, True] Translation: X:21.32, Y:-1.18, Z:0.21 [[ 9.93726628e-01 1.09393767e-01 -2.32463606e-02 2.13232403e+01] [-1.09367099e-01 9.93998483e-01 2.41927978e-03 -1.17937401e+00] [ 2.33715013e-02 1.38284292e-04 9.99726840e-01 2.14343930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.689999999999998 meters Centerline goodness [0,1] 0.9999551257600574 Centerline is valid? [True, True] Translation: X:21.36, Y:-1.18, Z:0.22 [[ 9.93422469e-01 1.12486161e-01 -2.14164094e-02 2.13559692e+01] [-1.12464120e-01 9.93653274e-01 2.23464444e-03 -1.18180308e+00] [ 2.15318519e-02 1.88631646e-04 9.99768145e-01 2.17368214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.72 meters Centerline goodness [0,1] 0.9998432145496898 Centerline is valid? [True, True] Translation: X:21.39, Y:-1.18, Z:0.22 [[ 9.93123704e-01 1.15135543e-01 -2.11923375e-02 2.13881078e+01] [-1.15114445e-01 9.93349762e-01 2.21685652e-03 -1.18393841e+00] [ 2.13066424e-02 2.37931406e-04 9.99772959e-01 2.17266406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.75 meters Centerline goodness [0,1] 0.9999324369975001 Centerline is valid? [True, True] Translation: X:21.42, Y:-1.19, Z:0.22 [[ 9.92763634e-01 1.18331055e-01 -2.04481940e-02 2.14200405e+01] [-1.18311988e-01 9.92974157e-01 2.14399001e-03 -1.18561802e+00] [ 2.05582288e-02 2.90791167e-04 9.99788615e-01 2.18522640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.779999999999998 meters Centerline goodness [0,1] 0.9998648374670541 Centerline is valid? [True, True] Translation: X:21.45, Y:-1.19, Z:0.22 [[ 9.92407266e-01 1.21312303e-01 -2.02766771e-02 2.14517585e+01] [-1.21294074e-01 9.92614329e-01 2.13102785e-03 -1.18764684e+00] [ 2.03854402e-02 3.44593258e-04 9.99792136e-01 2.18477613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.81 meters Centerline goodness [0,1] 0.9997531529105516 Centerline is valid? [True, True] Translation: X:21.48, Y:-1.19, Z:0.22 [[ 9.91817113e-01 1.25898864e-01 -2.11728730e-02 2.14826886e+01] [-1.25879944e-01 9.92042978e-01 2.22932477e-03 -1.18796098e+00] [ 2.12850694e-02 4.54157615e-04 9.99773344e-01 2.17154466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.84 meters Centerline goodness [0,1] 0.9998877186678943 Centerline is valid? [True, True] Translation: X:21.51, Y:-1.19, Z:0.22 [[ 9.91534456e-01 1.28224926e-01 -2.04399110e-02 2.15147763e+01] [-1.28207711e-01 9.91744995e-01 2.15587571e-03 -1.19177580e+00] [ 2.05476164e-02 4.82929146e-04 9.99788759e-01 2.18332800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.869999999999997 meters Centerline goodness [0,1] 0.9999325251343875 Centerline is valid? [True, True] Translation: X:21.55, Y:-1.19, Z:0.22 [[ 9.91421332e-01 1.28975339e-01 -2.11920946e-02 2.15463428e+01] [-1.28956888e-01 9.91647670e-01 2.24066265e-03 -1.19489639e+00] [ 2.13040815e-02 5.11425826e-04 9.99772911e-01 2.18101352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.9 meters Centerline goodness [0,1] 0.9997973748789878 Centerline is valid? [True, True] Translation: X:21.58, Y:-1.20, Z:0.22 [[ 9.91443879e-01 1.28627832e-01 -2.22242009e-02 2.15785667e+01] [-1.28607315e-01 9.91692799e-01 2.35594439e-03 -1.19858415e+00] [ 2.23426200e-02 5.22408169e-04 9.99750236e-01 2.16005182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.93 meters Centerline goodness [0,1] 0.9998427566996878 Centerline is valid? [True, True] Translation: X:21.61, Y:-1.20, Z:0.22 [[ 9.91593348e-01 1.27277118e-01 -2.33059397e-02 2.16105836e+01] [-1.27254032e-01 9.91867065e-01 2.47703673e-03 -1.20381553e+00] [ 2.34316641e-02 5.09561656e-04 9.99725311e-01 2.15177029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.96 meters Centerline goodness [0,1] 0.9998644098438454 Centerline is valid? [True, True] Translation: X:21.64, Y:-1.21, Z:0.22 [[ 9.91697898e-01 1.26390235e-01 -2.36809588e-02 2.16419294e+01] [-1.26366002e-01 9.91980478e-01 2.52298931e-03 -1.20969156e+00] [ 2.38099300e-02 4.90424887e-04 9.99716383e-01 2.15938830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.99 meters Centerline goodness [0,1] 0.999796591782308 Centerline is valid? [True, True] Translation: X:21.67, Y:-1.21, Z:0.22 [[ 9.91866735e-01 1.25047774e-01 -2.37367623e-02 2.16726933e+01] [-1.25022930e-01 9.92150617e-01 2.53364721e-03 -1.21461446e+00] [ 2.38672703e-02 4.54599189e-04 9.99715033e-01 2.15532919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.02 meters Centerline goodness [0,1] 0.9998426435877262 Centerline is valid? [True, True] Translation: X:21.70, Y:-1.22, Z:0.22 [[ 9.92446608e-01 1.20694966e-01 -2.19648568e-02 2.17024874e+01] [-1.20672590e-01 9.92689590e-01 2.34619486e-03 -1.22122478e+00] [ 2.20874586e-02 3.22083025e-04 9.99755990e-01 2.16958215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.05 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.73, Y:-1.23, Z:0.22 [[ 9.92674512e-01 1.19137016e-01 -2.00918854e-02 2.17337628e+01] [-1.19117925e-01 9.92877789e-01 2.14854452e-03 -1.22669499e+00] [ 2.02047580e-02 2.60498325e-04 9.99795829e-01 2.20527484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.08 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.77, Y:-1.23, Z:0.22 [[ 9.92969930e-01 1.16877974e-01 -1.87151446e-02 2.17656009e+01] [-1.16860926e-01 9.93146264e-01 2.00573109e-03 -1.23329547e+00] [ 1.88213017e-02 1.95438468e-04 9.99822845e-01 2.22257265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.11 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.80, Y:-1.24, Z:0.22 [[ 9.93240067e-01 1.14799945e-01 -1.71797236e-02 2.17968218e+01] [-1.14785198e-01 9.93388621e-01 1.84526254e-03 -1.23898424e+00] [ 1.72779780e-02 1.39189293e-04 9.99850715e-01 2.23686625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.14 meters Centerline goodness [0,1] 0.9998189102926862 Centerline is valid? [True, True] Translation: X:21.83, Y:-1.25, Z:0.22 [[ 9.93788737e-01 1.10143723e-01 -1.58841838e-02 2.18281017e+01] [-1.10130461e-01 9.93915669e-01 1.70988400e-03 -1.24700863e+00] [ 1.59758721e-02 5.00690234e-05 9.99872376e-01 2.23640909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.169999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.86, Y:-1.25, Z:0.23 [[ 9.93936679e-01 1.08954585e-01 -1.47911183e-02 2.18594779e+01] [-1.08942901e-01 9.94046728e-01 1.59578057e-03 -1.25171158e+00] [ 1.48769304e-02 2.52824972e-05 9.99889332e-01 2.25889645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.2 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.89, Y:-1.26, Z:0.23 [[ 9.94102104e-01 1.07402146e-01 -1.50261727e-02 2.18920548e+01] [-1.07389848e-01 9.94215660e-01 1.62524053e-03 -1.25682822e+00] [ 1.51138105e-02 -1.99662046e-06 9.99885780e-01 2.25959166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.23 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.92, Y:-1.26, Z:0.23 [[ 9.94235132e-01 1.06135156e-01 -1.52259856e-02 2.19247415e+01] [-1.06122314e-01 9.94351712e-01 1.65121619e-03 -1.26139295e+00] [ 1.53152369e-02 -2.58803300e-05 9.99882715e-01 2.25854620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.259999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.96, Y:-1.26, Z:0.22 [[ 9.94383604e-01 1.04565881e-01 -1.63470023e-02 2.19558674e+01] [-1.04550799e-01 9.94517960e-01 1.77688782e-03 -1.26391446e+00] [ 1.64431892e-02 -5.78159608e-05 9.99864800e-01 2.24345143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.29 meters Centerline goodness [0,1] 0.9998194497731838 Centerline is valid? [True, True] Translation: X:21.99, Y:-1.27, Z:0.22 [[ 9.94479175e-01 1.03474456e-01 -1.74415592e-02 2.19879700e+01] [-1.03457061e-01 9.94632108e-01 1.89908126e-03 -1.26698646e+00] [ 1.75444412e-02 -8.41443032e-05 9.99846081e-01 2.21775317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.32 meters Centerline goodness [0,1] 0.9998647460607291 Centerline is valid? [True, True] Translation: X:22.02, Y:-1.27, Z:0.22 [[ 9.94459319e-01 1.03538467e-01 -1.81782705e-02 2.20198141e+01] [-1.03519497e-01 9.94625446e-01 1.98399547e-03 -1.26954563e+00] [ 1.82859902e-02 -9.11973774e-05 9.99832793e-01 2.21367725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.349999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.05, Y:-1.27, Z:0.22 [[ 9.94402742e-01 1.03949398e-01 -1.89131944e-02 2.20511698e+01] [-1.03928841e-01 9.94582583e-01 2.06925710e-03 -1.27217975e+00] [ 1.90258317e-02 -9.20485690e-05 9.99818988e-01 2.22181623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.38 meters Centerline goodness [0,1] 0.9998189471778391 Centerline is valid? [True, True] Translation: X:22.08, Y:-1.28, Z:0.22 [[ 9.94456084e-01 1.03226344e-01 -2.00354459e-02 2.20832759e+01] [-1.03203021e-01 9.94657885e-01 2.19734101e-03 -1.27542594e+00] [ 2.01552378e-02 -1.17440580e-04 9.99796856e-01 2.20511658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.41 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.12, Y:-1.28, Z:0.22 [[ 9.94363470e-01 1.04081342e-01 -2.02079913e-02 2.21162426e+01] [-1.04057682e-01 9.94568782e-01 2.22170848e-03 -1.27783892e+00] [ 2.03294757e-02 -1.06389035e-04 9.99793329e-01 2.23278739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.439999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.15, Y:-1.28, Z:0.22 [[ 9.94310712e-01 1.04576121e-01 -2.02495341e-02 2.21476547e+01] [-1.04552351e-01 9.94516880e-01 2.23189830e-03 -1.28095775e+00] [ 2.03719067e-02 -1.02063986e-04 9.99792466e-01 2.22996861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.47 meters Centerline goodness [0,1] 0.9999100496975422 Centerline is valid? [True, True] Translation: X:22.18, Y:-1.28, Z:0.22 [[ 9.94350552e-01 1.04359593e-01 -1.93921560e-02 2.21791251e+01] [-1.04337675e-01 9.94539624e-01 2.14131881e-03 -1.28368593e+00] [ 1.95097347e-02 -1.05889058e-04 9.99809661e-01 2.21805951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.21, Y:-1.28, Z:0.22 [[ 9.94163446e-01 1.06209828e-01 -1.89344852e-02 2.22107954e+01] [-1.06189203e-01 9.94343737e-01 2.09424363e-03 -1.28475889e+00] [ 1.90498161e-02 -7.13825748e-05 9.99818533e-01 2.24852431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.529999999999998 meters Centerline goodness [0,1] 0.9997985991451652 Centerline is valid? [True, True] Translation: X:22.24, Y:-1.29, Z:0.22 [[ 9.94052645e-01 1.07281979e-01 -1.87060531e-02 2.22428114e+01] [-1.07261948e-01 9.94228633e-01 2.07376396e-03 -1.28681080e+00] [ 1.88205711e-02 -5.49828660e-05 9.99822876e-01 2.22116098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.56 meters Centerline goodness [0,1] 0.9999551991398234 Centerline is valid? [True, True] Translation: X:22.27, Y:-1.29, Z:0.23 [[ 9.93896158e-01 1.08856836e-01 -1.79057620e-02 2.22749444e+01] [-1.08838658e-01 9.94057437e-01 1.98952717e-03 -1.28920772e+00] [ 1.80159295e-02 -2.85443083e-05 9.99837700e-01 2.25250580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.59 meters Centerline goodness [0,1] 0.999820740342386 Centerline is valid? [True, True] Translation: X:22.31, Y:-1.29, Z:0.22 [[ 9.93852875e-01 1.09234538e-01 -1.80077458e-02 2.23076859e+01] [-1.09216129e-01 9.94016003e-01 2.00553748e-03 -1.29281219e+00] [ 1.81190614e-02 -2.64729174e-05 9.99835836e-01 2.24897793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.619999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.34, Y:-1.30, Z:0.23 [[ 9.93667929e-01 1.11030218e-01 -1.72144450e-02 2.23390521e+01] [-1.11013584e-01 9.93817031e-01 1.92181487e-03 -1.29597842e+00] [ 1.73213881e-02 1.39143375e-06 9.99849974e-01 2.28825243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.65 meters Centerline goodness [0,1] 0.999865690685649 Centerline is valid? [True, True] Translation: X:22.37, Y:-1.30, Z:0.23 [[ 9.93707861e-01 1.10780235e-01 -1.65053378e-02 2.23722281e+01] [-1.10764836e-01 9.93844927e-01 1.84704237e-03 -1.29973150e+00] [ 1.66083621e-02 -7.20948475e-06 9.99862072e-01 2.28271517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.68 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.40, Y:-1.30, Z:0.23 [[ 9.93558122e-01 1.12193331e-01 -1.59660497e-02 2.24037480e+01] [-1.12179033e-01 9.93686397e-01 1.79112232e-03 -1.30253043e+00] [ 1.60661984e-02 1.14718968e-05 9.99870930e-01 2.30154237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.71 meters Centerline goodness [0,1] 0.9998204990127446 Centerline is valid? [True, True] Translation: X:22.44, Y:-1.31, Z:0.23 [[ 9.93604021e-01 1.11864187e-01 -1.54095461e-02 2.24365160e+01] [-1.11850765e-01 9.93723505e-01 1.73281945e-03 -1.30612031e+00] [ 1.55066686e-02 1.83315448e-06 9.99879764e-01 2.28873220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.74 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.47, Y:-1.31, Z:0.23 [[ 9.93258889e-01 1.15028276e-01 -1.43274378e-02 2.24696218e+01] [-1.15016946e-01 9.93362217e-01 1.61500201e-03 -1.30804456e+00] [ 1.44181063e-02 4.37830411e-05 9.99896053e-01 2.32713882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.77 meters Centerline goodness [0,1] 0.9999552542676242 Centerline is valid? [True, True] Translation: X:22.50, Y:-1.31, Z:0.23 [[ 9.93130322e-01 1.16072137e-01 -1.48129251e-02 2.25028158e+01] [-1.16060078e-01 9.93240784e-01 1.67405937e-03 -1.31112991e+00] [ 1.49071130e-02 5.66301158e-05 9.99888881e-01 2.31926573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.8 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.54, Y:-1.31, Z:0.23 [[ 9.92901443e-01 1.18070236e-01 -1.43577145e-02 2.25358415e+01] [-1.18059058e-01 9.93005243e-01 1.62661959e-03 -1.31389458e+00] [ 1.44493411e-02 7.99853048e-05 9.99895600e-01 2.33322012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.83 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.57, Y:-1.32, Z:0.23 [[ 9.92700669e-01 1.19690221e-01 -1.48199918e-02 2.25677887e+01] [-1.19678428e-01 9.92811281e-01 1.68326474e-03 -1.31648144e+00] [ 1.49149253e-02 1.02655282e-04 9.99888761e-01 2.33246852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.86 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.60, Y:-1.32, Z:0.23 [[ 9.92376536e-01 1.22289623e-01 -1.52989802e-02 2.25993676e+01] [-1.22277309e-01 9.92494447e-01 1.74126534e-03 -1.31852967e+00] [ 1.53970916e-02 1.42727268e-04 9.99881448e-01 2.32559038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.89 meters Centerline goodness [0,1] 0.9998656545979714 Centerline is valid? [True, True] Translation: X:22.63, Y:-1.32, Z:0.23 [[ 9.92313140e-01 1.22803979e-01 -1.52910329e-02 2.26324368e+01] [-1.22791696e-01 9.92430935e-01 1.74311718e-03 -1.32205285e+00] [ 1.53893558e-02 1.47893787e-04 9.99881566e-01 2.30673148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.919999999999998 meters Centerline goodness [0,1] 0.9998210971218999 Centerline is valid? [True, True] Translation: X:22.66, Y:-1.32, Z:0.23 [[ 9.92222889e-01 1.23556408e-01 -1.50848537e-02 2.26637754e+01] [-1.23544478e-01 9.92337539e-01 1.72378771e-03 -1.32494513e+00] [ 1.51822516e-02 1.53268756e-04 9.99884731e-01 2.30089014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.95 meters Centerline goodness [0,1] 0.999820744359049 Centerline is valid? [True, True] Translation: X:22.70, Y:-1.33, Z:0.23 [[ 9.92142500e-01 1.24189036e-01 -1.51770477e-02 2.26952364e+01] [-1.24176972e-01 9.92258564e-01 1.73834086e-03 -1.32857056e+00] [ 1.52754384e-02 1.59957992e-04 9.99883311e-01 2.29872554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.98 meters Centerline goodness [0,1] 0.9998429436840924 Centerline is valid? [True, True] Translation: X:22.73, Y:-1.33, Z:0.23 [[ 9.92095703e-01 1.24714288e-01 -1.38731162e-02 2.27280719e+01] [-1.24704211e-01 9.92192685e-01 1.59243202e-03 -1.33464461e+00] [ 1.39634035e-02 1.50191052e-04 9.99902496e-01 2.31672000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.009999999999998 meters Centerline goodness [0,1] 0.9998875241823008 Centerline is valid? [True, True] Translation: X:22.76, Y:-1.34, Z:0.23 [[ 9.92017363e-01 1.25366809e-01 -1.35910190e-02 2.27608876e+01] [-1.25357146e-01 9.92110448e-01 1.56391553e-03 -1.33903666e+00] [ 1.36798550e-02 1.52299987e-04 9.99906415e-01 2.32444938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.04 meters Centerline goodness [0,1] 0.9997299426128052 Centerline is valid? [True, True] Translation: X:22.79, Y:-1.34, Z:0.23 [[ 9.92011406e-01 1.25400845e-01 -1.37112424e-02 2.27921591e+01] [-1.25390960e-01 9.92106146e-01 1.58167076e-03 -1.34319733e+00] [ 1.38013507e-02 1.50230413e-04 9.99904746e-01 2.31365673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.07 meters Centerline goodness [0,1] 0.9998201196204524 Centerline is valid? [True, True] Translation: X:22.83, Y:-1.35, Z:0.23 [[ 9.91988987e-01 1.25551368e-01 -1.39536182e-02 2.28250250e+01] [-1.25541091e-01 9.92087109e-01 1.61348105e-03 -1.34824931e+00] [ 1.40457794e-02 1.51197021e-04 9.99901342e-01 2.31768649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.099999999999998 meters Centerline goodness [0,1] 0.999955083432524 Centerline is valid? [True, True] Translation: X:22.86, Y:-1.35, Z:0.23 [[ 9.91916254e-01 1.26029167e-01 -1.47917068e-02 2.28573714e+01] [-1.26017606e-01 9.92026523e-01 1.71479056e-03 -1.35236150e+00] [ 1.48898791e-02 1.63086863e-04 9.99889126e-01 2.32840740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.13 meters Centerline goodness [0,1] 0.9998874254193403 Centerline is valid? [True, True] Translation: X:22.89, Y:-1.36, Z:0.23 [[ 9.91865752e-01 1.26361002e-01 -1.53370910e-02 2.28886697e+01] [-1.26348544e-01 9.91984308e-01 1.78242992e-03 -1.35575683e+00] [ 1.54393832e-02 1.69887923e-04 9.99880791e-01 2.31470523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.16 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.92, Y:-1.36, Z:0.23 [[ 9.91587235e-01 1.28412171e-01 -1.62809900e-02 2.29203058e+01] [-1.28398336e-01 9.91720863e-01 1.89655516e-03 -1.35818630e+00] [ 1.63897382e-02 2.09852134e-04 9.99865657e-01 2.32858920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.189999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.95, Y:-1.36, Z:0.23 [[ 9.91550966e-01 1.28691985e-01 -1.62804979e-02 2.29524750e+01] [-1.28678118e-01 9.91684591e-01 1.90077131e-03 -1.36201686e+00] [ 1.63897330e-02 2.10232210e-04 9.99865657e-01 2.33213151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.22 meters Centerline goodness [0,1] 0.9997979934011177 Centerline is valid? [True, True] Translation: X:22.99, Y:-1.36, Z:0.23 [[ 9.91496624e-01 1.28921235e-01 -1.77132670e-02 2.29857219e+01] [-1.28904763e-01 9.91654811e-01 2.07338005e-03 -1.36498875e+00] [ 1.78327492e-02 2.27575163e-04 9.99840958e-01 2.29427402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.25 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.02, Y:-1.37, Z:0.23 [[ 9.91342247e-01 1.30042267e-01 -1.81537403e-02 2.30171712e+01] [-1.30025064e-01 9.91508420e-01 2.12979999e-03 -1.36765220e+00] [ 1.82765504e-02 2.49080531e-04 9.99832939e-01 2.31317065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.279999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.05, Y:-1.37, Z:0.23 [[ 9.91311227e-01 1.30193709e-01 -1.87523111e-02 2.30491659e+01] [-1.30175291e-01 9.91488544e-01 2.20472821e-03 -1.37110473e+00] [ 1.88797434e-02 2.55515731e-04 9.99821729e-01 2.30725144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.31 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.08, Y:-1.38, Z:0.23 [[ 9.91272280e-01 1.30399159e-01 -1.93733450e-02 2.30813447e+01] [-1.30379434e-01 9.91461542e-01 2.28317903e-03 -1.37582949e+00] [ 1.95056512e-02 2.62633684e-04 9.99809712e-01 2.30934602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.34 meters Centerline goodness [0,1] 0.999887356943318 Centerline is valid? [True, True] Translation: X:23.11, Y:-1.38, Z:0.23 [[ 9.91495573e-01 1.28571070e-01 -2.01496805e-02 2.31117563e+01] [-1.28549245e-01 9.91700271e-01 2.38007288e-03 -1.38180804e+00] [ 2.02884521e-02 2.30394489e-04 9.99794142e-01 2.28425427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.369999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.14, Y:-1.39, Z:0.23 [[ 9.91526039e-01 1.28244871e-01 -2.07211977e-02 2.31438599e+01] [-1.28221608e-01 9.91742508e-01 2.45289823e-03 -1.38767321e+00] [ 2.08646642e-02 2.24792811e-04 9.99782284e-01 2.30888816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.4 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.17, Y:-1.39, Z:0.23 [[ 9.91669361e-01 1.27106785e-01 -2.08744868e-02 2.31749983e+01] [-1.27082809e-01 9.91889019e-01 2.47652407e-03 -1.39403347e+00] [ 2.10199572e-02 1.96895380e-04 9.99779037e-01 2.31840163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.43 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.21, Y:-1.40, Z:0.23 [[ 9.91961761e-01 1.25035141e-01 -1.94442594e-02 2.32069358e+01] [-1.25013877e-01 9.92152304e-01 2.31007489e-03 -1.40118972e+00] [ 1.95805073e-02 1.39296284e-04 9.99808274e-01 2.34733114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.46 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.24, Y:-1.41, Z:0.24 [[ 9.92036100e-01 1.24591014e-01 -1.84785220e-02 2.32376289e+01] [-1.24571683e-01 9.92208176e-01 2.19799538e-03 -1.40543952e+00] [ 1.86083911e-02 1.21409828e-04 9.99826842e-01 2.36411490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.49 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.27, Y:-1.41, Z:0.24 [[ 9.92129541e-01 1.24097083e-01 -1.66999038e-02 2.32698443e+01] [-1.24081163e-01 9.92270076e-01 1.99013039e-03 -1.40960927e+00] [ 1.68177842e-02 9.76763392e-05 9.99858566e-01 2.38367325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.52 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.30, Y:-1.41, Z:0.24 [[ 9.92161935e-01 1.23995246e-01 -1.54878261e-02 2.33027162e+01] [-1.23981481e-01 9.92282808e-01 1.84952923e-03 -1.41310876e+00] [ 1.55976364e-02 8.51711090e-05 9.99878346e-01 2.40328551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.55 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.33, Y:-1.42, Z:0.24 [[ 9.92230659e-01 1.23622886e-01 -1.39893462e-02 2.33343150e+01] [-1.23611568e-01 9.92329269e-01 1.67417712e-03 -1.41612802e+00] [ 1.40890043e-02 6.80751486e-05 9.99900743e-01 2.41901779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.58 meters Centerline goodness [0,1] 0.9999327625621947 Centerline is valid? [True, True] Translation: X:23.37, Y:-1.42, Z:0.24 [[ 9.92564839e-01 1.20943660e-01 -1.36993177e-02 2.33653921e+01] [-1.20932505e-01 9.92659373e-01 1.64279734e-03 -1.41916136e+00] [ 1.37974420e-02 2.61099244e-05 9.99904810e-01 2.40828276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.61 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.40, Y:-1.42, Z:0.24 [[ 9.92699395e-01 1.19802633e-01 -1.39728407e-02 2.33972481e+01] [-1.19790868e-01 9.92797728e-01 1.67898562e-03 -1.42396778e+00] [ 1.40733514e-02 7.09070553e-06 9.99900965e-01 2.42760469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.64 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.43, Y:-1.43, Z:0.24 [[ 9.92934286e-01 1.17799051e-01 -1.43138864e-02 2.34297754e+01] [-1.17786438e-01 9.93037453e-01 1.72391938e-03 -1.42926675e+00] [ 1.44173013e-02 -2.57569618e-05 9.99896065e-01 2.43436262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.669999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.46, Y:-1.44, Z:0.24 [[ 9.93238689e-01 1.15086627e-01 -1.52306968e-02 2.34617439e+01] [-1.15071960e-01 9.93355456e-01 1.83879877e-03 -1.43512206e+00] [ 1.53411169e-02 -7.37399392e-05 9.99882315e-01 2.43262126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.7 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.49, Y:-1.44, Z:0.24 [[ 9.93971005e-01 1.08398296e-01 -1.64757503e-02 2.34924987e+01] [-1.08380142e-01 9.94107525e-01 1.99340782e-03 -1.44308350e+00] [ 1.65947494e-02 -1.95745413e-04 9.99862279e-01 2.42356866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.73 meters Centerline goodness [0,1] 0.9998878622050776 Centerline is valid? [True, True] Translation: X:23.52, Y:-1.45, Z:0.24 [[ 9.94447781e-01 1.03882745e-01 -1.67924716e-02 2.35226810e+01] [-1.03863195e-01 9.94589512e-01 2.03452062e-03 -1.44990467e+00] [ 1.69129677e-02 -2.79104761e-04 9.99856927e-01 2.39387984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.759999999999998 meters Centerline goodness [0,1] 0.9998201317534906 Centerline is valid? [True, True] Translation: X:23.55, Y:-1.45, Z:0.24 [[ 9.94794871e-01 1.00409602e-01 -1.73515540e-02 2.35547209e+01] [-1.00388166e-01 9.94946123e-01 2.10422444e-03 -1.45496637e+00] [ 1.74751457e-02 -3.51380999e-04 9.99847236e-01 2.38468578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.79 meters Centerline goodness [0,1] 0.9998649925745916 Centerline is valid? [True, True] Translation: X:23.59, Y:-1.46, Z:0.24 [[ 9.95093109e-01 9.74110315e-02 -1.73434402e-02 2.35862227e+01] [-9.73890864e-02 9.95244153e-01 2.10746902e-03 -1.45899385e+00] [ 1.74662482e-02 -4.08066100e-04 9.99847370e-01 2.39537018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.82 meters Centerline goodness [0,1] 0.9998870260743821 Centerline is valid? [True, True] Translation: X:23.62, Y:-1.46, Z:0.24 [[ 9.95580959e-01 9.23221507e-02 -1.71806245e-02 2.36169822e+01] [-9.22998078e-02 9.95729067e-01 2.09059724e-03 -1.46435449e+00] [ 1.73002557e-02 -4.95590460e-04 9.99850217e-01 2.40308481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.849999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.65, Y:-1.47, Z:0.24 [[ 9.95668362e-01 9.14009746e-02 -1.70403797e-02 2.36486884e+01] [-9.13788266e-02 9.95814040e-01 2.07548955e-03 -1.46801058e+00] [ 1.71587512e-02 -5.09369378e-04 9.99852648e-01 2.43267926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.88 meters Centerline goodness [0,1] 0.9997517266284476 Centerline is valid? [True, True] Translation: X:23.68, Y:-1.47, Z:0.24 [[ 9.95840848e-01 8.94062430e-02 -1.75365206e-02 2.36806371e+01] [-8.93823980e-02 9.95995083e-01 2.14041714e-03 -1.47221720e+00] [ 1.76576549e-02 -5.64058563e-04 9.99843932e-01 2.40774015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.91 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.71, Y:-1.48, Z:0.24 [[ 9.95715951e-01 9.07357058e-02 -1.77981999e-02 2.37116835e+01] [-9.07112773e-02 9.95874855e-01 2.17673430e-03 -1.47641638e+00] [ 1.79222873e-02 -5.52911621e-04 9.99839230e-01 2.43988679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.939999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.74, Y:-1.48, Z:0.24 [[ 9.95642532e-01 9.16689304e-02 -1.71101012e-02 2.37441598e+01] [-9.16464410e-02 9.95789405e-01 2.09555275e-03 -1.47920866e+00] [ 1.72301545e-02 -5.18341574e-04 9.99851416e-01 2.44722608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.97 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.78, Y:-1.48, Z:0.25 [[ 9.95475651e-01 9.35383581e-02 -1.66974183e-02 2.37759276e+01] [-9.35171633e-02 9.95615563e-01 2.04737895e-03 -1.48174301e+00] [ 1.68157180e-02 -4.76620704e-04 9.99858492e-01 2.45475426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.0 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.81, Y:-1.48, Z:0.25 [[ 9.95049295e-01 9.80889521e-02 -1.59830657e-02 2.38075784e+01] [-9.80700747e-02 9.95177577e-01 1.96250759e-03 -1.48076262e+00] [ 1.60984889e-02 -3.85331341e-04 9.99870337e-01 2.46513726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.029999999999998 meters Centerline goodness [0,1] 0.9998884102930345 Centerline is valid? [True, True] Translation: X:23.84, Y:-1.48, Z:0.25 [[ 9.94817579e-01 1.00497583e-01 -1.54343690e-02 2.38397492e+01] [-1.00480246e-01 9.94937246e-01 1.89667184e-03 -1.48126719e+00] [ 1.55468395e-02 -3.35993294e-04 9.99879084e-01 2.45437498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.06 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.87, Y:-1.48, Z:0.25 [[ 9.94358128e-01 1.05019960e-01 -1.49238622e-02 2.38718617e+01] [-1.05004205e-01 9.94470080e-01 1.83760161e-03 -1.48211302e+00] [ 1.50343193e-02 -2.60165816e-04 9.99886944e-01 2.48364419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.09 meters Centerline goodness [0,1] 0.9998441951566952 Centerline is valid? [True, True] Translation: X:23.90, Y:-1.48, Z:0.25 [[ 9.94008953e-01 1.08230460e-01 -1.52436720e-02 2.39041795e+01] [-1.08214339e-01 9.94125807e-01 1.88085181e-03 -1.48315327e+00] [ 1.53576932e-02 -2.19999640e-04 9.99882039e-01 2.45969615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.119999999999997 meters Centerline goodness [0,1] 0.9999554039289139 Centerline is valid? [True, True] Translation: X:23.94, Y:-1.48, Z:0.25 [[ 9.93044959e-01 1.16738415e-01 -1.52922360e-02 2.39368153e+01] [-1.16723140e-01 9.93162693e-01 1.89069632e-03 -1.48002807e+00] [ 1.54083952e-02 -9.25886405e-05 9.99881279e-01 2.48114960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.15 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.97, Y:-1.48, Z:0.25 [[ 9.92500500e-01 1.21277845e-01 -1.53114795e-02 2.39685410e+01] [-1.21263013e-01 9.92618599e-01 1.89685861e-03 -1.48032535e+00] [ 1.54285063e-02 -2.59169811e-05 9.99880973e-01 2.49349468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.18 meters Centerline goodness [0,1] 0.99979985767657 Centerline is valid? [True, True] Translation: X:24.00, Y:-1.48, Z:0.25 [[ 9.92098758e-01 1.24375913e-01 -1.64525479e-02 2.40015972e+01] [-1.24359142e-01 9.92235170e-01 2.04254422e-03 -1.48114054e+00] [ 1.65788400e-02 1.96191624e-05 9.99862561e-01 2.45672876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.21 meters Centerline goodness [0,1] 0.9998669239470357 Centerline is valid? [True, True] Translation: X:24.03, Y:-1.48, Z:0.25 [[ 9.91676433e-01 1.27664659e-01 -1.67208364e-02 2.40346411e+01] [-1.27647722e-01 9.91817387e-01 2.08067456e-03 -1.48236217e+00] [ 1.68496448e-02 7.10207394e-05 9.99858032e-01 2.45780570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.24 meters Centerline goodness [0,1] 0.9999556068543017 Centerline is valid? [True, True] Translation: X:24.07, Y:-1.48, Z:0.25 [[ 9.91029724e-01 1.32554918e-01 -1.70082477e-02 2.40671501e+01] [-1.32538033e-01 9.91175651e-01 2.12112080e-03 -1.48247416e+00] [ 1.71393259e-02 1.52145929e-04 9.99853099e-01 2.47075711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.27 meters Centerline goodness [0,1] 0.9998230636528509 Centerline is valid? [True, True] Translation: X:24.10, Y:-1.49, Z:0.25 [[ 9.90882493e-01 1.33627154e-01 -1.71950341e-02 2.40996814e+01] [-1.33609979e-01 9.91031662e-01 2.14897578e-03 -1.48556659e+00] [ 1.73279847e-02 1.68045668e-04 9.99849845e-01 2.45138346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.3 meters Centerline goodness [0,1] 0.9998232708153842 Centerline is valid? [True, True] Translation: X:24.13, Y:-1.49, Z:0.25 [[ 9.90758473e-01 1.34620987e-01 -1.65782692e-02 2.41323841e+01] [-1.34605083e-01 9.90897149e-01 2.07655259e-03 -1.48908908e+00] [ 1.67069073e-02 1.74157230e-04 9.99860415e-01 2.45766143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.33 meters Centerline goodness [0,1] 0.9998894832235533 Centerline is valid? [True, True] Translation: X:24.16, Y:-1.49, Z:0.25 [[ 9.90654198e-01 1.35480769e-01 -1.57867352e-02 2.41642184e+01] [-1.35466389e-01 9.90779961e-01 1.98171649e-03 -1.49269232e+00] [ 1.59096654e-02 1.75376245e-04 9.99873418e-01 2.47373733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.36 meters Centerline goodness [0,1] 0.9999557835160948 Centerline is valid? [True, True] Translation: X:24.20, Y:-1.50, Z:0.25 [[ 9.90609800e-01 1.35824610e-01 -1.56172750e-02 2.41972022e+01] [-1.35810513e-01 9.90732883e-01 1.96469892e-03 -1.49724633e+00] [ 1.57394024e-02 1.74740123e-04 9.99876113e-01 2.49530870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.39 meters Centerline goodness [0,1] 0.9999115259560727 Centerline is valid? [True, True] Translation: X:24.23, Y:-1.50, Z:0.25 [[ 9.90773090e-01 1.34667224e-01 -1.52781841e-02 2.42285874e+01] [-1.34653530e-01 9.90890870e-01 1.92620380e-03 -1.50331553e+00] [ 1.53984097e-02 1.48830529e-04 9.99881426e-01 2.49715486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.419999999999998 meters Centerline goodness [0,1] 0.9998008761449622 Centerline is valid? [True, True] Translation: X:24.26, Y:-1.51, Z:0.25 [[ 9.90920768e-01 1.33486694e-01 -1.60416411e-02 2.42592127e+01] [-1.33471376e-01 9.91050597e-01 2.02652927e-03 -1.50821161e+00] [ 1.61685927e-02 1.32969976e-04 9.99869271e-01 2.48468756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.45 meters Centerline goodness [0,1] 0.9999556482015346 Centerline is valid? [True, True] Translation: X:24.29, Y:-1.51, Z:0.25 [[ 9.90964306e-01 1.33184286e-01 -1.58647546e-02 2.42911444e+01] [-1.33169205e-01 9.91091283e-01 2.00799988e-03 -1.51286455e+00] [ 1.59908540e-02 1.22840551e-04 9.99872131e-01 2.50453759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.48 meters Centerline goodness [0,1] 0.9999778707207506 Centerline is valid? [True, True] Translation: X:24.32, Y:-1.52, Z:0.25 [[ 9.91052998e-01 1.32534687e-01 -1.57642712e-02 2.43234422e+01] [-1.32519646e-01 9.91178362e-01 1.99954480e-03 -1.51890123e+00] [ 1.58902136e-02 1.07420786e-04 9.99873737e-01 2.51355914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.509999999999998 meters Centerline goodness [0,1] 0.9999333570286121 Centerline is valid? [True, True] Translation: X:24.35, Y:-1.52, Z:0.25 [[ 9.91233977e-01 1.31013314e-01 -1.70503209e-02 2.43544287e+01] [-1.30995408e-01 9.91380605e-01 2.16768683e-03 -1.52492311e+00] [ 1.71873533e-02 8.48289014e-05 9.99852283e-01 2.50697493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.54 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.39, Y:-1.53, Z:0.25 [[ 9.91203773e-01 1.31195650e-01 -1.74006206e-02 2.43869355e+01] [-1.31176943e-01 9.91356492e-01 2.21705664e-03 -1.52999556e+00] [ 1.75410863e-02 8.50053051e-05 9.99846140e-01 2.52085687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.57 meters Centerline goodness [0,1] 0.9998442714126807 Centerline is valid? [True, True] Translation: X:24.42, Y:-1.53, Z:0.25 [[ 9.91260810e-01 1.30571913e-01 -1.87878367e-02 2.44185960e+01] [-1.30549889e-01 9.91438838e-01 2.39928013e-03 -1.53497982e+00] [ 1.89402696e-02 7.44376320e-05 9.99820614e-01 2.49014439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.599999999999998 meters Centerline goodness [0,1] 0.9997100479536076 Centerline is valid? [True, True] Translation: X:24.45, Y:-1.54, Z:0.25 [[ 9.91326519e-01 1.29832570e-01 -2.03773381e-02 2.44510250e+01] [-1.29806385e-01 9.91535930e-01 2.60814655e-03 -1.54149366e+00] [ 2.05434853e-02 5.95837544e-05 9.99788959e-01 2.48163277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.63 meters Centerline goodness [0,1] 0.9999777198493862 Centerline is valid? [True, True] Translation: X:24.48, Y:-1.55, Z:0.25 [[ 9.91346181e-01 1.29745764e-01 -1.99696265e-02 2.44833751e+01] [-1.29720483e-01 9.91547293e-01 2.56165927e-03 -1.54680667e+00] [ 2.01331935e-02 5.09784526e-05 9.99797305e-01 2.51225255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.66 meters Centerline goodness [0,1] 0.9998217627662419 Centerline is valid? [True, True] Translation: X:24.52, Y:-1.55, Z:0.25 [[ 9.91507384e-01 1.28331370e-01 -2.10752596e-02 2.45154916e+01] [-1.28302759e-01 9.91731344e-01 2.70974674e-03 -1.55305666e+00] [ 2.12487411e-02 1.72800638e-05 9.99774220e-01 2.49046602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.689999999999998 meters Centerline goodness [0,1] 0.9998440041896017 Centerline is valid? [True, True] Translation: X:24.55, Y:-1.56, Z:0.25 [[ 9.91669367e-01 1.27096347e-01 -2.09376728e-02 2.45465451e+01] [-1.27067711e-01 9.91890376e-01 2.69787499e-03 -1.55919532e+00] [ 2.11107662e-02 -1.48978331e-05 9.99777143e-01 2.49217419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.72 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.58, Y:-1.57, Z:0.25 [[ 9.92115464e-01 1.23618484e-01 -2.06246597e-02 2.45772176e+01] [-1.23589851e-01 9.92329815e-01 2.66213302e-03 -1.56834362e+00] [ 2.07955536e-02 -9.21447335e-05 9.99783745e-01 2.51897465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.75 meters Centerline goodness [0,1] 0.999865603440552 Centerline is valid? [True, True] Translation: X:24.61, Y:-1.58, Z:0.25 [[ 9.92460288e-01 1.20812813e-01 -2.06601381e-02 2.46089370e+01] [-1.20783382e-01 9.92675294e-01 2.67108689e-03 -1.57587877e+00] [ 2.08315102e-02 -1.55546309e-04 9.99782988e-01 2.51753160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.779999999999998 meters Centerline goodness [0,1] 0.9998875444199541 Centerline is valid? [True, True] Translation: X:24.64, Y:-1.58, Z:0.25 [[ 9.92750957e-01 1.18547313e-01 -1.98008250e-02 2.46400429e+01] [-1.18519732e-01 9.92948385e-01 2.56482179e-03 -1.58321548e+00] [ 1.99652500e-02 -1.99440813e-04 9.99800655e-01 2.53552211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.81 meters Centerline goodness [0,1] 0.999798052326886 Centerline is valid? [True, True] Translation: X:24.67, Y:-1.59, Z:0.25 [[ 9.93443197e-01 1.12735724e-01 -1.90071046e-02 2.46706464e+01] [-1.12709177e-01 9.93624961e-01 2.46563367e-03 -1.59330995e+00] [ 1.91638985e-02 -3.07191891e-04 9.99816308e-01 2.53928368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.84 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.70, Y:-1.60, Z:0.26 [[ 9.93658684e-01 1.11170061e-01 -1.68415343e-02 2.47017015e+01] [-1.11148948e-01 9.93801352e-01 2.18743507e-03 -1.59945073e+00] [ 1.69803168e-02 -3.01645038e-04 9.99855779e-01 2.58695538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.869999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.73, Y:-1.61, Z:0.26 [[ 9.93903158e-01 1.09108241e-01 -1.58715047e-02 2.47334991e+01] [-1.09089166e-01 9.94029823e-01 2.06525775e-03 -1.60593490e+00] [ 1.60020857e-02 -3.21256986e-04 9.99871907e-01 2.59794433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.9 meters Centerline goodness [0,1] 0.9998872451740934 Centerline is valid? [True, True] Translation: X:24.76, Y:-1.61, Z:0.26 [[ 9.94153309e-01 1.06729622e-01 -1.63702752e-02 2.47639709e+01] [-1.06708940e-01 9.94288010e-01 2.13422419e-03 -1.61269644e+00] [ 1.65045533e-02 -3.74891325e-04 9.99863720e-01 2.57949002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.93 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.80, Y:-1.62, Z:0.26 [[ 9.94377880e-01 1.04672489e-01 -1.60094525e-02 2.47959846e+01] [-1.04652381e-01 9.94506665e-01 2.09093217e-03 -1.61781626e+00] [ 1.61403703e-02 -4.03749368e-04 9.99869654e-01 2.60790062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.96 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.83, Y:-1.62, Z:0.26 [[ 9.94425335e-01 1.04215053e-01 -1.60460396e-02 2.48265125e+01] [-1.04194738e-01 9.94554699e-01 2.09916996e-03 -1.62454096e+00] [ 1.61774292e-02 -4.15554896e-04 9.99869050e-01 2.60780459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.99 meters Centerline goodness [0,1] 0.9999099078808081 Centerline is valid? [True, True] Translation: X:24.86, Y:-1.63, Z:0.26 [[ 9.94469984e-01 1.03718121e-01 -1.64925080e-02 2.48584067e+01] [-1.03696542e-01 9.94606635e-01 2.16052932e-03 -1.62716302e+00] [ 1.66276439e-02 -4.38365503e-04 9.99861655e-01 2.59526639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.02 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.89, Y:-1.63, Z:0.26 [[ 9.94379991e-01 1.04639967e-01 -1.60907088e-02 2.48903980e+01] [-1.04619483e-01 9.94510082e-01 2.11185349e-03 -1.63066489e+00] [ 1.62233564e-02 -4.16583219e-04 9.99868306e-01 2.61517539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.05 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.92, Y:-1.63, Z:0.26 [[ 9.94262827e-01 1.05873738e-01 -1.52375482e-02 2.49226545e+01] [-1.05855457e-01 9.94379509e-01 2.00356537e-03 -1.63357459e+00] [ 1.53640307e-02 -3.79092933e-04 9.99881894e-01 2.62652150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.08 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.95, Y:-1.64, Z:0.26 [[ 9.94232948e-01 1.06154026e-01 -1.52370327e-02 2.49547657e+01] [-1.06135718e-01 9.94349626e-01 2.00747936e-03 -1.63787349e+00] [ 1.53640398e-02 -3.78708711e-04 9.99881894e-01 2.63006453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.11 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.99, Y:-1.64, Z:0.26 [[ 9.94064817e-01 1.07609159e-01 -1.59815151e-02 2.49870002e+01] [-1.07589133e-01 9.94193204e-01 2.11011621e-03 -1.64105913e+00] [ 1.61157815e-02 -3.78154938e-04 9.99870061e-01 2.62945442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.14 meters Centerline goodness [0,1] 0.9997966515285027 Centerline is valid? [True, True] Translation: X:25.02, Y:-1.64, Z:0.26 [[ 9.93993885e-01 1.08143571e-01 -1.67667822e-02 2.50194623e+01] [-1.08121527e-01 9.94135209e-01 2.21835414e-03 -1.64495439e+00] [ 1.69083492e-02 -3.92180364e-04 9.99856967e-01 2.60079962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.169999999999998 meters Centerline goodness [0,1] 0.999729687112833 Centerline is valid? [True, True] Translation: X:25.05, Y:-1.65, Z:0.26 [[ 9.93841732e-01 1.09557213e-01 -1.66080986e-02 2.50513242e+01] [-1.09535706e-01 9.93980423e-01 2.20186940e-03 -1.64825081e+00] [ 1.67493556e-02 -3.69129877e-04 9.99859652e-01 2.59681397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.2 meters Centerline goodness [0,1] 0.9999774205202312 Centerline is valid? [True, True] Translation: X:25.08, Y:-1.65, Z:0.26 [[ 9.93411326e-01 1.13351489e-01 -1.68930900e-02 2.50825960e+01] [-1.13329715e-01 9.93554901e-01 2.24379627e-03 -1.65039817e+00] [ 1.70385500e-02 -3.14523557e-04 9.99854784e-01 2.62508152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.23 meters Centerline goodness [0,1] 0.9998200022499719 Centerline is valid? [True, True] Translation: X:25.12, Y:-1.65, Z:0.26 [[ 9.93269706e-01 1.14389538e-01 -1.81748500e-02 2.51156966e+01] [-1.14364420e-01 9.93435921e-01 2.41882132e-03 -1.65310166e+00] [ 1.83322367e-02 -3.23985762e-04 9.99831898e-01 2.59248710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.259999999999998 meters Centerline goodness [0,1] 0.9999324917302369 Centerline is valid? [True, True] Translation: X:25.15, Y:-1.66, Z:0.26 [[ 9.93077561e-01 1.16095177e-01 -1.78568551e-02 2.51477391e+01] [-1.16071120e-01 9.93238050e-01 2.38128374e-03 -1.65612312e+00] [ 1.80125635e-02 -2.92134275e-04 9.99837718e-01 2.60500952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.29 meters Centerline goodness [0,1] 0.9999549519111651 Centerline is valid? [True, True] Translation: X:25.18, Y:-1.66, Z:0.26 [[ 9.92924076e-01 1.17423953e-01 -1.77029262e-02 2.51787135e+01] [-1.17400456e-01 9.93081841e-01 2.36439551e-03 -1.65971530e+00] [ 1.78580912e-02 -2.69333627e-04 9.99840495e-01 2.60905217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.32 meters Centerline goodness [0,1] 0.9999774718961905 Centerline is valid? [True, True] Translation: X:25.21, Y:-1.66, Z:0.26 [[ 9.92756557e-01 1.18777643e-01 -1.80635098e-02 2.52096095e+01] [-1.18753344e-01 9.92920847e-01 2.41574753e-03 -1.66445653e+00] [ 1.82225722e-02 -2.53147005e-04 9.99833923e-01 2.60832628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.349999999999998 meters Centerline goodness [0,1] 0.99979741592761 Centerline is valid? [True, True] Translation: X:25.24, Y:-1.67, Z:0.26 [[ 9.92643870e-01 1.19601941e-01 -1.88021960e-02 2.52420250e+01] [-1.19575669e-01 9.92821893e-01 2.51939643e-03 -1.66667073e+00] [ 1.89685565e-02 -2.52578253e-04 9.99820049e-01 2.60622089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.38 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.27, Y:-1.67, Z:0.26 [[ 9.92482033e-01 1.21071652e-01 -1.79184207e-02 2.52725041e+01] [-1.21047960e-01 9.92643747e-01 2.40498504e-03 -1.67083848e+00] [ 1.80777837e-02 -2.17916176e-04 9.99836560e-01 2.64373998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.41 meters Centerline goodness [0,1] 0.999910001124986 Centerline is valid? [True, True] Translation: X:25.31, Y:-1.68, Z:0.26 [[ 9.92529025e-01 1.20635711e-01 -1.82526900e-02 2.53051223e+01] [-1.20610984e-01 9.92696817e-01 2.45356941e-03 -1.67526549e+00] [ 1.84153753e-02 -2.33763966e-04 9.99830395e-01 2.62973436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.439999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.34, Y:-1.68, Z:0.27 [[ 9.92461379e-01 1.21291958e-01 -1.75690512e-02 2.53367520e+01] [-1.21269068e-01 9.92616851e-01 2.36635443e-03 -1.67925877e+00] [ 1.77263561e-02 -2.17932909e-04 9.99842852e-01 2.65285854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.47 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.37, Y:-1.68, Z:0.27 [[ 9.92530887e-01 1.20956144e-01 -1.58760675e-02 2.53696659e+01] [-1.20937347e-01 9.92657831e-01 2.14225543e-03 -1.68344177e+00] [ 1.60186216e-02 -2.06245193e-04 9.99871672e-01 2.66270733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.40, Y:-1.69, Z:0.27 [[ 9.92572309e-01 1.20636656e-01 -1.57164936e-02 2.54008350e+01] [-1.20618125e-01 9.92696707e-01 2.12516503e-03 -1.68852510e+00] [ 1.58580842e-02 -2.13685965e-04 9.99874230e-01 2.66151604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.529999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.43, Y:-1.69, Z:0.27 [[ 9.92617246e-01 1.20286299e-01 -1.55630880e-02 2.54334426e+01] [-1.20268018e-01 9.92739219e-01 2.10868548e-03 -1.69366341e+00] [ 1.57037338e-02 -2.21375835e-04 9.99876664e-01 2.66253455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.47, Y:-1.70, Z:0.27 [[ 9.92648504e-01 1.20050983e-01 -1.53853257e-02 2.54661147e+01] [-1.20033022e-01 9.92767702e-01 2.08896555e-03 -1.69875183e+00] [ 1.55248368e-02 -2.26861397e-04 9.99879457e-01 2.66642231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.59 meters Centerline goodness [0,1] 0.9998876757873927 Centerline is valid? [True, True] Translation: X:25.50, Y:-1.70, Z:0.26 [[ 9.92754704e-01 1.18943333e-01 -1.70464504e-02 2.54970919e+01] [-1.18921037e-01 9.92901006e-01 2.31935573e-03 -1.70428666e+00] [ 1.72013097e-02 -2.75369758e-04 9.99852009e-01 2.64108339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.619999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.53, Y:-1.71, Z:0.27 [[ 9.92612729e-01 1.20144459e-01 -1.68902038e-02 2.55278039e+01] [-1.20122678e-01 9.92756387e-01 2.30193096e-03 -1.70863325e+00] [ 1.70444219e-02 -2.56029454e-04 9.99854701e-01 2.66719379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.65 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.56, Y:-1.71, Z:0.27 [[ 9.92496505e-01 1.21076122e-01 -1.70663542e-02 2.55600655e+01] [-1.21053953e-01 9.92643195e-01 2.32992601e-03 -1.71251811e+00] [ 1.72228987e-02 -2.46493785e-04 9.99851644e-01 2.67397282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.68 meters Centerline goodness [0,1] 0.9998203619706292 Centerline is valid? [True, True] Translation: X:25.59, Y:-1.72, Z:0.26 [[ 9.92394446e-01 1.21672288e-01 -1.86847088e-02 2.55926478e+01] [-1.21645725e-01 9.92570292e-01 2.55590061e-03 -1.71625247e+00] [ 1.88568691e-02 -2.63546617e-04 9.99822159e-01 2.64625601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.709999999999997 meters Centerline goodness [0,1] 0.9997985044552904 Centerline is valid? [True, True] Translation: X:25.62, Y:-1.72, Z:0.26 [[ 9.92194847e-01 1.23265247e-01 -1.88431492e-02 2.56244123e+01] [-1.23238425e-01 9.92373731e-01 2.58253713e-03 -1.71871390e+00] [ 1.90177834e-02 -2.40180001e-04 9.99819117e-01 2.64263013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.74 meters Centerline goodness [0,1] 0.9998434319711915 Centerline is valid? [True, True] Translation: X:25.66, Y:-1.72, Z:0.26 [[ 9.91815621e-01 1.26174622e-01 -1.95381561e-02 2.56556440e+01] [-1.26146256e-01 9.92008027e-01 2.68248939e-03 -1.72040386e+00] [ 1.97204698e-02 -1.95869647e-04 9.99805513e-01 2.64223389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.77 meters Centerline goodness [0,1] 0.9997978209592272 Centerline is valid? [True, True] Translation: X:25.69, Y:-1.72, Z:0.27 [[ 9.91637497e-01 1.27525447e-01 -1.98074370e-02 2.56887879e+01] [-1.27496461e-01 9.91835283e-01 2.72453406e-03 -1.72322198e+00] [ 1.99931623e-02 -1.76372015e-04 9.99800101e-01 2.65403661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.8 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.72, Y:-1.73, Z:0.27 [[ 9.91351799e-01 1.29786491e-01 -1.94184833e-02 2.57200984e+01] [-1.29758964e-01 9.91541955e-01 2.67626054e-03 -1.72719098e+00] [ 1.96015833e-02 -1.33393438e-04 9.99807862e-01 2.68655734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.83 meters Centerline goodness [0,1] 0.999821308912218 Centerline is valid? [True, True] Translation: X:25.75, Y:-1.73, Z:0.27 [[ 9.91158062e-01 1.31040450e-01 -2.08349870e-02 2.57528891e+01] [-1.31008915e-01 9.91377015e-01 2.87727050e-03 -1.73082961e+00] [ 2.10323660e-02 -1.22260813e-04 9.99778788e-01 2.65682797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.86 meters Centerline goodness [0,1] 0.9997764263995708 Centerline is valid? [True, True] Translation: X:25.78, Y:-1.74, Z:0.26 [[ 9.91049012e-01 1.31726925e-01 -2.16765387e-02 2.57849575e+01] [-1.31692821e-01 9.91286035e-01 2.99961248e-03 -1.73527897e+00] [ 2.18827799e-02 -1.18118451e-04 9.99760536e-01 2.63995813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.82, Y:-1.74, Z:0.27 [[ 9.90887464e-01 1.33063326e-01 -2.08850464e-02 2.58170897e+01] [-1.33031852e-01 9.91107534e-01 2.89538811e-03 -1.73897174e+00] [ 2.10845968e-02 -9.06273813e-05 9.99777691e-01 2.68880606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.919999999999998 meters Centerline goodness [0,1] 0.9998880229329034 Centerline is valid? [True, True] Translation: X:25.85, Y:-1.74, Z:0.27 [[ 9.90973055e-01 1.32432659e-01 -2.08325589e-02 2.58496648e+01] [-1.32401086e-01 9.91191999e-01 2.89370622e-03 -1.74402386e+00] [ 2.10322869e-02 -1.09331464e-04 9.99778791e-01 2.67991194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.95 meters Centerline goodness [0,1] 0.9999104624613869 Centerline is valid? [True, True] Translation: X:25.88, Y:-1.75, Z:0.27 [[ 9.91071261e-01 1.32004019e-01 -1.87801535e-02 2.58806816e+01] [-1.31978193e-01 9.91249175e-01 2.61342447e-03 -1.75007139e+00] [ 1.89607941e-02 -1.11519168e-04 9.99820222e-01 2.70405897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.98 meters Centerline goodness [0,1] 0.9998656455730216 Centerline is valid? [True, True] Translation: X:25.91, Y:-1.75, Z:0.27 [[ 9.91141886e-01 1.31526634e-01 -1.83985250e-02 2.59129313e+01] [-1.31501675e-01 9.91312629e-01 2.56516761e-03 -1.75467406e+00] [ 1.85760781e-02 -1.23008200e-04 9.99827442e-01 2.71159651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.009999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.94, Y:-1.76, Z:0.27 [[ 9.91070463e-01 1.32151646e-01 -1.77561402e-02 2.59439028e+01] [-1.32128412e-01 9.91229504e-01 2.48051022e-03 -1.75983463e+00] [ 1.79282135e-02 -1.12269812e-04 9.99839270e-01 2.74340451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.04 meters Centerline goodness [0,1] 0.9998203579368109 Centerline is valid? [True, True] Translation: X:25.98, Y:-1.77, Z:0.27 [[ 9.91242863e-01 1.30877832e-01 -1.75664337e-02 2.59755934e+01] [-1.30854808e-01 9.91398494e-01 2.45869820e-03 -1.76587099e+00] [ 1.77371250e-02 -1.38514729e-04 9.99842675e-01 2.72128830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.07 meters Centerline goodness [0,1] 0.9998876050892416 Centerline is valid? [True, True] Translation: X:26.01, Y:-1.77, Z:0.27 [[ 9.91238010e-01 1.31076064e-01 -1.63178768e-02 2.60079716e+01] [-1.31056154e-01 9.91372306e-01 2.28819866e-03 -1.77092727e+00] [ 1.64770193e-02 -1.29591306e-04 9.99864236e-01 2.74583266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.099999999999998 meters Centerline goodness [0,1] 0.9998879702448971 Centerline is valid? [True, True] Translation: X:26.04, Y:-1.78, Z:0.28 [[ 9.91171333e-01 1.31687551e-01 -1.54200323e-02 2.60396169e+01] [-1.31669781e-01 9.91291267e-01 2.16645241e-03 -1.77601481e+00] [ 1.55710381e-02 -1.16973254e-04 9.99878757e-01 2.75224386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.13 meters Centerline goodness [0,1] 0.9998429436840924 Centerline is valid? [True, True] Translation: X:26.07, Y:-1.78, Z:0.27 [[ 9.91036778e-01 1.32777929e-01 -1.47012383e-02 2.60712833e+01] [-1.32761841e-01 9.91145808e-01 2.06919548e-03 -1.77966492e+00] [ 1.48458142e-02 -9.88853561e-05 9.99889790e-01 2.74636030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.16 meters Centerline goodness [0,1] 0.99982008725768 Centerline is valid? [True, True] Translation: X:26.10, Y:-1.78, Z:0.27 [[ 9.90872515e-01 1.34019612e-01 -1.45052508e-02 2.61037937e+01] [-1.34004029e-01 9.90978676e-01 2.04537608e-03 -1.78370285e+00] [ 1.46485147e-02 -8.29448997e-05 9.99892701e-01 2.74485797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.189999999999998 meters Centerline goodness [0,1] 0.9998427955443766 Centerline is valid? [True, True] Translation: X:26.14, Y:-1.79, Z:0.27 [[ 9.90599986e-01 1.36012140e-01 -1.45727842e-02 2.61359803e+01] [-1.35996564e-01 9.90707169e-01 2.05914152e-03 -1.78753283e+00] [ 1.47174300e-02 -5.79369701e-05 9.99891691e-01 2.74644556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.22 meters Centerline goodness [0,1] 0.9997754020303656 Centerline is valid? [True, True] Translation: X:26.17, Y:-1.79, Z:0.27 [[ 9.90172492e-01 1.38937638e-01 -1.59614820e-02 2.61675422e+01] [-1.38919254e-01 9.90301132e-01 2.26022239e-03 -1.79088856e+00] [ 1.61207036e-02 -2.06528642e-05 9.99870053e-01 2.72752212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.25 meters Centerline goodness [0,1] 0.9999549153535764 Centerline is valid? [True, True] Translation: X:26.20, Y:-1.79, Z:0.28 [[ 9.89819240e-01 1.41431980e-01 -1.59645616e-02 2.61991514e+01] [-1.41413844e-01 9.89947976e-01 2.26495070e-03 -1.79439391e+00] [ 1.61244219e-02 1.57182565e-05 9.99869993e-01 2.75025552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.279999999999998 meters Centerline goodness [0,1] 0.9998654165358216 Centerline is valid? [True, True] Translation: X:26.23, Y:-1.80, Z:0.27 [[ 9.89657803e-01 1.42426077e-01 -1.70952060e-02 2.62317568e+01] [-1.42405346e-01 9.89805441e-01 2.43020971e-03 -1.79874689e+00] [ 1.72670532e-02 2.93727246e-05 9.99850913e-01 2.73168975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.31 meters Centerline goodness [0,1] 0.9998425834307817 Centerline is valid? [True, True] Translation: X:26.26, Y:-1.80, Z:0.27 [[ 9.89438098e-01 1.43850933e-01 -1.78650502e-02 2.62640130e+01] [-1.43828429e-01 9.89599367e-01 2.54488587e-03 -1.80266108e+00] [ 1.80453266e-02 5.14950760e-05 9.99837169e-01 2.72135342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.34 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.30, Y:-1.81, Z:0.27 [[ 9.89098509e-01 1.46252173e-01 -1.71593203e-02 2.62971267e+01] [-1.46231690e-01 9.89247337e-01 2.44914545e-03 -1.80626017e+00] [ 1.73330048e-02 8.67903065e-05 9.99849768e-01 2.74849578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.369999999999997 meters Centerline goodness [0,1] 0.9996631333093784 Centerline is valid? [True, True] Translation: X:26.33, Y:-1.81, Z:0.27 [[ 9.89105135e-01 1.46063945e-01 -1.83399975e-02 2.63293368e+01] [-1.46040413e-01 9.89275147e-01 2.62313641e-03 -1.81157229e+00] [ 1.85264494e-02 8.38231179e-05 9.99828367e-01 2.70000416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.4 meters Centerline goodness [0,1] 0.999932467415528 Centerline is valid? [True, True] Translation: X:26.36, Y:-1.82, Z:0.27 [[ 9.88963584e-01 1.47051059e-01 -1.80835821e-02 2.63622895e+01] [-1.47028252e-01 9.89128898e-01 2.59158870e-03 -1.81626279e+00] [ 1.82680895e-02 9.58106150e-05 9.99833120e-01 2.73315377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.43 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.39, Y:-1.82, Z:0.28 [[ 9.88857264e-01 1.47831882e-01 -1.75227538e-02 2.63944478e+01] [-1.47810503e-01 9.89012500e-01 2.51612056e-03 -1.82110336e+00] [ 1.77021854e-02 1.01962960e-04 9.99843299e-01 2.75862664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.459999999999997 meters Centerline goodness [0,1] 0.9998198766154816 Centerline is valid? [True, True] Translation: X:26.43, Y:-1.83, Z:0.27 [[ 9.88968599e-01 1.47005068e-01 -1.81829858e-02 2.64259270e+01] [-1.46981825e-01 9.89135735e-01 2.61543326e-03 -1.82656200e+00] [ 1.83699230e-02 8.59870711e-05 9.99831255e-01 2.72738486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.49 meters Centerline goodness [0,1] 0.9997965733917996 Centerline is valid? [True, True] Translation: X:26.46, Y:-1.83, Z:0.27 [[ 9.89081525e-01 1.46201576e-01 -1.85158164e-02 2.64582881e+01] [-1.46177255e-01 9.89254818e-01 2.66748292e-03 -1.83319301e+00] [ 1.87068508e-02 6.82331504e-05 9.99825009e-01 2.73306785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.52 meters Centerline goodness [0,1] 0.9997746580435811 Centerline is valid? [True, True] Translation: X:26.49, Y:-1.84, Z:0.27 [[ 9.89206725e-01 1.45413998e-01 -1.80228930e-02 2.64909316e+01] [-1.45390732e-01 9.89370895e-01 2.60157377e-03 -1.83908246e+00] [ 1.82096311e-02 4.68673347e-05 9.99834190e-01 2.74048841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.55 meters Centerline goodness [0,1] 0.9998871586549312 Centerline is valid? [True, True] Translation: X:26.52, Y:-1.84, Z:0.28 [[ 9.89383478e-01 1.44262613e-01 -1.75679367e-02 2.65219667e+01] [-1.44240250e-01 9.89539437e-01 2.54013332e-03 -1.84462634e+00] [ 1.77506125e-02 2.08376308e-05 9.99842445e-01 2.75643224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.58 meters Centerline goodness [0,1] 0.9998190454648269 Centerline is valid? [True, True] Translation: X:26.55, Y:-1.85, Z:0.28 [[ 9.89621702e-01 1.42640377e-01 -1.73957087e-02 2.65539056e+01] [-1.42618132e-01 9.89774582e-01 2.51905627e-03 -1.85105844e+00] [ 1.75771495e-02 -1.19692662e-05 9.99845510e-01 2.75832804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.61 meters Centerline goodness [0,1] 0.9998185899907027 Centerline is valid? [True, True] Translation: X:26.58, Y:-1.86, Z:0.28 [[ 9.90264127e-01 1.38194272e-01 -1.67123053e-02 2.65843999e+01] [-1.38173043e-01 9.90405137e-01 2.42393261e-03 -1.86026434e+00] [ 1.68869266e-02 -9.11434400e-05 9.99857402e-01 2.77103435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.64 meters Centerline goodness [0,1] 0.9999319727891156 Centerline is valid? [True, True] Translation: X:26.61, Y:-1.87, Z:0.28 [[ 9.90559315e-01 1.36066745e-01 -1.66758791e-02 2.66144398e+01] [-1.36045258e-01 9.90699664e-01 2.42151631e-03 -1.86716283e+00] [ 1.68502757e-02 -1.29981255e-04 9.99858016e-01 2.79100968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.669999999999998 meters Centerline goodness [0,1] 0.9999091796653271 Centerline is valid? [True, True] Translation: X:26.65, Y:-1.87, Z:0.28 [[ 9.90828507e-01 1.33999271e-01 -1.74087823e-02 2.66462199e+01] [-1.33975459e-01 9.90981415e-01 2.53222501e-03 -1.87358128e+00] [ 1.75910960e-02 -1.76651119e-04 9.99845249e-01 2.79552573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.7 meters Centerline goodness [0,1] 0.9997499090578392 Centerline is valid? [True, True] Translation: X:26.68, Y:-1.88, Z:0.28 [[ 9.91124609e-01 1.31653340e-01 -1.84229894e-02 2.66768489e+01] [-1.31626181e-01 9.91295790e-01 2.68441550e-03 -1.88105910e+00] [ 1.86160441e-02 -2.35642533e-04 9.99826679e-01 2.78187350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.73 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.71, Y:-1.89, Z:0.28 [[ 9.91589357e-01 1.28240160e-01 -1.74644913e-02 2.67082824e+01] [-1.28215151e-01 9.91743101e-01 2.54883256e-03 -1.88920011e+00] [ 1.76471514e-02 -2.88182846e-04 9.99844235e-01 2.83973402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.759999999999998 meters Centerline goodness [0,1] 0.9997949839404087 Centerline is valid? [True, True] Translation: X:26.74, Y:-1.90, Z:0.28 [[ 9.91921543e-01 1.25475514e-01 -1.86426455e-02 2.67385204e+01] [-1.25446439e-01 9.92096650e-01 2.72554080e-03 -1.89645525e+00] [ 1.88372947e-02 -3.64869147e-04 9.99822496e-01 2.80856887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.79 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.77, Y:-1.90, Z:0.28 [[ 9.92095777e-01 1.24200778e-01 -1.78923254e-02 2.67689728e+01] [-1.24173717e-01 9.92257035e-01 2.61989951e-03 -1.90169685e+00] [ 1.80791793e-02 -3.77434705e-04 9.99836487e-01 2.84198944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.82 meters Centerline goodness [0,1] 0.9999090805773383 Centerline is valid? [True, True] Translation: X:26.80, Y:-1.91, Z:0.28 [[ 9.92370146e-01 1.21873567e-01 -1.86635173e-02 2.67990842e+01] [-1.21843657e-01 9.92545535e-01 2.73568339e-03 -1.90824538e+00] [ 1.88577983e-02 -4.40779320e-04 9.99822079e-01 2.81684351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.849999999999998 meters Centerline goodness [0,1] 0.9998858265019523 Centerline is valid? [True, True] Translation: X:26.83, Y:-1.91, Z:0.28 [[ 9.92821969e-01 1.18093754e-01 -1.89315243e-02 2.68310904e+01] [-1.18062273e-01 9.93002313e-01 2.77594832e-03 -1.91080736e+00] [ 1.91268695e-02 -5.20923697e-04 9.99816929e-01 2.82370414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.88 meters Centerline goodness [0,1] 0.9999090909090909 Centerline is valid? [True, True] Translation: X:26.86, Y:-1.92, Z:0.28 [[ 9.93003014e-01 1.16630878e-01 -1.85000704e-02 2.68611376e+01] [-1.16600513e-01 9.93175185e-01 2.71526483e-03 -1.91751699e+00] [ 1.86904946e-02 -5.39148453e-04 9.99825172e-01 2.83182900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.91 meters Centerline goodness [0,1] 0.9997955103153685 Centerline is valid? [True, True] Translation: X:26.89, Y:-1.92, Z:0.28 [[ 9.93184403e-01 1.14938770e-01 -1.93344273e-02 2.68926304e+01] [-1.14905191e-01 9.93372396e-01 2.84251314e-03 -1.92220070e+00] [ 1.95330014e-02 -6.01513661e-04 9.99809032e-01 2.83123183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.939999999999998 meters Centerline goodness [0,1] 0.9999091487235395 Centerline is valid? [True, True] Translation: X:26.92, Y:-1.93, Z:0.29 [[ 9.93255381e-01 1.14470372e-01 -1.84467459e-02 2.69229729e+01] [-1.14439643e-01 9.93426489e-01 2.71635796e-03 -1.92699801e+00] [ 1.86364285e-02 -5.86998146e-04 9.99826154e-01 2.85168422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.97 meters Centerline goodness [0,1] 0.9997718769960763 Centerline is valid? [True, True] Translation: X:26.96, Y:-1.93, Z:0.28 [[ 9.93379359e-01 1.13248266e-01 -1.92945290e-02 2.69552496e+01] [-1.13214325e-01 9.93566514e-01 2.84596936e-03 -1.93053407e+00] [ 1.94926990e-02 -6.42710147e-04 9.99809793e-01 2.84559534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.0 meters Centerline goodness [0,1] 0.9997718769960763 Centerline is valid? [True, True] Translation: X:26.99, Y:-1.94, Z:0.28 [[ 9.93347102e-01 1.13530989e-01 -1.92937746e-02 2.69872951e+01] [-1.13497001e-01 9.93534248e-01 2.85107645e-03 -1.93533146e+00] [ 1.94927113e-02 -6.42322967e-04 9.99809793e-01 2.84913926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.029999999999998 meters Centerline goodness [0,1] 0.9999546001407396 Centerline is valid? [True, True] Translation: X:27.02, Y:-1.94, Z:0.29 [[ 9.93409777e-01 1.12937829e-01 -1.95464027e-02 2.70179627e+01] [-1.12902727e-01 9.93601832e-01 2.89363608e-03 -1.94029643e+00] [ 1.97481425e-02 -6.67724195e-04 9.99804763e-01 2.85733503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.06 meters Centerline goodness [0,1] 0.9999546083838315 Centerline is valid? [True, True] Translation: X:27.05, Y:-1.94, Z:0.28 [[ 9.93431257e-01 1.12674176e-01 -1.99716963e-02 2.70500572e+01] [-1.12637379e-01 9.93631748e-01 2.96145712e-03 -1.94361597e+00] [ 2.01781912e-02 -6.92444544e-04 9.99796160e-01 2.84900533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.09 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.08, Y:-1.95, Z:0.29 [[ 9.93339266e-01 1.13512822e-01 -1.97975440e-02 2.70820732e+01] [-1.13476733e-01 9.93536302e-01 2.94055350e-03 -1.94598952e+00] [ 2.00033692e-02 -6.74406644e-04 9.99799685e-01 2.85748999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.119999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.11, Y:-1.95, Z:0.29 [[ 9.93230456e-01 1.14488518e-01 -1.96377300e-02 2.71126589e+01] [-1.14453105e-01 9.93424356e-01 2.92155745e-03 -1.95140603e+00] [ 1.98430840e-02 -6.54180666e-04 9.99802893e-01 2.85509851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.15 meters Centerline goodness [0,1] 0.9999773781246465 Centerline is valid? [True, True] Translation: X:27.14, Y:-1.95, Z:0.29 [[ 9.92904987e-01 1.17317086e-01 -1.94007334e-02 2.71438071e+01] [-1.17283007e-01 9.93094331e-01 2.88907276e-03 -1.95256158e+00] [ 1.96056960e-02 -5.93198392e-04 9.99807614e-01 2.86589964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.18 meters Centerline goodness [0,1] 0.9998644159717985 Centerline is valid? [True, True] Translation: X:27.18, Y:-1.96, Z:0.29 [[ 9.92670397e-01 1.19309007e-01 -1.92573102e-02 2.71750627e+01] [-1.19275760e-01 9.92857017e-01 2.87002470e-03 -1.95561493e+00] [ 1.94621753e-02 -5.52058258e-04 9.99810442e-01 2.85809675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.209999999999997 meters Centerline goodness [0,1] 0.9998874102096422 Centerline is valid? [True, True] Translation: X:27.21, Y:-1.96, Z:0.29 [[ 9.92322788e-01 1.22225790e-01 -1.88770033e-02 2.72067973e+01] [-1.22194286e-01 9.92502200e-01 2.81772089e-03 -1.95825174e+00] [ 1.90798654e-02 -4.89426701e-04 9.99817843e-01 2.86648863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.24 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.24, Y:-1.96, Z:0.29 [[ 9.91921180e-01 1.25511360e-01 -1.84192871e-02 2.72387007e+01] [-1.25481877e-01 9.92092094e-01 2.75235759e-03 -1.95986541e+00] [ 1.86190813e-02 -4.18835063e-04 9.99826562e-01 2.88639061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.27 meters Centerline goodness [0,1] 0.9998655130676469 Centerline is valid? [True, True] Translation: X:27.27, Y:-1.96, Z:0.29 [[ 9.91420050e-01 1.29304680e-01 -1.91463770e-02 2.72714642e+01] [-1.29273478e-01 9.91604844e-01 2.86369640e-03 -1.95895838e+00] [ 1.93559295e-02 -3.64007277e-04 9.99812590e-01 2.87119625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.3 meters Centerline goodness [0,1] 0.9998208407049918 Centerline is valid? [True, True] Translation: X:27.30, Y:-1.96, Z:0.29 [[ 9.91145627e-01 1.31426820e-01 -1.89033809e-02 2.73018995e+01] [-1.31396703e-01 9.91325823e-01 2.83190968e-03 -1.96296493e+00] [ 1.91115985e-02 -3.22992968e-04 9.99817305e-01 2.86257019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.33 meters Centerline goodness [0,1] 0.9998429260630539 Centerline is valid? [True, True] Translation: X:27.33, Y:-1.96, Z:0.29 [[ 9.90909185e-01 1.33276703e-01 -1.83387003e-02 2.73338082e+01] [-1.33248595e-01 9.91078826e-01 2.75163899e-03 -1.96470303e+00] [ 1.85418269e-02 -2.83018289e-04 9.99828045e-01 2.87799299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.36 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.37, Y:-1.97, Z:0.29 [[ 9.90530582e-01 1.36282266e-01 -1.66225880e-02 2.73663727e+01] [-1.36259546e-01 9.90670026e-01 2.49712637e-03 -1.96712759e+00] [ 1.68078138e-02 -2.08493736e-04 9.99858717e-01 2.91019869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.39 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.40, Y:-1.97, Z:0.29 [[ 9.90435859e-01 1.37038800e-01 -1.60367297e-02 2.73985175e+01] [-1.37017716e-01 9.90565662e-01 2.41137093e-03 -1.97110955e+00] [ 1.62158852e-02 -1.90992162e-04 9.99868496e-01 2.91228078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.419999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.43, Y:-1.98, Z:0.29 [[ 9.90389699e-01 1.37407312e-01 -1.57313390e-02 2.74312841e+01] [-1.37387005e-01 9.90514612e-01 2.36952880e-03 -1.97523139e+00] [ 1.59077117e-02 -1.85475372e-04 9.99873447e-01 2.91330459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.45 meters Centerline goodness [0,1] 0.9997769500144983 Centerline is valid? [True, True] Translation: X:27.46, Y:-1.98, Z:0.29 [[ 9.90426671e-01 1.37115590e-01 -1.59475525e-02 2.74640489e+01] [-1.37094608e-01 9.90555034e-01 2.40672200e-03 -1.97943479e+00] [ 1.61269276e-02 -1.97358194e-04 9.99869933e-01 2.89005247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.48 meters Centerline goodness [0,1] 0.9999330999264099 Centerline is valid? [True, True] Translation: X:27.50, Y:-1.98, Z:0.29 [[ 9.90252684e-01 1.38469592e-01 -1.50264699e-02 2.74950886e+01] [-1.38451061e-01 9.90366671e-01 2.27164706e-03 -1.98354229e+00] [ 1.51962691e-02 -1.69073898e-04 9.99884516e-01 2.90910319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.509999999999998 meters Centerline goodness [0,1] 0.9999105245498267 Centerline is valid? [True, True] Translation: X:27.53, Y:-1.99, Z:0.29 [[ 9.90077888e-01 1.39642314e-01 -1.56780286e-02 2.75282288e+01] [-1.39622224e-01 9.90201999e-01 2.37418792e-03 -1.98750312e+00] [ 1.58559524e-02 -1.61629744e-04 9.99874273e-01 2.90004948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.54 meters Centerline goodness [0,1] 0.9999777049472722 Centerline is valid? [True, True] Translation: X:27.56, Y:-1.99, Z:0.29 [[ 9.89925308e-01 1.40752319e-01 -1.53840408e-02 2.75593237e+01] [-1.40733044e-01 9.90044829e-01 2.33380626e-03 -1.99253023e+00] [ 1.55593787e-02 -1.45250991e-04 9.99878935e-01 2.91033428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.59, Y:-2.00, Z:0.29 [[ 9.89794173e-01 1.41667155e-01 -1.54244147e-02 2.75917243e+01] [-1.41647830e-01 9.89914339e-01 2.34377929e-03 -1.99685549e+00] [ 1.56008858e-02 -1.35024213e-04 9.99878290e-01 2.92417099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.599999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.62, Y:-2.00, Z:0.29 [[ 9.89650843e-01 1.42632848e-01 -1.57187385e-02 2.76241891e+01] [-1.42612828e-01 9.89775659e-01 2.39304134e-03 -2.00166004e+00] [ 1.58993510e-02 -1.26581637e-04 9.99873589e-01 2.92427184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.63 meters Centerline goodness [0,1] 0.9998885545525465 Centerline is valid? [True, True] Translation: X:27.65, Y:-2.01, Z:0.29 [[ 9.89685221e-01 1.42110320e-01 -1.81057905e-02 2.76545808e+01] [-1.42083575e-01 9.89850813e-01 2.76166503e-03 -2.00634569e+00] [ 1.83144925e-02 -1.60643634e-04 9.99832263e-01 2.88134281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.66 meters Centerline goodness [0,1] 0.9998664678521354 Centerline is valid? [True, True] Translation: X:27.69, Y:-2.01, Z:0.29 [[ 9.89707960e-01 1.41868956e-01 -1.87444049e-02 2.76869476e+01] [-1.41840156e-01 9.89885432e-01 2.86387161e-03 -2.01168198e+00] [ 1.89611078e-02 -1.75687202e-04 9.99820207e-01 2.87670674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.689999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.72, Y:-2.02, Z:0.29 [[ 9.89619333e-01 1.42549600e-01 -1.82534373e-02 2.77192166e+01] [-1.42522310e-01 9.89787646e-01 2.79396484e-03 -2.01702128e+00] [ 1.84653053e-02 -1.63439577e-04 9.99829488e-01 2.90565333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.72 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.75, Y:-2.02, Z:0.29 [[ 9.89636940e-01 1.42442662e-01 -1.81332766e-02 2.77504581e+01] [-1.42415632e-01 9.89803041e-01 2.77997160e-03 -2.02379487e+00] [ 1.83443588e-02 -1.68700548e-04 9.99831714e-01 2.90709159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.75 meters Centerline goodness [0,1] 0.9998432005017583 Centerline is valid? [True, True] Translation: X:27.78, Y:-2.03, Z:0.29 [[ 9.89784567e-01 1.41336993e-01 -1.87180230e-02 2.77820084e+01] [-1.41307918e-01 9.89961522e-01 2.87362471e-03 -2.02943475e+00] [ 1.89362720e-02 -1.99264537e-04 9.99820673e-01 2.89382650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.779999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.81, Y:-2.04, Z:0.29 [[ 9.89737347e-01 1.41699653e-01 -1.84713947e-02 2.78135516e+01] [-1.41671325e-01 9.89909678e-01 2.83984937e-03 -2.03564796e+00] [ 1.86874181e-02 -1.93838009e-04 9.99825356e-01 2.91936929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.81 meters Centerline goodness [0,1] 0.9999550793971655 Centerline is valid? [True, True] Translation: X:27.85, Y:-2.04, Z:0.29 [[ 9.89887001e-01 1.40692545e-01 -1.81475193e-02 2.78456821e+01] [-1.40664959e-01 9.90053313e-01 2.79406447e-03 -2.04320433e+00] [ 1.83601157e-02 -2.13088026e-04 9.99831416e-01 2.91974129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.84 meters Centerline goodness [0,1] 0.9998652684526081 Centerline is valid? [True, True] Translation: X:27.88, Y:-2.05, Z:0.29 [[ 9.89949773e-01 1.40257934e-01 -1.80875529e-02 2.78780538e+01] [-1.40230363e-01 9.90114974e-01 2.78999417e-03 -2.04950649e+00] [ 1.83000758e-02 -2.25529990e-04 9.99832514e-01 2.91485923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.869999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.91, Y:-2.06, Z:0.29 [[ 9.89819668e-01 1.41156215e-01 -1.82194355e-02 2.79100223e+01] [-1.41128296e-01 9.89987311e-01 2.81558815e-03 -2.05561418e+00] [ 1.84344478e-02 -2.15646636e-04 9.99830048e-01 2.93679052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.9 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.94, Y:-2.06, Z:0.29 [[ 9.89688092e-01 1.42041645e-01 -1.84837995e-02 2.79427188e+01] [-1.42012965e-01 9.89860661e-01 2.86176917e-03 -2.06163587e+00] [ 1.87028764e-02 -2.07319691e-04 9.99825064e-01 2.94299042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.93 meters Centerline goodness [0,1] 0.9998194701448752 Centerline is valid? [True, True] Translation: X:27.98, Y:-2.07, Z:0.29 [[ 9.89645986e-01 1.42294648e-01 -1.87898006e-02 2.79751916e+01] [-1.42264952e-01 9.89824322e-01 2.91456620e-03 -2.06743923e+00] [ 1.90133288e-02 -2.11258656e-04 9.99819208e-01 2.91875028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.959999999999997 meters Centerline goodness [0,1] 0.9998418722327641 Centerline is valid? [True, True] Translation: X:28.01, Y:-2.07, Z:0.29 [[ 9.89403869e-01 1.44015138e-01 -1.84288656e-02 2.80072361e+01] [-1.43986780e-01 9.89575468e-01 2.86350052e-03 -2.07265245e+00] [ 1.86491407e-02 -1.79645491e-04 9.99826074e-01 2.92974486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.99 meters Centerline goodness [0,1] 0.999819584141446 Centerline is valid? [True, True] Translation: X:28.04, Y:-2.08, Z:0.29 [[ 9.88875475e-01 1.47519650e-01 -1.90590399e-02 2.80381872e+01] [-1.47489893e-01 9.89059118e-01 2.96536014e-03 -2.07748693e+00] [ 1.92879661e-02 -1.21356152e-04 9.99813963e-01 2.92590178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.02 meters Centerline goodness [0,1] 0.9996621849875008 Centerline is valid? [True, True] Translation: X:28.07, Y:-2.08, Z:0.29 [[ 9.88532550e-01 1.49757899e-01 -1.93899095e-02 2.80704620e+01] [-1.49727452e-01 9.88722694e-01 3.02077984e-03 -2.08203073e+00] [ 1.96236292e-02 -8.29374473e-05 9.99807435e-01 2.91913322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.05 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.10, Y:-2.09, Z:0.30 [[ 9.87973921e-01 1.53523265e-01 -1.83885641e-02 2.81022424e+01] [-1.53496445e-01 9.88145033e-01 2.86955292e-03 -2.08575560e+00] [ 1.86111115e-02 -1.24642294e-05 9.99826798e-01 2.96867536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.08 meters Centerline goodness [0,1] 0.9999774439482113 Centerline is valid? [True, True] Translation: X:28.13, Y:-2.09, Z:0.30 [[ 9.87629284e-01 1.55757652e-01 -1.81094185e-02 2.81335815e+01] [-1.55731942e-01 9.87795299e-01 2.83001507e-03 -2.09044310e+00] [ 1.83291949e-02 2.52091494e-05 9.99832006e-01 2.96858535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.11 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.17, Y:-2.10, Z:0.30 [[ 9.87177972e-01 1.58658500e-01 -1.75251802e-02 2.81665402e+01] [-1.58634811e-01 9.87333518e-01 2.74255093e-03 -2.09521160e+00] [ 1.77383269e-02 7.27177881e-05 9.99842661e-01 2.98820943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.14 meters Centerline goodness [0,1] 0.9998643055838252 Centerline is valid? [True, True] Translation: X:28.20, Y:-2.10, Z:0.30 [[ 9.86873561e-01 1.60569151e-01 -1.72661994e-02 2.81993168e+01] [-1.60546362e-01 9.87024588e-01 2.70699070e-03 -2.10020546e+00] [ 1.74768226e-02 1.00567956e-04 9.99847264e-01 2.97907887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.169999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.23, Y:-2.10, Z:0.30 [[ 9.85959754e-01 1.66174790e-01 -1.64104515e-02 2.82298029e+01] [-1.66154927e-01 9.86096296e-01 2.57602940e-03 -2.10306210e+00] [ 1.66103566e-02 1.86816053e-04 9.99862021e-01 3.00902118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.2 meters Centerline goodness [0,1] 0.9997742204962633 Centerline is valid? [True, True] Translation: X:28.26, Y:-2.11, Z:0.30 [[ 9.85644539e-01 1.67877960e-01 -1.79397384e-02 2.82613063e+01] [-1.67854464e-01 9.85807758e-01 2.81833322e-03 -2.10761636e+00] [ 1.81582693e-02 2.33390412e-04 9.99835098e-01 2.98036699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.23 meters Centerline goodness [0,1] 0.9998421574817353 Centerline is valid? [True, True] Translation: X:28.29, Y:-2.11, Z:0.30 [[ 9.85287085e-01 1.69973242e-01 -1.78453465e-02 2.82930464e+01] [-1.69950255e-01 9.85448642e-01 2.80798972e-03 -2.11180378e+00] [ 1.80629556e-02 2.66145182e-04 9.99836816e-01 2.98585541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.259999999999998 meters Centerline goodness [0,1] 0.9997292785272752 Centerline is valid? [True, True] Translation: X:28.32, Y:-2.12, Z:0.30 [[ 9.84884984e-01 1.72192232e-01 -1.87457553e-02 2.83244230e+01] [-1.72167176e-01 9.85063315e-01 2.95453010e-03 -2.11630067e+00] [ 1.89745030e-02 3.17531419e-04 9.99819917e-01 2.97175349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.29 meters Centerline goodness [0,1] 0.9997064535067516 Centerline is valid? [True, True] Translation: X:28.36, Y:-2.12, Z:0.30 [[ 9.84881244e-01 1.72191722e-01 -1.89458631e-02 2.83556687e+01] [-1.72166033e-01 9.85063404e-01 2.99102975e-03 -2.12100587e+00] [ 1.91779070e-02 3.16024984e-04 9.99816037e-01 2.96481894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.32 meters Centerline goodness [0,1] 0.9999773566107375 Centerline is valid? [True, True] Translation: X:28.39, Y:-2.13, Z:0.30 [[ 9.84827927e-01 1.72545676e-01 -1.84917413e-02 2.83884534e+01] [-1.72521171e-01 9.85001469e-01 2.92439756e-03 -2.12713415e+00] [ 1.87189845e-02 3.10188489e-04 9.99824736e-01 2.99819558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.349999999999998 meters Centerline goodness [0,1] 0.9998192743866624 Centerline is valid? [True, True] Translation: X:28.42, Y:-2.13, Z:0.30 [[ 9.85022110e-01 1.71339085e-01 -1.93483786e-02 2.84197358e+01] [-1.71311919e-01 9.85212074e-01 3.06525591e-03 -2.13326117e+00] [ 1.95874543e-02 2.95263012e-04 9.99808104e-01 2.97730151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.38 meters Centerline goodness [0,1] 0.9998417292213078 Centerline is valid? [True, True] Translation: X:28.45, Y:-2.14, Z:0.30 [[ 9.85164238e-01 1.70499579e-01 -1.95273527e-02 2.84516566e+01] [-1.70471646e-01 9.85357710e-01 3.09849420e-03 -2.13963322e+00] [ 1.97697195e-02 2.76334283e-04 9.99804522e-01 2.98061772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.41 meters Centerline goodness [0,1] 0.9997508775903069 Centerline is valid? [True, True] Translation: X:28.48, Y:-2.15, Z:0.30 [[ 9.85333625e-01 1.69461286e-01 -2.00129803e-02 2.84826937e+01] [-1.69431629e-01 9.85536811e-01 3.18065504e-03 -2.14656671e+00] [ 2.02625267e-02 2.56825490e-04 9.99794661e-01 2.98283969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.439999999999998 meters Centerline goodness [0,1] 0.9999092847099379 Centerline is valid? [True, True] Translation: X:28.51, Y:-2.15, Z:0.30 [[ 9.85590980e-01 1.67997204e-01 -1.96814721e-02 2.85130291e+01] [-1.67968133e-01 9.85787448e-01 3.13278589e-03 -2.15179137e+00] [ 1.99280474e-02 2.18214603e-04 9.99801393e-01 2.99064369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.47 meters Centerline goodness [0,1] 0.9998183180796221 Centerline is valid? [True, True] Translation: X:28.54, Y:-2.16, Z:0.30 [[ 9.85927479e-01 1.65906382e-01 -2.05445504e-02 2.85444566e+01] [-1.65874145e-01 9.86141491e-01 3.27525682e-03 -2.15946403e+00] [ 2.08032195e-02 1.78644036e-04 9.99783574e-01 2.98398474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.5 meters Centerline goodness [0,1] 0.9998407824405777 Centerline is valid? [True, True] Translation: X:28.58, Y:-2.17, Z:0.30 [[ 9.86297134e-01 1.63653054e-01 -2.08720218e-02 2.85752478e+01] [-1.63619190e-01 9.86517948e-01 3.33159080e-03 -2.16665370e+00] [ 2.11358492e-02 1.29124850e-04 9.99776605e-01 2.98799463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.529999999999998 meters Centerline goodness [0,1] 0.9997949138638228 Centerline is valid? [True, True] Translation: X:28.61, Y:-2.17, Z:0.30 [[ 9.86669200e-01 1.61469594e-01 -2.02844865e-02 2.86065554e+01] [-1.61437069e-01 9.86877685e-01 3.24164982e-03 -2.17448315e+00] [ 2.05417350e-02 7.62320211e-05 9.99788993e-01 2.99757146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.56 meters Centerline goodness [0,1] 0.9999090330210134 Centerline is valid? [True, True] Translation: X:28.64, Y:-2.18, Z:0.30 [[ 9.87212304e-01 1.58370626e-01 -1.81827196e-02 2.86379881e+01] [-1.58343888e-01 9.87379737e-01 2.91004586e-03 -2.18312368e+00] [ 1.84141147e-02 6.28943455e-06 9.99830446e-01 3.03409397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.59 meters Centerline goodness [0,1] 0.9998633444176195 Centerline is valid? [True, True] Translation: X:28.67, Y:-2.19, Z:0.30 [[ 9.87340347e-01 1.57627522e-01 -1.76806092e-02 2.86693714e+01] [-1.57602041e-01 9.87498640e-01 2.83416970e-03 -2.18855881e+00] [ 1.79063207e-02 -1.17900017e-05 9.99839669e-01 3.03061662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.619999999999997 meters Centerline goodness [0,1] 0.9998407788190338 Centerline is valid? [True, True] Translation: X:28.70, Y:-2.19, Z:0.30 [[ 9.87441088e-01 1.57023448e-01 -1.74279723e-02 2.87020044e+01] [-1.56998512e-01 9.87594874e-01 2.79845313e-03 -2.19376434e+00] [ 1.76511989e-02 -2.71418812e-05 9.99844205e-01 3.04446430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.65 meters Centerline goodness [0,1] 0.9999314755596163 Centerline is valid? [True, True] Translation: X:28.73, Y:-2.20, Z:0.31 [[ 9.87451134e-01 1.57013014e-01 -1.69461109e-02 2.87348933e+01] [-1.56989352e-01 9.87596533e-01 2.72596208e-03 -2.19864857e+00] [ 1.71639319e-02 -3.13953798e-05 9.99852688e-01 3.05672636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.68 meters Centerline goodness [0,1] 0.9997725928958021 Centerline is valid? [True, True] Translation: X:28.77, Y:-2.20, Z:0.30 [[ 9.87491283e-01 1.56627474e-01 -1.81328405e-02 2.87662415e+01] [-1.56600217e-01 9.87657751e-01 2.92230202e-03 -2.20317245e+00] [ 1.83667532e-02 -4.61410238e-05 9.99831316e-01 3.03245403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.709999999999997 meters Centerline goodness [0,1] 0.9997731294523345 Centerline is valid? [True, True] Translation: X:28.80, Y:-2.21, Z:0.30 [[ 9.87382239e-01 1.57272422e-01 -1.84850948e-02 2.87995872e+01] [-1.57244109e-01 9.87555256e-01 2.98435975e-03 -2.20579293e+00] [ 1.87244100e-02 -4.00315439e-05 9.99824682e-01 3.03302613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.74 meters Centerline goodness [0,1] 0.9998415321576528 Centerline is valid? [True, True] Translation: X:28.83, Y:-2.21, Z:0.30 [[ 9.87231669e-01 1.58289115e-01 -1.78378223e-02 2.88315161e+01] [-1.58262827e-01 9.87392807e-01 2.88483243e-03 -2.20991767e+00] [ 1.80695750e-02 -2.49337500e-05 9.99836732e-01 3.04529322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.77 meters Centerline goodness [0,1] 0.9998641150492583 Centerline is valid? [True, True] Translation: X:28.86, Y:-2.21, Z:0.31 [[ 9.87005741e-01 1.59667591e-01 -1.80534772e-02 2.88629425e+01] [-1.59640803e-01 9.87170836e-01 2.92464600e-03 -2.21396449e+00] [ 1.82888374e-02 -4.57078554e-06 9.99832745e-01 3.05300371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.799999999999997 meters Centerline goodness [0,1] 0.9999092867672071 Centerline is valid? [True, True] Translation: X:28.90, Y:-2.22, Z:0.31 [[ 9.86819404e-01 1.60836761e-01 -1.78605942e-02 2.88961200e+01] [-1.60810666e-01 9.86981021e-01 2.89718030e-03 -2.21826728e+00] [ 1.80940406e-02 1.31803090e-05 9.99836289e-01 3.06638114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.83 meters Centerline goodness [0,1] 0.999819600414919 Centerline is valid? [True, True] Translation: X:28.93, Y:-2.22, Z:0.31 [[ 9.86670719e-01 1.61659019e-01 -1.86347431e-02 2.89290619e+01] [-1.61630689e-01 9.86846676e-01 3.02644745e-03 -2.22259484e+00] [ 1.88788868e-02 2.58392813e-05 9.99821778e-01 3.05983863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.86 meters Centerline goodness [0,1] 0.999842384941007 Centerline is valid? [True, True] Translation: X:28.96, Y:-2.23, Z:0.31 [[ 9.86308938e-01 1.63754102e-01 -1.94749152e-02 2.89621856e+01] [-1.63723455e-01 9.86501186e-01 3.16865866e-03 -2.22507212e+00] [ 1.97309078e-02 6.32240423e-05 9.99805325e-01 3.05932725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.89 meters Centerline goodness [0,1] 0.999842384941007 Centerline is valid? [True, True] Translation: X:28.99, Y:-2.23, Z:0.31 [[ 9.86262641e-01 1.64032821e-01 -1.94740191e-02 2.89941436e+01] [-1.64002119e-01 9.86454880e-01 3.17415865e-03 -2.23035247e+00] [ 1.97309074e-02 6.32263218e-05 9.99805325e-01 3.06287100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.919999999999998 meters Centerline goodness [0,1] 0.9998198887813224 Centerline is valid? [True, True] Translation: X:29.03, Y:-2.23, Z:0.31 [[ 9.86105750e-01 1.64886164e-01 -2.01990714e-02 2.90270285e+01] [-1.64853191e-01 9.86312601e-01 3.29829740e-03 -2.23422481e+00] [ 2.04664422e-02 7.74113283e-05 9.99790537e-01 3.05122647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.95 meters Centerline goodness [0,1] 0.9998873340994615 Centerline is valid? [True, True] Translation: X:29.06, Y:-2.24, Z:0.31 [[ 9.85916127e-01 1.65964726e-01 -2.06179558e-02 2.90598998e+01] [-1.65930480e-01 9.86131685e-01 3.37271253e-03 -2.23827150e+00] [ 2.08917709e-02 9.59356388e-05 9.99781739e-01 3.05392968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.98 meters Centerline goodness [0,1] 0.9999325433409034 Centerline is valid? [True, True] Translation: X:29.09, Y:-2.24, Z:0.31 [[ 9.85737654e-01 1.67005179e-01 -2.07496222e-02 2.90929166e+01] [-1.66970598e-01 9.85956012e-01 3.40029861e-03 -2.24300524e+00] [ 2.10260823e-02 1.12774462e-04 9.99778921e-01 3.06331014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.009999999999998 meters Centerline goodness [0,1] 0.9997977618983417 Centerline is valid? [True, True] Translation: X:29.12, Y:-2.25, Z:0.31 [[ 9.85615654e-01 1.67544431e-01 -2.21505423e-02 2.91245027e+01] [-1.67505018e-01 9.85864518e-01 3.63611348e-03 -2.24774794e+00] [ 2.24466442e-02 1.26516615e-04 9.99748034e-01 3.05346910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.04 meters Centerline goodness [0,1] 0.99982008725768 Centerline is valid? [True, True] Translation: X:29.16, Y:-2.25, Z:0.31 [[ 9.85570990e-01 1.67828728e-01 -2.19850429e-02 2.91563503e+01] [-1.67789845e-01 9.85816160e-01 3.61468244e-03 -2.25245671e+00] [ 2.22798582e-02 1.26340800e-04 9.99751765e-01 3.05405882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.07 meters Centerline goodness [0,1] 0.9998429013869563 Centerline is valid? [True, True] Translation: X:29.19, Y:-2.26, Z:0.31 [[ 9.85592529e-01 1.67741007e-01 -2.16868878e-02 2.91882240e+01] [-1.67703018e-01 9.85831092e-01 3.57167001e-03 -2.25827413e+00] [ 2.19787238e-02 1.16745241e-04 9.99758432e-01 3.07606201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.099999999999998 meters Centerline goodness [0,1] 0.9998428273121225 Centerline is valid? [True, True] Translation: X:29.22, Y:-2.26, Z:0.31 [[ 9.85568571e-01 1.67923738e-01 -2.13590904e-02 2.92201555e+01] [-1.67886799e-01 9.85799983e-01 3.52380598e-03 -2.26371644e+00] [ 2.16475216e-02 1.12956894e-04 9.99765659e-01 3.08672245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.13 meters Centerline goodness [0,1] 0.9997754272496575 Centerline is valid? [True, True] Translation: X:29.25, Y:-2.27, Z:0.31 [[ 9.85622218e-01 1.67623463e-01 -2.12419059e-02 2.92515410e+01] [-1.67586731e-01 9.85851086e-01 3.51040410e-03 -2.26872686e+00] [ 2.15297821e-02 9.99292940e-05 9.99768202e-01 3.08151109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.16 meters Centerline goodness [0,1] 0.9997757596143065 Centerline is valid? [True, True] Translation: X:29.28, Y:-2.27, Z:0.31 [[ 9.85641277e-01 1.67573887e-01 -2.07428304e-02 2.92834097e+01] [-1.67538730e-01 9.85859515e-01 3.43366615e-03 -2.27465202e+00] [ 2.10249095e-02 9.08643683e-05 9.99778948e-01 3.09919797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.189999999999998 meters Centerline goodness [0,1] 0.999797529864345 Centerline is valid? [True, True] Translation: X:29.31, Y:-2.28, Z:0.31 [[ 9.85571428e-01 1.68006394e-01 -2.05624037e-02 2.93146928e+01] [-1.67971820e-01 9.85785901e-01 3.40955051e-03 -2.28085669e+00] [ 2.08429540e-02 9.35488192e-05 9.99782758e-01 3.11582518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.22 meters Centerline goodness [0,1] 0.9999326296878509 Centerline is valid? [True, True] Translation: X:29.35, Y:-2.29, Z:0.31 [[ 9.85440277e-01 1.68891994e-01 -1.95692320e-02 2.93469587e+01] [-1.68860748e-01 9.85634559e-01 3.25017637e-03 -2.28678669e+00] [ 1.98370402e-02 1.01620458e-04 9.99803221e-01 3.14427800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.25 meters Centerline goodness [0,1] 0.9999324947683446 Centerline is valid? [True, True] Translation: X:29.38, Y:-2.29, Z:0.32 [[ 9.85377904e-01 1.69252124e-01 -1.95986175e-02 2.93796589e+01] [-1.69220743e-01 9.85572782e-01 3.26072850e-03 -2.29275506e+00] [ 1.98677491e-02 1.03442790e-04 9.99802611e-01 3.15445245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.279999999999998 meters Centerline goodness [0,1] 0.9998198076446607 Centerline is valid? [True, True] Translation: X:29.41, Y:-2.30, Z:0.31 [[ 9.85375281e-01 1.69153802e-01 -2.05559569e-02 2.94114826e+01] [-1.69119135e-01 9.85589662e-01 3.42592576e-03 -2.29832605e+00] [ 2.08392470e-02 1.00583096e-04 9.99782834e-01 3.13886015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.31 meters Centerline goodness [0,1] 0.9997964031218188 Centerline is valid? [True, True] Translation: X:29.44, Y:-2.31, Z:0.31 [[ 9.85515465e-01 1.68177273e-01 -2.18099378e-02 2.94439858e+01] [-1.68137869e-01 9.85756764e-01 3.64119329e-03 -2.30522379e+00] [ 2.21116596e-02 7.86241633e-05 9.99755504e-01 3.12917201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.34 meters Centerline goodness [0,1] 0.9998419793218656 Centerline is valid? [True, True] Translation: X:29.48, Y:-2.31, Z:0.31 [[ 9.85591472e-01 1.67717886e-01 -2.19125653e-02 2.94761611e+01] [-1.67677855e-01 9.85835030e-01 3.66467959e-03 -2.31230163e+00] [ 2.22168068e-02 6.23750059e-05 9.99753174e-01 3.13662126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.369999999999997 meters Centerline goodness [0,1] 0.9999322844954066 Centerline is valid? [True, True] Translation: X:29.51, Y:-2.32, Z:0.31 [[ 9.85736512e-01 1.66884824e-01 -2.17481957e-02 2.95081516e+01] [-1.66845051e-01 9.85976396e-01 3.64345258e-03 -2.31955234e+00] [ 2.20512446e-02 3.70945915e-05 9.99756841e-01 3.14758388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.4 meters Centerline goodness [0,1] 0.999819131378445 Centerline is valid? [True, True] Translation: X:29.54, Y:-2.33, Z:0.31 [[ 9.85965146e-01 1.65449662e-01 -2.23414248e-02 2.95396561e+01] [-1.65407179e-01 9.86218236e-01 3.74912741e-03 -2.32685059e+00] [ 2.26538124e-02 -1.07691379e-06 9.99743369e-01 3.13091204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.43 meters Centerline goodness [0,1] 0.9999321113374067 Centerline is valid? [True, True] Translation: X:29.57, Y:-2.33, Z:0.32 [[ 9.86075661e-01 1.64878553e-01 -2.16761084e-02 2.95715799e+01] [-1.64838293e-01 9.86313876e-01 3.64347763e-03 -2.33423012e+00] [ 2.19801778e-02 -1.96919115e-05 9.99758407e-01 3.16631988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.459999999999997 meters Centerline goodness [0,1] 0.9999095391017233 Centerline is valid? [True, True] Translation: X:29.60, Y:-2.34, Z:0.32 [[ 9.86186384e-01 1.64257344e-01 -2.13527698e-02 2.96024822e+01] [-1.64218021e-01 9.86417520e-01 3.59415858e-03 -2.34044408e+00] [ 2.16531132e-02 -3.80006418e-05 9.99765543e-01 3.16795728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.49 meters Centerline goodness [0,1] 0.9999773668605573 Centerline is valid? [True, True] Translation: X:29.63, Y:-2.34, Z:0.32 [[ 9.85857973e-01 1.66371766e-01 -2.01119782e-02 2.96339178e+01] [-1.66337239e-01 9.86063099e-01 3.38930196e-03 -2.34355575e+00] [ 2.03955637e-02 4.00057585e-06 9.99791989e-01 3.18467801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.52 meters Centerline goodness [0,1] 0.9998420292471565 Centerline is valid? [True, True] Translation: X:29.67, Y:-2.35, Z:0.32 [[ 9.85679599e-01 1.67349411e-01 -2.07341093e-02 2.96667154e+01] [-1.67312818e-01 9.85897649e-01 3.49952646e-03 -2.34737931e+00] [ 2.10273533e-02 1.96704065e-05 9.99778901e-01 3.17047880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.549999999999997 meters Centerline goodness [0,1] 0.9998193029611727 Centerline is valid? [True, True] Translation: X:29.70, Y:-2.35, Z:0.32 [[ 9.85390985e-01 1.69061963e-01 -2.05586978e-02 2.96991739e+01] [-1.69026237e-01 9.85605423e-01 3.47578339e-03 -2.35122546e+00] [ 2.08503868e-02 4.99537057e-05 9.99782606e-01 3.17715866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.58 meters Centerline goodness [0,1] 0.999932467415528 Centerline is valid? [True, True] Translation: X:29.73, Y:-2.36, Z:0.32 [[ 9.85007629e-01 1.71384852e-01 -1.96774845e-02 2.97308846e+01] [-1.71352479e-01 9.85204154e-01 3.33218963e-03 -2.35509429e+00] [ 1.99574263e-02 8.95535342e-05 9.99800827e-01 3.18818859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.61 meters Centerline goodness [0,1] 0.999887422884676 Centerline is valid? [True, True] Translation: X:29.76, Y:-2.36, Z:0.32 [[ 9.84675417e-01 1.73202116e-01 -2.03801288e-02 2.97622854e+01] [-1.73167689e-01 9.84886293e-01 3.45552144e-03 -2.35917306e+00] [ 2.06706131e-02 1.26612789e-04 9.99786332e-01 3.18553915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.64 meters Centerline goodness [0,1] 0.9999774358048649 Centerline is valid? [True, True] Translation: X:29.79, Y:-2.36, Z:0.32 [[ 9.84502082e-01 1.74206387e-01 -2.01936698e-02 2.97942099e+01] [-1.74172716e-01 9.84709152e-01 3.42794071e-03 -2.36428801e+00] [ 2.04820606e-02 1.42371539e-04 9.99790210e-01 3.18568496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.669999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.83, Y:-2.37, Z:0.32 [[ 9.84429241e-01 1.74573899e-01 -2.05675470e-02 2.98267357e+01] [-1.74538928e-01 9.84644064e-01 3.49721527e-03 -2.37152496e+00] [ 2.08622356e-02 1.47076637e-04 9.99782349e-01 3.20280979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.7 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.86, Y:-2.38, Z:0.32 [[ 9.84490033e-01 1.74181271e-01 -2.09823722e-02 2.98578010e+01] [-1.74144659e-01 9.84713596e-01 3.57370724e-03 -2.37774799e+00] [ 2.12841000e-02 1.35688880e-04 9.99773459e-01 3.20136528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.73 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.89, Y:-2.39, Z:0.32 [[ 9.84630945e-01 1.73253760e-01 -2.20235460e-02 2.98884005e+01] [-1.73213079e-01 9.84877211e-01 3.75610557e-03 -2.38552868e+00] [ 2.23412480e-02 1.16388437e-04 9.99750396e-01 3.19569074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.759999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.92, Y:-2.39, Z:0.32 [[ 9.84669142e-01 1.73036541e-01 -2.20235488e-02 2.99202023e+01] [-1.72995690e-01 9.84915400e-01 3.76123719e-03 -2.39230773e+00] [ 2.23421639e-02 1.06404842e-04 9.99750377e-01 3.19941473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.79 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.95, Y:-2.40, Z:0.32 [[ 9.84697304e-01 1.72940709e-01 -2.15111625e-02 2.99528773e+01] [-1.72901580e-01 9.84932232e-01 3.67989882e-03 -2.39880279e+00] [ 2.18234416e-02 9.57275456e-05 9.99761836e-01 3.21612693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.82 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.98, Y:-2.40, Z:0.32 [[ 9.84608896e-01 1.73465810e-01 -2.13291789e-02 2.99846418e+01] [-1.73427332e-01 9.84839887e-01 3.65481999e-03 -2.40385609e+00] [ 2.16398124e-02 1.00494312e-04 9.99765827e-01 3.21114407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.849999999999998 meters Centerline goodness [0,1] 0.9999317670070735 Centerline is valid? [True, True] Translation: X:30.02, Y:-2.41, Z:0.32 [[ 9.84575603e-01 1.73607680e-01 -2.17084205e-02 3.00172547e+01] [-1.73567720e-01 9.84814888e-01 3.72597058e-03 -2.41025355e+00] [ 2.20256328e-02 9.93813274e-05 9.99757401e-01 3.22069526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.88 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.05, Y:-2.42, Z:0.32 [[ 9.84501357e-01 1.74134381e-01 -2.08397354e-02 3.00496203e+01] [-1.74097549e-01 9.84721893e-01 3.58280509e-03 -2.41633771e+00] [ 2.11452332e-02 1.00870371e-04 9.99776409e-01 3.24169702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.91 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.08, Y:-2.42, Z:0.32 [[ 9.84518024e-01 1.74108077e-01 -2.02641909e-02 3.00808721e+01] [-1.74073129e-01 9.84726545e-01 3.48951458e-03 -2.42150167e+00] [ 2.05622394e-02 9.19611079e-05 9.99788571e-01 3.24376946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.939999999999998 meters Centerline goodness [0,1] 0.9998636952225175 Centerline is valid? [True, True] Translation: X:30.11, Y:-2.43, Z:0.32 [[ 9.84635337e-01 1.73412675e-01 -2.05255248e-02 3.01132746e+01] [-1.73376548e-01 9.84849247e-01 3.54032785e-03 -2.42690545e+00] [ 2.08284854e-02 7.27127166e-05 9.99783061e-01 3.23153679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.97 meters Centerline goodness [0,1] 0.9999545495864013 Centerline is valid? [True, True] Translation: X:30.15, Y:-2.43, Z:0.32 [[ 9.84604886e-01 1.73689961e-01 -1.96218379e-02 3.01460064e+01] [-1.73656888e-01 9.84800382e-01 3.39003922e-03 -2.43308535e+00] [ 1.99124092e-02 6.96181308e-05 9.99801726e-01 3.24963420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.0 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.18, Y:-2.44, Z:0.33 [[ 9.84606940e-01 1.73730532e-01 -1.91540086e-02 3.01786230e+01] [-1.73698918e-01 9.84793226e-01 3.31476516e-03 -2.43897416e+00] [ 1.94386139e-02 6.32897941e-05 9.99811050e-01 3.26133749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.029999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.21, Y:-2.44, Z:0.32 [[ 9.84788362e-01 1.72705901e-01 -1.90933078e-02 3.02095632e+01] [-1.72674189e-01 9.84973436e-01 3.30971449e-03 -2.44451143e+00] [ 1.93780083e-02 3.75531342e-05 9.99812228e-01 3.24655268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.06 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.24, Y:-2.45, Z:0.33 [[ 9.84881681e-01 1.72206940e-01 -1.87841224e-02 3.02413283e+01] [-1.72176056e-01 9.85060795e-01 3.26137181e-03 -2.45105744e+00] [ 1.90651334e-02 2.21107608e-05 9.99818244e-01 3.25701337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.09 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.27, Y:-2.46, Z:0.33 [[ 9.85002235e-01 1.71516166e-01 -1.87830038e-02 3.02721683e+01] [-1.71485058e-01 9.85181306e-01 3.26649379e-03 -2.45719006e+00] [ 1.90649207e-02 3.50080915e-06 9.99818248e-01 3.25547743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.119999999999997 meters Centerline goodness [0,1] 0.9999545630097463 Centerline is valid? [True, True] Translation: X:30.30, Y:-2.46, Z:0.33 [[ 9.85174655e-01 1.70522075e-01 -1.87915216e-02 3.03047055e+01] [-1.70490658e-01 9.85353856e-01 3.27323498e-03 -2.46360054e+00] [ 1.90744571e-02 -2.09292544e-05 9.99818066e-01 3.25037628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.15 meters Centerline goodness [0,1] 0.9998410174880763 Centerline is valid? [True, True] Translation: X:30.34, Y:-2.47, Z:0.32 [[ 9.85494421e-01 1.68690168e-01 -1.85572967e-02 3.03363128e+01] [-1.68659107e-01 9.85669125e-01 3.23763862e-03 -2.47071910e+00] [ 1.88375122e-02 -6.08177129e-05 9.99822556e-01 3.24693908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.18 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.37, Y:-2.48, Z:0.33 [[ 9.85473266e-01 1.68865988e-01 -1.80753995e-02 3.03681533e+01] [-1.68836458e-01 9.85639018e-01 3.15850040e-03 -2.47738041e+00] [ 1.83491823e-02 -6.08312806e-05 9.99831638e-01 3.26632525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.209999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.40, Y:-2.48, Z:0.33 [[ 9.85476996e-01 1.68817572e-01 -1.83225816e-02 3.04006825e+01] [-1.68787121e-01 9.85647312e-01 3.20701484e-03 -2.48321995e+00] [ 1.86010038e-02 -6.78235512e-05 9.99826984e-01 3.26607254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.24 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.43, Y:-2.49, Z:0.33 [[ 9.85426959e-01 1.69101600e-01 -1.83944922e-02 3.04325522e+01] [-1.69070863e-01 9.85598622e-01 3.22479256e-03 -2.48877855e+00] [ 1.86749038e-02 -6.78248513e-05 9.99825606e-01 3.26361435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.27 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.46, Y:-2.49, Z:0.33 [[ 9.85319761e-01 1.69700030e-01 -1.86244004e-02 3.04646078e+01] [-1.69668528e-01 9.85495761e-01 3.27030274e-03 -2.49398935e+00] [ 1.89092382e-02 -6.23193155e-05 9.99821202e-01 3.26699605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.299999999999997 meters Centerline goodness [0,1] 0.9999313061000183 Centerline is valid? [True, True] Translation: X:30.50, Y:-2.50, Z:0.33 [[ 9.85193942e-01 1.70399616e-01 -1.88909510e-02 3.04969868e+01] [-1.70367229e-01 9.85375039e-01 3.32259271e-03 -2.49932020e+00] [ 1.91808401e-02 -5.49992481e-05 9.99816029e-01 3.26665036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.33 meters Centerline goodness [0,1] 0.9998402373616342 Centerline is valid? [True, True] Translation: X:30.53, Y:-2.50, Z:0.33 [[ 9.84963502e-01 1.71635222e-01 -1.97040841e-02 3.05294412e+01] [-1.71600117e-01 9.85160570e-01 3.47144542e-03 -2.50462133e+00] [ 2.00075090e-02 -3.80239105e-05 9.99799829e-01 3.25917938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.36 meters Centerline goodness [0,1] 0.999590229243973 Centerline is valid? [True, True] Translation: X:30.56, Y:-2.51, Z:0.33 [[ 9.84820224e-01 1.72387771e-01 -2.02875220e-02 3.05608381e+01] [-1.72350596e-01 9.85029165e-01 3.58003128e-03 -2.50996279e+00] [ 2.06009545e-02 -2.91206991e-05 9.99787777e-01 3.25103733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.39 meters Centerline goodness [0,1] 0.9996812386156648 Centerline is valid? [True, True] Translation: X:30.59, Y:-2.52, Z:0.32 [[ 9.84688066e-01 1.73137275e-01 -2.03198813e-02 3.05920638e+01] [-1.73100029e-01 9.84897702e-01 3.59113718e-03 -2.51514446e+00] [ 2.06347641e-02 -1.87778808e-05 9.99787080e-01 3.24787248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.419999999999998 meters Centerline goodness [0,1] 0.9997268816714842 Centerline is valid? [True, True] Translation: X:30.62, Y:-2.52, Z:0.33 [[ 9.84591464e-01 1.73718709e-01 -2.00364646e-02 3.06245056e+01] [-1.73682506e-01 9.84795314e-01 3.54643881e-03 -2.52063628e+00] [ 2.03478992e-02 -1.18100051e-05 9.99792960e-01 3.25842304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.45 meters Centerline goodness [0,1] 0.9996360493153178 Centerline is valid? [True, True] Translation: X:30.66, Y:-2.53, Z:0.33 [[ 9.84462077e-01 1.74532910e-01 -1.93049841e-02 3.06570505e+01] [-1.74499353e-01 9.84651341e-01 3.42236629e-03 -2.52652102e+00] [ 1.96059940e-02 -4.82598659e-07 9.99807784e-01 3.27539985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.48 meters Centerline goodness [0,1] 0.9997500795201527 Centerline is valid? [True, True] Translation: X:30.69, Y:-2.53, Z:0.33 [[ 9.84396773e-01 1.74983256e-01 -1.85432801e-02 3.06896916e+01] [-1.74952276e-01 9.84571409e-01 3.29255726e-03 -2.53194903e+00] [ 1.88333258e-02 3.00631007e-06 9.99822637e-01 3.28809691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.509999999999998 meters Centerline goodness [0,1] 0.9996823812332682 Centerline is valid? [True, True] Translation: X:30.72, Y:-2.54, Z:0.33 [[ 9.84300336e-01 1.75602928e-01 -1.77893554e-02 3.07207478e+01] [-1.75574429e-01 9.84461077e-01 3.16356880e-03 -2.53699144e+00] [ 1.80684599e-02 9.45409001e-06 9.99836752e-01 3.29420261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.54 meters Centerline goodness [0,1] 0.9994558686829755 Centerline is valid? [True, True] Translation: X:30.75, Y:-2.54, Z:0.33 [[ 9.84073826e-01 1.76897137e-01 -1.74959318e-02 3.07530221e+01] [-1.76869690e-01 9.84229344e-01 3.11619671e-03 -2.54105311e+00] [ 1.77712557e-02 2.79324089e-05 9.99842078e-01 3.29575198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.57 meters Centerline goodness [0,1] 0.9997496358339403 Centerline is valid? [True, True] Translation: X:30.78, Y:-2.55, Z:0.33 [[ 9.83914953e-01 1.77833841e-01 -1.69260198e-02 3.07842287e+01] [-1.77808210e-01 9.84060528e-01 3.01939898e-03 -2.54613835e+00] [ 1.71931793e-02 3.87534818e-05 9.99852186e-01 3.31259302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.599999999999998 meters Centerline goodness [0,1] 0.9997282608695652 Centerline is valid? [True, True] Translation: X:30.82, Y:-2.55, Z:0.33 [[ 9.83817312e-01 1.78307427e-01 -1.76056556e-02 3.08152718e+01] [-1.78279698e-01 9.83974827e-01 3.14478083e-03 -2.55113987e+00] [ 1.78842597e-02 4.48411335e-05 9.99840063e-01 3.30934341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.63 meters Centerline goodness [0,1] 0.9997056292740365 Centerline is valid? [True, True] Translation: X:30.85, Y:-2.56, Z:0.33 [[ 9.83904383e-01 1.77822377e-01 -1.76455813e-02 3.08474967e+01] [-1.77794377e-01 9.84062600e-01 3.15565384e-03 -2.55736010e+00] [ 1.79255025e-02 3.24234955e-05 9.99839325e-01 3.31196817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.66 meters Centerline goodness [0,1] 0.9996152801665611 Centerline is valid? [True, True] Translation: X:30.88, Y:-2.56, Z:0.33 [[ 9.84096444e-01 1.76761370e-01 -1.75956755e-02 3.08782659e+01] [-1.76733271e-01 9.84253737e-01 3.15167455e-03 -2.56381754e+00] [ 1.78757037e-02 8.18957048e-06 9.99840217e-01 3.30685329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.689999999999998 meters Centerline goodness [0,1] 0.9997961956521739 Centerline is valid? [True, True] Translation: X:30.91, Y:-2.57, Z:0.33 [[ 9.84311731e-01 1.75634960e-01 -1.68159809e-02 3.09092775e+01] [-1.75609057e-01 9.84455362e-01 3.01637470e-03 -2.57094919e+00] [ 1.70843635e-02 -1.60144502e-05 9.99854051e-01 3.32793304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.72 meters Centerline goodness [0,1] 0.9996593850765249 Centerline is valid? [True, True] Translation: X:30.94, Y:-2.58, Z:0.34 [[ 9.84951160e-01 1.72047520e-01 -1.64579477e-02 3.09411808e+01] [-1.72022134e-01 9.85088648e-01 2.95653414e-03 -2.57972255e+00] [ 1.67212019e-02 -8.09104442e-05 9.99860188e-01 3.35102372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.75 meters Centerline goodness [0,1] 0.9996819482938798 Centerline is valid? [True, True] Translation: X:30.97, Y:-2.59, Z:0.34 [[ 9.85232217e-01 1.70520879e-01 -1.54954606e-02 3.09736981e+01] [-1.70498120e-01 9.85354058e-01 2.78784968e-03 -2.58680371e+00] [ 1.57439016e-02 -1.04732417e-04 9.99876052e-01 3.36161432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.779999999999998 meters Centerline goodness [0,1] 0.99961397851904 Centerline is valid? [True, True] Translation: X:31.00, Y:-2.60, Z:0.34 [[ 9.85688332e-01 1.67830881e-01 -1.58526996e-02 3.10041354e+01] [-1.67806643e-01 9.85815790e-01 2.85644867e-03 -2.59550915e+00] [ 1.61072419e-02 -1.55379825e-04 9.99870258e-01 3.36990194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.81 meters Centerline goodness [0,1] 0.99961397851904 Centerline is valid? [True, True] Translation: X:31.04, Y:-2.60, Z:0.34 [[ 9.85643655e-01 1.68093128e-01 -1.58520213e-02 3.10359995e+01] [-1.68068863e-01 9.85771108e-01 2.86020869e-03 -2.60135127e+00] [ 1.61072460e-02 -1.54915350e-04 9.99870258e-01 3.37344360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.84 meters Centerline goodness [0,1] 0.9995895752103428 Centerline is valid? [True, True] Translation: X:31.07, Y:-2.61, Z:0.34 [[ 9.85780029e-01 1.67252620e-01 -1.62571958e-02 3.10671470e+01] [-1.67226913e-01 9.85914058e-01 2.93767862e-03 -2.60742534e+00] [ 1.65195323e-02 -1.77264246e-04 9.99863528e-01 3.37195113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.869999999999997 meters Centerline goodness [0,1] 0.9999089750591662 Centerline is valid? [True, True] Translation: X:31.10, Y:-2.61, Z:0.34 [[ 9.85730074e-01 1.67452272e-01 -1.72034079e-02 3.10991372e+01] [-1.67423436e-01 9.85880166e-01 3.11323191e-03 -2.61349919e+00] [ 1.74818164e-02 -1.88552651e-04 9.99847164e-01 3.38798097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.9 meters Centerline goodness [0,1] 0.9999545846768699 Centerline is valid? [True, True] Translation: X:31.13, Y:-2.62, Z:0.34 [[ 9.85715282e-01 1.67420022e-01 -1.83281165e-02 3.11318868e+01] [-1.67387186e-01 9.85885639e-01 3.32209311e-03 -2.61923001e+00] [ 1.86256117e-02 -2.06746107e-04 9.99826507e-01 3.37651127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.93 meters Centerline goodness [0,1] 0.999818012238677 Centerline is valid? [True, True] Translation: X:31.16, Y:-2.62, Z:0.33 [[ 9.85471746e-01 1.68556691e-01 -2.08345605e-02 3.11639126e+01] [-1.68514389e-01 9.85691937e-01 3.78226400e-03 -2.62189227e+00] [ 2.11739842e-02 -2.16391068e-04 9.99775783e-01 3.34024339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.959999999999997 meters Centerline goodness [0,1] 0.999886244710379 Centerline is valid? [True, True] Translation: X:31.20, Y:-2.63, Z:0.34 [[ 9.85177598e-01 1.70133936e-01 -2.18985226e-02 3.11963607e+01] [-1.70087461e-01 9.85420928e-01 3.98127352e-03 -2.62645367e+00] [ 2.22566122e-02 -1.97597368e-04 9.99752271e-01 3.35229968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.99 meters Centerline goodness [0,1] 0.9997735250820972 Centerline is valid? [True, True] Translation: X:31.23, Y:-2.63, Z:0.33 [[ 9.84734648e-01 1.72513313e-01 -2.31695978e-02 3.12293834e+01] [-1.72461788e-01 9.85007173e-01 4.21899528e-03 -2.62936921e+00] [ 2.35500529e-02 -1.58720556e-04 9.99722646e-01 3.33184472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.02 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.26, Y:-2.63, Z:0.34 [[ 9.84483865e-01 1.73914994e-01 -2.33472395e-02 3.12600534e+01] [-1.73862958e-01 9.84760660e-01 4.25607950e-03 -2.63424045e+00] [ 2.37316390e-02 -1.30821487e-04 9.99718356e-01 3.35630526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.049999999999997 meters Centerline goodness [0,1] 0.999841392123986 Centerline is valid? [True, True] Translation: X:31.29, Y:-2.64, Z:0.33 [[ 9.84412965e-01 1.74361606e-01 -2.30031610e-02 3.12917484e+01] [-1.74311106e-01 9.84681682e-01 4.19795808e-03 -2.63938071e+00] [ 2.33827540e-02 -1.22817925e-04 9.99726578e-01 3.34780640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.08 meters Centerline goodness [0,1] 0.9998640072529466 Centerline is valid? [True, True] Translation: X:31.32, Y:-2.65, Z:0.34 [[ 9.84332824e-01 1.74880626e-01 -2.24868262e-02 3.13245241e+01] [-1.74832369e-01 9.84589637e-01 4.10962362e-03 -2.64501529e+00] [ 2.28589896e-02 -1.13812330e-04 9.99738693e-01 3.35755247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.11 meters Centerline goodness [0,1] 0.9999092147072174 Centerline is valid? [True, True] Translation: X:31.36, Y:-2.65, Z:0.34 [[ 9.84350144e-01 1.74853596e-01 -2.19320213e-02 3.13571306e+01] [-1.74807553e-01 9.84594437e-01 4.01415433e-03 -2.65112111e+00] [ 2.22960355e-02 -1.17450417e-04 9.99751406e-01 3.36943223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.14 meters Centerline goodness [0,1] 0.9997276873851181 Centerline is valid? [True, True] Translation: X:31.39, Y:-2.66, Z:0.34 [[ 9.84435400e-01 1.74449874e-01 -2.13116113e-02 3.13893293e+01] [-1.74406180e-01 9.84666047e-01 3.90636523e-03 -2.65743117e+00] [ 2.16662850e-02 -1.28687498e-04 9.99765250e-01 3.36702070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.169999999999998 meters Centerline goodness [0,1] 0.9998181074075758 Centerline is valid? [True, True] Translation: X:31.42, Y:-2.66, Z:0.34 [[ 9.84325655e-01 1.75120310e-01 -2.08777659e-02 3.14218240e+01] [-1.75078406e-01 9.84547035e-01 3.83256192e-03 -2.66380698e+00] [ 2.12263019e-02 -1.17243055e-04 9.99774690e-01 3.37915687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.2 meters Centerline goodness [0,1] 0.999840575749294 Centerline is valid? [True, True] Translation: X:31.45, Y:-2.67, Z:0.34 [[ 9.84084419e-01 1.76442049e-01 -2.11201376e-02 3.14528580e+01] [-1.76399347e-01 9.84311025e-01 3.88281095e-03 -2.66966900e+00] [ 2.14738754e-02 -9.54352650e-05 9.99769405e-01 3.38237361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.23 meters Centerline goodness [0,1] 0.9997950399672064 Centerline is valid? [True, True] Translation: X:31.48, Y:-2.68, Z:0.34 [[ 9.83550825e-01 1.79294447e-01 -2.19379929e-02 3.14845333e+01] [-1.79248952e-01 9.83795456e-01 4.03898638e-03 -2.67564083e+00] [ 2.23066655e-02 -4.01861394e-05 9.99751175e-01 3.38028755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.259999999999998 meters Centerline goodness [0,1] 0.9997495788371352 Centerline is valid? [True, True] Translation: X:31.52, Y:-2.68, Z:0.34 [[ 9.83208405e-01 1.81128563e-01 -2.22188094e-02 3.15173739e+01] [-1.81082229e-01 9.83459426e-01 4.09669793e-03 -2.68141651e+00] [ 2.25933266e-02 -4.47631214e-06 9.99744738e-01 3.38058736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.29 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.55, Y:-2.69, Z:0.34 [[ 9.82783024e-01 1.83434823e-01 -2.21177285e-02 3.15484387e+01] [-1.83389381e-01 9.83031873e-01 4.08299195e-03 -2.68691645e+00] [ 2.24913950e-02 4.34613747e-05 9.99747036e-01 3.39816952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.32 meters Centerline goodness [0,1] 0.9997267012845039 Centerline is valid? [True, True] Translation: X:31.58, Y:-2.69, Z:0.34 [[ 9.82575834e-01 1.84529692e-01 -2.22153909e-02 3.15811359e+01] [-1.84484015e-01 9.82826937e-01 4.10600716e-03 -2.69214097e+00] [ 2.25915648e-02 6.39211045e-05 9.99744776e-01 3.37716697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.349999999999998 meters Centerline goodness [0,1] 0.9999772219944422 Centerline is valid? [True, True] Translation: X:31.61, Y:-2.70, Z:0.34 [[ 9.82065748e-01 1.87235492e-01 -2.21299969e-02 3.16139169e+01] [-1.87190717e-01 9.82315049e-01 4.09627723e-03 -2.69787399e+00] [ 2.25055975e-02 1.19716415e-04 9.99746710e-01 3.38875645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.38 meters Centerline goodness [0,1] 0.9998856201674521 Centerline is valid? [True, True] Translation: X:31.65, Y:-2.70, Z:0.34 [[ 9.81820901e-01 1.88491968e-01 -2.23270188e-02 3.16464596e+01] [-1.88446573e-01 9.82074721e-01 4.13905948e-03 -2.70312461e+00] [ 2.27069803e-02 1.43635074e-04 9.99742153e-01 3.39126879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.41 meters Centerline goodness [0,1] 0.9998404412937931 Centerline is valid? [True, True] Translation: X:31.68, Y:-2.71, Z:0.34 [[ 9.81394185e-01 1.90657189e-01 -2.27000102e-02 3.16779330e+01] [-1.90610707e-01 9.81656661e-01 4.21410273e-03 -2.70566983e+00] [ 2.30870652e-02 1.91169067e-04 9.99733440e-01 3.38291979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.439999999999998 meters Centerline goodness [0,1] 0.9998633039436812 Centerline is valid? [True, True] Translation: X:31.71, Y:-2.71, Z:0.34 [[ 9.81089837e-01 1.92132507e-01 -2.34058209e-02 3.17085784e+01] [-1.92083379e-01 9.81368966e-01 4.35057115e-03 -2.70932084e+00] [ 2.38056324e-02 2.27568021e-04 9.99716580e-01 3.37900918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.47 meters Centerline goodness [0,1] 0.9999772876967453 Centerline is valid? [True, True] Translation: X:31.74, Y:-2.71, Z:0.34 [[ 9.80892834e-01 1.93120407e-01 -2.35320500e-02 3.17414893e+01] [-1.93070888e-01 9.81175034e-01 4.38005195e-03 -2.71430863e+00] [ 2.39349373e-02 2.46992219e-04 9.99713488e-01 3.39155064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.5 meters Centerline goodness [0,1] 0.9998413346026566 Centerline is valid? [True, True] Translation: X:31.77, Y:-2.72, Z:0.34 [[ 9.80635656e-01 1.94420080e-01 -2.35487514e-02 3.17745833e+01] [-1.94370705e-01 9.80918324e-01 4.38981383e-03 -2.71799960e+00] [ 2.39528697e-02 2.72379460e-04 9.99713052e-01 3.39665569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.529999999999998 meters Centerline goodness [0,1] 0.9998414926860196 Centerline is valid? [True, True] Translation: X:31.81, Y:-2.72, Z:0.34 [[ 9.80514330e-01 1.95057328e-01 -2.33299596e-02 3.18066460e+01] [-1.95008896e-01 9.80791803e-01 4.35541605e-03 -2.72086485e+00] [ 2.37313890e-02 2.79001801e-04 9.99718332e-01 3.37557127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.84, Y:-2.73, Z:0.34 [[ 9.80345345e-01 1.95946183e-01 -2.29803976e-02 3.18388063e+01] [-1.95899289e-01 9.80614608e-01 4.29640840e-03 -2.72736847e+00] [ 2.33767785e-02 2.89879585e-04 9.99726684e-01 3.39649235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.59 meters Centerline goodness [0,1] 0.9997966285533512 Centerline is valid? [True, True] Translation: X:31.87, Y:-2.73, Z:0.34 [[ 9.80384936e-01 1.95640806e-01 -2.38757723e-02 3.18713186e+01] [-1.95589928e-01 9.80675580e-01 4.47068481e-03 -2.73352505e+00] [ 2.42890352e-02 2.86868559e-04 9.99704937e-01 3.38358399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.619999999999997 meters Centerline goodness [0,1] 0.9998186270064388 Centerline is valid? [True, True] Translation: X:31.90, Y:-2.74, Z:0.34 [[ 9.80459679e-01 1.95211105e-01 -2.43195790e-02 3.19030831e+01] [-1.95158021e-01 9.80761209e-01 4.56049995e-03 -2.73869625e+00] [ 2.47419599e-02 2.74774571e-04 9.99693833e-01 3.36192825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.65 meters Centerline goodness [0,1] 0.9998186927749071 Centerline is valid? [True, True] Translation: X:31.94, Y:-2.75, Z:0.34 [[ 9.80642047e-01 1.94216324e-01 -2.49237785e-02 3.19351247e+01] [-1.94160074e-01 9.80958693e-01 4.68062458e-03 -2.74590072e+00] [ 2.53582509e-02 2.49185413e-04 9.99678397e-01 3.35838264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.68 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.97, Y:-2.76, Z:0.34 [[ 9.81228547e-01 1.91297047e-01 -2.44126856e-02 3.19661229e+01] [-1.91242017e-01 9.81532176e-01 4.59105128e-03 -2.75575329e+00] [ 2.48400910e-02 1.63860667e-04 9.99691424e-01 3.38534952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.709999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.00, Y:-2.76, Z:0.34 [[ 9.81627575e-01 1.89266314e-01 -2.41984751e-02 3.19960702e+01] [-1.89211514e-01 9.81925787e-01 4.55544231e-03 -2.76349807e+00] [ 2.46232985e-02 1.06882328e-04 9.99696795e-01 3.39207126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.74 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.03, Y:-2.77, Z:0.34 [[ 9.82564531e-01 1.84466445e-01 -2.32179647e-02 3.20268648e+01] [-1.84414546e-01 9.82838812e-01 4.37549109e-03 -2.77431977e+00] [ 2.36266481e-02 -1.74719392e-05 9.99720852e-01 3.40962671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.77 meters Centerline goodness [0,1] 0.9998635184932442 Centerline is valid? [True, True] Translation: X:32.06, Y:-2.78, Z:0.34 [[ 9.82986093e-01 1.82222622e-01 -2.30923602e-02 3.20574622e+01] [-1.82170549e-01 9.83257296e-01 4.35671632e-03 -2.78243138e+00] [ 2.34996239e-02 -7.58436243e-05 9.99723843e-01 3.41280065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.799999999999997 meters Centerline goodness [0,1] 0.9998183799491464 Centerline is valid? [True, True] Translation: X:32.09, Y:-2.79, Z:0.34 [[ 9.83425862e-01 1.79897952e-01 -2.25898380e-02 3.20893490e+01] [-1.79847385e-01 9.83685269e-01 4.26721401e-03 -2.79030571e+00] [ 2.29889540e-02 -1.33765332e-04 9.99735710e-01 3.42228657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.83 meters Centerline goodness [0,1] 0.9998406120497291 Centerline is valid? [True, True] Translation: X:32.12, Y:-2.80, Z:0.34 [[ 9.84102795e-01 1.76372654e-01 -2.08416978e-02 3.21211874e+01] [-1.76328698e-01 9.84323445e-01 3.94279912e-03 -2.79828135e+00] [ 2.12103737e-02 -2.05130205e-04 9.99775014e-01 3.43019069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.86 meters Centerline goodness [0,1] 0.9998409885966107 Centerline is valid? [True, True] Translation: X:32.15, Y:-2.81, Z:0.34 [[ 9.84306374e-01 1.75326650e-01 -2.00381493e-02 3.21536921e+01] [-1.75285685e-01 9.84510292e-01 3.79648378e-03 -2.80513045e+00] [ 2.03933890e-02 -2.24502465e-04 9.99792008e-01 3.43593957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.19, Y:-2.81, Z:0.35 [[ 9.84506595e-01 1.74384216e-01 -1.83551274e-02 3.21855545e+01] [-1.74349584e-01 9.84677659e-01 3.48271680e-03 -2.81091278e+00] [ 1.86812147e-02 -2.28548824e-04 9.99825465e-01 3.45241507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.919999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.22, Y:-2.82, Z:0.35 [[ 9.84649814e-01 1.73635744e-01 -1.77587215e-02 3.22167566e+01] [-1.73603114e-01 9.84809916e-01 3.37457490e-03 -2.81825542e+00] [ 1.80749119e-02 -2.39805182e-04 9.99836607e-01 3.45634193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.95 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.25, Y:-2.82, Z:0.35 [[ 9.84716287e-01 1.73270670e-01 -1.76382757e-02 3.22489425e+01] [-1.73238334e-01 9.84874212e-01 3.35664212e-03 -2.82469002e+00] [ 1.79530905e-02 -2.49714672e-04 9.99838799e-01 3.46634244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.98 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.28, Y:-2.83, Z:0.35 [[ 9.84701505e-01 1.73350183e-01 -1.76822104e-02 3.22802683e+01] [-1.73317609e-01 9.84860218e-01 3.37001447e-03 -2.83164288e+00] [ 1.79986982e-02 -2.53819906e-04 9.99837978e-01 3.46659513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.01 meters Centerline goodness [0,1] 0.9998863197144351 Centerline is valid? [True, True] Translation: X:32.31, Y:-2.84, Z:0.35 [[ 9.84493450e-01 1.74405102e-01 -1.88548913e-02 3.23130891e+01] [-1.74368153e-01 9.84673954e-01 3.59891892e-03 -2.83642641e+00] [ 1.91935901e-02 -2.55419538e-04 9.99815753e-01 3.46156338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.04 meters Centerline goodness [0,1] 0.9998638992854713 Centerline is valid? [True, True] Translation: X:32.34, Y:-2.84, Z:0.35 [[ 9.84237279e-01 1.75842097e-01 -1.88821255e-02 3.23447107e+01] [-1.75805207e-01 9.84418358e-01 3.60920660e-03 -2.84112737e+00] [ 1.92225615e-02 -2.32739695e-04 9.99815202e-01 3.46780418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.38, Y:-2.85, Z:0.35 [[ 9.83975919e-01 1.77415588e-01 -1.77510362e-02 3.23761089e+01] [-1.77383164e-01 9.84136003e-01 3.39731824e-03 -2.84539094e+00] [ 1.80721710e-02 -1.94144376e-04 9.99836666e-01 3.47834346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.1 meters Centerline goodness [0,1] 0.9998640996602491 Centerline is valid? [True, True] Translation: X:32.41, Y:-2.85, Z:0.35 [[ 9.83671576e-01 1.79044063e-01 -1.82607485e-02 3.24080660e+01] [-1.79009942e-01 9.83841041e-01 3.49963033e-03 -2.84835275e+00] [ 1.85922619e-02 -1.73631346e-04 9.99827134e-01 3.47694427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.129999999999995 meters Centerline goodness [0,1] 0.9999546875708006 Centerline is valid? [True, True] Translation: X:32.44, Y:-2.85, Z:0.35 [[ 9.83576508e-01 1.79650906e-01 -1.74013124e-02 3.24387919e+01] [-1.79619952e-01 9.83730414e-01 3.33852466e-03 -2.85411532e+00] [ 1.77179693e-02 -1.58071525e-04 9.99843012e-01 3.47776457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.16 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.47, Y:-2.86, Z:0.35 [[ 9.83581015e-01 1.79659737e-01 -1.70518608e-02 3.24710098e+01] [-1.79629958e-01 9.83728801e-01 3.27480756e-03 -2.86021710e+00] [ 1.73627576e-02 -1.58013517e-04 9.99849243e-01 3.48082665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.19 meters Centerline goodness [0,1] 0.9998413489868999 Centerline is valid? [True, True] Translation: X:32.50, Y:-2.87, Z:0.35 [[ 9.83669927e-01 1.79063855e-01 -1.81551867e-02 3.25020902e+01] [-1.79029900e-01 9.83837437e-01 3.49186658e-03 -2.86594932e+00] [ 1.84870194e-02 -1.84522880e-04 9.99829083e-01 3.48622812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.22 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.53, Y:-2.87, Z:0.35 [[ 9.84219097e-01 1.76286350e-01 -1.53587660e-02 3.25322572e+01] [-1.76261659e-01 9.84338906e-01 2.95745024e-03 -2.87444733e+00] [ 1.56395890e-02 -2.03617441e-04 9.99877673e-01 3.50320603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.25 meters Centerline goodness [0,1] 0.9999773694215625 Centerline is valid? [True, True] Translation: X:32.56, Y:-2.88, Z:0.35 [[ 9.84414523e-01 1.75205302e-01 -1.52035599e-02 3.25633034e+01] [-1.75180922e-01 9.84531895e-01 2.93120964e-03 -2.88145537e+00] [ 1.54819531e-02 -2.22151707e-04 9.99880123e-01 3.50966951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.28 meters Centerline goodness [0,1] 0.9999319789588246 Centerline is valid? [True, True] Translation: X:32.60, Y:-2.89, Z:0.35 [[ 9.84553661e-01 1.74400485e-01 -1.54453790e-02 3.25951027e+01] [-1.74375161e-01 9.84674775e-01 2.98177734e-03 -2.88838368e+00] [ 1.57286985e-02 -2.42429333e-04 9.99876267e-01 3.51573436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.31 meters Centerline goodness [0,1] 0.9999773689094077 Centerline is valid? [True, True] Translation: X:32.63, Y:-2.90, Z:0.35 [[ 9.84657045e-01 1.73826358e-01 -1.53264560e-02 3.26250484e+01] [-1.73801295e-01 9.84776286e-01 2.96259646e-03 -2.89543236e+00] [ 1.56081078e-02 -2.53383590e-04 9.99878154e-01 3.52135717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.339999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.66, Y:-2.90, Z:0.35 [[ 9.84761796e-01 1.73259513e-01 -1.50115525e-02 3.26568951e+01] [-1.73235349e-01 9.84876171e-01 2.90526616e-03 -2.90127980e+00] [ 1.52878853e-02 -2.60463588e-04 9.99883100e-01 3.52620221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.37 meters Centerline goodness [0,1] 0.9998409813721036 Centerline is valid? [True, True] Translation: X:32.69, Y:-2.91, Z:0.35 [[ 9.84711503e-01 1.73413891e-01 -1.64583900e-02 3.26881060e+01] [-1.73384790e-01 9.84848993e-01 3.18979949e-03 -2.90829393e+00] [ 1.67621843e-02 -2.87397771e-04 9.99859463e-01 3.52210566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.4 meters Centerline goodness [0,1] 0.9999317235257972 Centerline is valid? [True, True] Translation: X:32.72, Y:-2.91, Z:0.35 [[ 9.84647836e-01 1.73796511e-01 -1.62299638e-02 3.27205766e+01] [-1.73768191e-01 9.84781546e-01 3.14995754e-03 -2.91435143e+00] [ 1.65304205e-02 -2.81347419e-04 9.99863324e-01 3.52744507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.43 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.75, Y:-2.92, Z:0.35 [[ 9.84505761e-01 1.74657129e-01 -1.55979031e-02 3.27512796e+01] [-1.74631015e-01 9.84629280e-01 3.03136849e-03 -2.92106257e+00] [ 1.58876022e-02 -2.60522101e-04 9.99873750e-01 3.53193992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.46 meters Centerline goodness [0,1] 0.9998406737225447 Centerline is valid? [True, True] Translation: X:32.78, Y:-2.93, Z:0.35 [[ 9.84361578e-01 1.75304522e-01 -1.73380603e-02 3.27831633e+01] [-1.75272274e-01 9.84514218e-01 3.37418969e-03 -2.92717973e+00] [ 1.76610776e-02 -2.82541435e-04 9.99843991e-01 3.52938741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.49 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.81, Y:-2.93, Z:0.35 [[ 9.84259599e-01 1.75969815e-01 -1.63604965e-02 3.28144928e+01] [-1.75941123e-01 9.84395529e-01 3.18819937e-03 -2.93353072e+00] [ 1.66662264e-02 -2.59531715e-04 9.99861075e-01 3.53231946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.519999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.85, Y:-2.94, Z:0.35 [[ 9.84118146e-01 1.76768414e-01 -1.62604268e-02 3.28462863e+01] [-1.76740114e-01 9.84252440e-01 3.17269115e-03 -2.93995840e+00] [ 1.65651963e-02 -2.48433249e-04 9.99862757e-01 3.53316388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.55 meters Centerline goodness [0,1] 0.9999546022017932 Centerline is valid? [True, True] Translation: X:32.88, Y:-2.94, Z:0.35 [[ 9.83727694e-01 1.78859423e-01 -1.70038351e-02 3.28782419e+01] [-1.78828712e-01 9.83874614e-01 3.32210498e-03 -2.94445863e+00] [ 1.73238314e-02 -2.27272746e-04 9.99849905e-01 3.52976984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.58 meters Centerline goodness [0,1] 0.9998861981063365 Centerline is valid? [True, True] Translation: X:32.91, Y:-2.95, Z:0.35 [[ 9.83436810e-01 1.80397573e-01 -1.75714452e-02 3.29103969e+01] [-1.80364956e-01 9.83593753e-01 3.43676612e-03 -2.95004218e+00] [ 1.79031480e-02 -2.10569368e-04 9.99839704e-01 3.52642130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.61 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.94, Y:-2.96, Z:0.35 [[ 9.83058044e-01 1.82555680e-01 -1.64409981e-02 3.29420344e+01] [-1.82527379e-01 9.83195503e-01 3.21850053e-03 -2.95533340e+00] [ 1.67522710e-02 -1.63040545e-04 9.99859658e-01 3.53178631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.64 meters Centerline goodness [0,1] 0.9999316722088097 Centerline is valid? [True, True] Translation: X:32.97, Y:-2.96, Z:0.35 [[ 9.82653588e-01 1.84662358e-01 -1.70804033e-02 3.29729898e+01] [-1.84632056e-01 9.82802012e-01 3.34800395e-03 -2.96083001e+00] [ 1.74049050e-02 -1.36338126e-04 9.99848514e-01 3.53433478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.67 meters Centerline goodness [0,1] 0.9999317048739955 Centerline is valid? [True, True] Translation: X:33.00, Y:-2.97, Z:0.35 [[ 9.82004881e-01 1.87985290e-01 -1.81092489e-02 3.30045234e+01] [-1.87951707e-01 9.82171840e-01 3.55422991e-03 -2.96532252e+00] [ 1.84545372e-02 -8.66068787e-05 9.99829697e-01 3.53122884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.699999999999996 meters Centerline goodness [0,1] 0.9999317048739955 Centerline is valid? [True, True] Translation: X:33.04, Y:-2.97, Z:0.35 [[ 9.81951893e-01 1.88261966e-01 -1.81083208e-02 3.30362925e+01] [-1.88228343e-01 9.82118845e-01 3.55895359e-03 -2.97163728e+00] [ 1.84545387e-02 -8.62219995e-05 9.99829697e-01 3.53477085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.73 meters Centerline goodness [0,1] 0.9997270369864883 Centerline is valid? [True, True] Translation: X:33.07, Y:-2.98, Z:0.35 [[ 9.81730689e-01 1.89307389e-01 -1.91720346e-02 3.30674247e+01] [-1.89269789e-01 9.81917872e-01 3.77363423e-03 -2.97735298e+00] [ 1.95397402e-02 -7.60055842e-05 9.99809078e-01 3.52532681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.76 meters Centerline goodness [0,1] 0.9998861229416721 Centerline is valid? [True, True] Translation: X:33.10, Y:-2.98, Z:0.35 [[ 9.81548643e-01 1.90328643e-01 -1.83648652e-02 3.30980228e+01] [-1.90294236e-01 9.81720431e-01 3.61933619e-03 -2.98353616e+00] [ 1.87180267e-02 -5.78265452e-05 9.99824801e-01 3.52803848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.79 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.13, Y:-2.99, Z:0.35 [[ 9.81428615e-01 1.91062073e-01 -1.71218669e-02 3.31292224e+01] [-1.91032210e-01 9.81577955e-01 3.37826137e-03 -2.99008702e+00] [ 1.74519047e-02 -4.46943071e-05 9.99847703e-01 3.53832666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.82 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.16, Y:-3.00, Z:0.36 [[ 9.81322154e-01 1.91717321e-01 -1.58524046e-02 3.31590627e+01] [-1.91691749e-01 9.81450186e-01 3.13137043e-03 -2.99731875e+00] [ 1.61586834e-02 -3.41080132e-05 9.99869439e-01 3.55217743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.85 meters Centerline goodness [0,1] 0.9999315287351075 Centerline is valid? [True, True] Translation: X:33.19, Y:-3.00, Z:0.36 [[ 9.81327015e-01 1.91689904e-01 -1.58830379e-02 3.31909558e+01] [-1.91664166e-01 9.81455541e-01 3.14133601e-03 -3.00407159e+00] [ 1.61906579e-02 -3.84686778e-05 9.99868922e-01 3.56068258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.879999999999995 meters Centerline goodness [0,1] 0.9999089025029038 Centerline is valid? [True, True] Translation: X:33.22, Y:-3.01, Z:0.36 [[ 9.81357638e-01 1.91537404e-01 -1.58306456e-02 3.32235036e+01] [-1.91511743e-01 9.81485314e-01 3.13554030e-03 -3.01105707e+00] [ 1.61381194e-02 -4.53318853e-05 9.99869771e-01 3.56340959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.91 meters Centerline goodness [0,1] 0.9998408114069998 Centerline is valid? [True, True] Translation: X:33.25, Y:-3.02, Z:0.36 [[ 9.81493755e-01 1.90884585e-01 -1.52671043e-02 3.32544338e+01] [-1.90860574e-01 9.81612486e-01 3.02814105e-03 -3.01847118e+00] [ 1.55644056e-02 -5.82132477e-05 9.99878866e-01 3.56123972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.94 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.29, Y:-3.02, Z:0.36 [[ 9.81474634e-01 1.91047148e-01 -1.44405504e-02 3.32851891e+01] [-1.91025629e-01 9.81580860e-01 2.86792045e-03 -3.02497544e+00] [ 1.47224759e-02 -5.62759411e-05 9.99891617e-01 3.57007340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.97 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.32, Y:-3.03, Z:0.36 [[ 9.81526533e-01 1.90773617e-01 -1.45290278e-02 3.33169282e+01] [-1.90751745e-01 9.81634058e-01 2.88945698e-03 -3.03160067e+00] [ 1.48134207e-02 -6.46412947e-05 9.99890273e-01 3.57231853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.0 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.35, Y:-3.04, Z:0.36 [[ 9.81557821e-01 1.90574848e-01 -1.50156758e-02 3.33492819e+01] [-1.90551395e-01 9.81672665e-01 2.99068995e-03 -3.03865021e+00] [ 1.53104287e-02 -7.42771469e-05 9.99882786e-01 3.57564000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.03 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.38, Y:-3.05, Z:0.36 [[ 9.81893683e-01 1.88730059e-01 -1.63021532e-02 3.33794659e+01] [-1.88702081e-01 9.82028997e-01 3.25166192e-03 -3.04660787e+00] [ 1.66228735e-02 -1.16536070e-04 9.99861824e-01 3.56200647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.06 meters Centerline goodness [0,1] 0.9999544958136148 Centerline is valid? [True, True] Translation: X:33.41, Y:-3.05, Z:0.36 [[ 9.82096761e-01 1.87619399e-01 -1.68793778e-02 3.34109012e+01] [-1.87589169e-01 9.82241793e-01 3.37094508e-03 -3.05376897e+00] [ 1.72120850e-02 -1.44205783e-04 9.99851851e-01 3.55522942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.089999999999996 meters Centerline goodness [0,1] 0.9998862654110368 Centerline is valid? [True, True] Translation: X:33.44, Y:-3.06, Z:0.35 [[ 9.82385761e-01 1.86059072e-01 -1.73273972e-02 3.34410676e+01] [-1.86026899e-01 9.82538543e-01 3.46463702e-03 -3.06116271e+00] [ 1.76694628e-02 -1.80248107e-04 9.99843867e-01 3.54636696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.12 meters Centerline goodness [0,1] 0.9998187502832027 Centerline is valid? [True, True] Translation: X:33.47, Y:-3.07, Z:0.36 [[ 9.83039687e-01 1.82602089e-01 -1.70132463e-02 3.34725228e+01] [-1.82570484e-01 9.83186869e-01 3.40582548e-03 -3.06911443e+00] [ 1.73491112e-02 -2.41945010e-04 9.99849464e-01 3.55556064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.15 meters Centerline goodness [0,1] 0.9999318135327409 Centerline is valid? [True, True] Translation: X:33.50, Y:-3.08, Z:0.36 [[ 9.83244796e-01 1.81631442e-01 -1.54819519e-02 3.35037192e+01] [-1.81605091e-01 9.83366647e-01 3.10306766e-03 -3.07662028e+00] [ 1.57880498e-02 -2.39473856e-04 9.99875332e-01 3.56515764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.18 meters Centerline goodness [0,1] 0.9999091384049247 Centerline is valid? [True, True] Translation: X:33.54, Y:-3.08, Z:0.36 [[ 9.83481257e-01 1.80415786e-01 -1.46547263e-02 3.35351600e+01] [-1.80391985e-01 9.83590404e-01 2.94103234e-03 -3.08286393e+00] [ 1.49448568e-02 -2.48855028e-04 9.99888288e-01 3.57879079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.21 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.57, Y:-3.09, Z:0.36 [[ 9.83699550e-01 1.79324456e-01 -1.33391911e-02 3.35659872e+01] [-1.79304597e-01 9.83789957e-01 2.67988463e-03 -3.08979548e+00] [ 1.36035311e-02 -2.44423013e-04 9.99907438e-01 3.59153580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.24 meters Centerline goodness [0,1] 0.9998637137989779 Centerline is valid? [True, True] Translation: X:33.60, Y:-3.10, Z:0.36 [[ 9.84199171e-01 1.76547715e-01 -1.35239430e-02 3.35969977e+01] [-1.76527009e-01 9.84292040e-01 2.71924492e-03 -3.09723623e+00] [ 1.37915859e-02 -2.88937390e-04 9.99904850e-01 3.59489748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.269999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.63, Y:-3.10, Z:0.36 [[ 9.84410199e-01 1.75412696e-01 -1.29207630e-02 3.36281561e+01] [-1.75393656e-01 9.84494946e-01 2.60112886e-03 -3.10351264e+00] [ 1.31766969e-02 -2.94357905e-04 9.99913140e-01 3.59689716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.3 meters Centerline goodness [0,1] 0.9998636797382651 Centerline is valid? [True, True] Translation: X:33.66, Y:-3.11, Z:0.36 [[ 9.84586357e-01 1.74407386e-01 -1.31060452e-02 3.36590539e+01] [-1.74387666e-01 9.84673532e-01 2.64154907e-03 -3.11014514e+00] [ 1.33658815e-02 -3.15300553e-04 9.99910623e-01 3.59627061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.33 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.69, Y:-3.12, Z:0.36 [[ 9.84591907e-01 1.74380890e-01 -1.30415204e-02 3.36905428e+01] [-1.74361332e-01 9.84678224e-01 2.63066458e-03 -3.11679480e+00] [ 1.33004388e-02 -3.16194174e-04 9.99911495e-01 3.59369732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.36 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.72, Y:-3.12, Z:0.36 [[ 9.84503322e-01 1.74884077e-01 -1.29911319e-02 3.37227753e+01] [-1.74864666e-01 9.84588982e-01 2.62408600e-03 -3.12151164e+00] [ 1.32498362e-02 -3.11731438e-04 9.99912168e-01 3.59494254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.39 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.75, Y:-3.13, Z:0.36 [[ 9.84338316e-01 1.75793231e-01 -1.32219336e-02 3.37527536e+01] [-1.75773158e-01 9.84427064e-01 2.67433481e-03 -3.12794393e+00] [ 1.34861592e-02 -3.08389212e-04 9.99909010e-01 3.59714056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.42 meters Centerline goodness [0,1] 0.9999321727334388 Centerline is valid? [True, True] Translation: X:33.78, Y:-3.13, Z:0.36 [[ 9.83865185e-01 1.78440249e-01 -1.29759475e-02 3.37837693e+01] [-1.78421118e-01 9.83950713e-01 2.62668041e-03 -3.13138190e+00] [ 1.32363983e-02 -2.69116345e-04 9.99912359e-01 3.59262172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.449999999999996 meters Centerline goodness [0,1] 0.999932313523758 Centerline is valid? [True, True] Translation: X:33.82, Y:-3.13, Z:0.36 [[ 9.83531611e-01 1.80292407e-01 -1.26577658e-02 3.38163524e+01] [-1.80274321e-01 9.83613029e-01 2.56501175e-03 -3.13452299e+00] [ 1.29127955e-02 -2.40900003e-04 9.99916597e-01 3.59891035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.48 meters Centerline goodness [0,1] 0.9998422215209846 Centerline is valid? [True, True] Translation: X:33.85, Y:-3.14, Z:0.36 [[ 9.83199755e-01 1.82124001e-01 -1.22102479e-02 3.38481903e+01] [-1.82107289e-01 9.83275548e-01 2.47615363e-03 -3.13917942e+00] [ 1.24570052e-02 -2.10978503e-04 9.99922386e-01 3.60184301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.51 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.88, Y:-3.14, Z:0.36 [[ 9.82511542e-01 1.85803277e-01 -1.21742501e-02 3.38791370e+01] [-1.85786908e-01 9.82586950e-01 2.47197381e-03 -3.14292957e+00] [ 1.24215601e-02 -1.66926517e-04 9.99922836e-01 3.60536000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.54 meters Centerline goodness [0,1] 0.999865117010993 Centerline is valid? [True, True] Translation: X:33.91, Y:-3.15, Z:0.36 [[ 9.82231296e-01 1.87275451e-01 -1.22305558e-02 3.39108562e+01] [-1.87259007e-01 9.82307428e-01 2.48636908e-03 -3.14813738e+00] [ 1.24798017e-02 -1.51907792e-04 9.99922113e-01 3.59675847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.94, Y:-3.15, Z:0.36 [[ 9.81881925e-01 1.89105851e-01 -1.21186528e-02 3.39422536e+01] [-1.89089808e-01 9.81956700e-01 2.46668560e-03 -3.15295497e+00] [ 1.23664570e-02 -1.30480274e-04 9.99923524e-01 3.59671298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.6 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.97, Y:-3.16, Z:0.36 [[ 9.81524744e-01 1.90913949e-01 -1.26901955e-02 3.39737054e+01] [-1.90896464e-01 9.81606770e-01 2.58640510e-03 -3.15803017e+00] [ 1.29505627e-02 -1.16107149e-04 9.99916131e-01 3.59389850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.629999999999995 meters Centerline goodness [0,1] 0.9999101386111923 Centerline is valid? [True, True] Translation: X:34.01, Y:-3.16, Z:0.36 [[ 9.80907329e-01 1.94052998e-01 -1.28158563e-02 3.40051591e+01] [-1.94035389e-01 9.80991044e-01 2.61534317e-03 -3.16240175e+00] [ 1.30797554e-02 -7.86796276e-05 9.99914453e-01 3.58470563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.66 meters Centerline goodness [0,1] 0.9997980341995422 Centerline is valid? [True, True] Translation: X:34.04, Y:-3.17, Z:0.36 [[ 9.80506045e-01 1.96087848e-01 -1.25479917e-02 3.40370252e+01] [-1.96071093e-01 9.80586331e-01 2.56384665e-03 -3.16800024e+00] [ 1.28071283e-02 -5.35686972e-05 9.99917984e-01 3.58416930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.69 meters Centerline goodness [0,1] 0.9999550339493682 Centerline is valid? [True, True] Translation: X:34.07, Y:-3.17, Z:0.36 [[ 9.79938603e-01 1.98919078e-01 -1.23099676e-02 3.40697025e+01] [-1.98903137e-01 9.80015918e-01 2.51837817e-03 -3.17384323e+00] [ 1.25649176e-02 -1.93648187e-05 9.99921058e-01 3.59475718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.72 meters Centerline goodness [0,1] 0.9998876076157079 Centerline is valid? [True, True] Translation: X:34.10, Y:-3.18, Z:0.36 [[ 9.78873029e-01 2.04115835e-01 -1.20132677e-02 3.41025528e+01] [-2.04101001e-01 9.78946742e-01 2.46112623e-03 -3.17895337e+00] [ 1.22627042e-02 4.27898852e-05 9.99924809e-01 3.60037828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.75 meters Centerline goodness [0,1] 0.9998200103494049 Centerline is valid? [True, True] Translation: X:34.13, Y:-3.18, Z:0.36 [[ 9.78372222e-01 2.06551516e-01 -1.11474503e-02 3.41342968e+01] [-2.06538867e-01 9.78435724e-01 2.28683182e-03 -3.18446729e+00] [ 1.13794122e-02 6.50090187e-05 9.99935250e-01 3.60219848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.78 meters Centerline goodness [0,1] 0.9997991430101768 Centerline is valid? [True, True] Translation: X:34.16, Y:-3.19, Z:0.36 [[ 9.77845654e-01 2.09049105e-01 -1.07864807e-02 3.41644388e+01] [-2.09037382e-01 9.77905140e-01 2.21566693e-03 -3.18968045e+00] [ 1.10113381e-02 8.81974099e-05 9.99939369e-01 3.60618263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.81 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.20, Y:-3.20, Z:0.36 [[ 9.77275905e-01 2.11762566e-01 -9.40326123e-03 3.41961691e+01] [-2.11753767e-01 9.77321137e-01 1.93307692e-03 -3.19630941e+00] [ 9.59935929e-03 1.02026493e-04 9.99953920e-01 3.62777599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.839999999999996 meters Centerline goodness [0,1] 0.9999323623573974 Centerline is valid? [True, True] Translation: X:34.23, Y:-3.20, Z:0.36 [[ 9.76617149e-01 2.14846420e-01 -7.74334419e-03 3.42273530e+01] [-2.14840538e-01 9.76647841e-01 1.59340509e-03 -3.20086277e+00] [ 7.90485776e-03 1.07437493e-04 9.99968750e-01 3.64310045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.87 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.26, Y:-3.21, Z:0.36 [[ 9.76260667e-01 2.16474531e-01 -7.34076267e-03 3.42584824e+01] [-2.16469279e-01 9.76288259e-01 1.51212588e-03 -3.20685631e+00] [ 7.49403715e-03 1.12820576e-04 9.99971913e-01 3.64659361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.9 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.29, Y:-3.21, Z:0.36 [[ 9.76076719e-01 2.17301796e-01 -7.35993974e-03 3.42906164e+01] [-2.17296527e-01 9.76104459e-01 1.51783032e-03 -3.21298719e+00] [ 7.51389725e-03 1.17770501e-04 9.99971763e-01 3.64633075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.93 meters Centerline goodness [0,1] 0.9999324765355961 Centerline is valid? [True, True] Translation: X:34.32, Y:-3.22, Z:0.36 [[ 9.75722304e-01 2.18876555e-01 -7.68375204e-03 3.43216886e+01] [-2.18870841e-01 9.75752549e-01 1.58715833e-03 -3.21876805e+00] [ 7.84483239e-03 1.33123487e-04 9.99969220e-01 3.63368105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.96 meters Centerline goodness [0,1] 0.9999099626344933 Centerline is valid? [True, True] Translation: X:34.35, Y:-3.22, Z:0.36 [[ 9.75582669e-01 2.19462866e-01 -8.63173975e-03 3.43537197e+01] [-2.19455657e-01 9.75620842e-01 1.78526463e-03 -3.22370611e+00] [ 8.81310449e-03 1.52610885e-04 9.99961152e-01 3.62160683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.99 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.39, Y:-3.23, Z:0.36 [[ 9.75269386e-01 2.20780401e-01 -1.02781018e-02 3.43852506e+01] [-2.20770218e-01 9.75323525e-01 2.12911754e-03 -3.23043662e+00] [ 1.04945419e-02 1.92635614e-04 9.99944912e-01 3.61559287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.019999999999996 meters Centerline goodness [0,1] 0.9998195760036085 Centerline is valid? [True, True] Translation: X:34.42, Y:-3.24, Z:0.36 [[ 9.75268091e-01 2.20776569e-01 -1.04812475e-02 3.44171887e+01] [-2.20765951e-01 9.75324392e-01 2.17393562e-03 -3.23673550e+00] [ 1.07025703e-02 1.93732518e-04 9.99942707e-01 3.59116240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.05 meters Centerline goodness [0,1] 0.9997748863175904 Centerline is valid? [True, True] Translation: X:34.45, Y:-3.24, Z:0.36 [[ 9.75226526e-01 2.20918323e-01 -1.13276965e-02 3.44492002e+01] [-2.20905888e-01 9.75292290e-01 2.35307690e-03 -3.24157394e+00] [ 1.15676529e-02 2.07571857e-04 9.99933071e-01 3.58230477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.08 meters Centerline goodness [0,1] 0.9997293273785357 Centerline is valid? [True, True] Translation: X:34.48, Y:-3.25, Z:0.36 [[ 9.75509111e-01 2.19651051e-01 -1.16357133e-02 3.44807957e+01] [-2.19637805e-01 9.75578484e-01 2.42014326e-03 -3.25009585e+00] [ 1.18831385e-02 1.94770726e-04 9.99929374e-01 3.58180121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.11 meters Centerline goodness [0,1] 0.999796798446637 Centerline is valid? [True, True] Translation: X:34.51, Y:-3.26, Z:0.36 [[ 9.75656714e-01 2.19024849e-01 -1.10495246e-02 3.45123230e+01] [-2.19012853e-01 9.75719265e-01 2.29916626e-03 -3.25874455e+00] [ 1.12848086e-02 1.76790907e-04 9.99936309e-01 3.59634135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.14 meters Centerline goodness [0,1] 0.9997976482226769 Centerline is valid? [True, True] Translation: X:34.54, Y:-3.27, Z:0.36 [[ 9.75890482e-01 2.17998803e-01 -1.06906284e-02 3.45424548e+01] [-2.17987501e-01 9.75949024e-01 2.22544810e-03 -3.26530757e+00] [ 1.09186534e-02 1.58629752e-04 9.99940377e-01 3.60665159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.17 meters Centerline goodness [0,1] 0.9999097900363095 Centerline is valid? [True, True] Translation: X:34.57, Y:-3.27, Z:0.36 [[ 9.76101521e-01 2.17062032e-01 -1.04830676e-02 3.45732219e+01] [-2.17051085e-01 9.76157802e-01 2.18468729e-03 -3.27322724e+00] [ 1.07073409e-02 1.42884603e-04 9.99942665e-01 3.62177374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.199999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.60, Y:-3.28, Z:0.36 [[ 9.76436777e-01 2.15575474e-01 -9.92151338e-03 3.46039727e+01] [-2.15565568e-01 9.76487174e-01 2.06995827e-03 -3.28188247e+00] [ 1.01344628e-02 1.17553291e-04 9.99948638e-01 3.64296881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.23 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.64, Y:-3.29, Z:0.36 [[ 9.76742505e-01 2.14200917e-01 -9.59410441e-03 3.46353043e+01] [-2.14191565e-01 9.76789618e-01 2.00401983e-03 -3.28982508e+00] [ 9.80068447e-03 9.75648908e-05 9.99951967e-01 3.64286622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.26 meters Centerline goodness [0,1] 0.9998643454668776 Centerline is valid? [True, True] Translation: X:34.67, Y:-3.30, Z:0.36 [[ 9.77248753e-01 2.11895408e-01 -9.23096306e-03 3.46656918e+01] [-2.11886626e-01 9.77292347e-01 1.93051051e-03 -3.29696687e+00] [ 9.43041586e-03 6.93286198e-05 9.99955530e-01 3.63157754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.29 meters Centerline goodness [0,1] 0.9999316970994034 Centerline is valid? [True, True] Translation: X:34.70, Y:-3.31, Z:0.36 [[ 9.78271639e-01 2.07097037e-01 -9.76818375e-03 3.46961142e+01] [-2.07086937e-01 9.78320406e-01 2.04536124e-03 -3.30854093e+00] [ 9.98000174e-03 2.19443593e-05 9.99950198e-01 3.63494206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.32 meters Centerline goodness [0,1] 0.9998182107392006 Centerline is valid? [True, True] Translation: X:34.73, Y:-3.32, Z:0.36 [[ 9.78947106e-01 2.03880569e-01 -9.76097649e-03 3.47268805e+01] [-2.03870299e-01 9.78995768e-01 2.04638149e-03 -3.31800502e+00] [ 9.97317210e-03 -1.33260472e-05 9.99950267e-01 3.62889647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.35 meters Centerline goodness [0,1] 0.9998413813419138 Centerline is valid? [True, True] Translation: X:34.76, Y:-3.33, Z:0.36 [[ 9.79550837e-01 2.00967643e-01 -9.60017067e-03 3.47582813e+01] [-2.00957554e-01 9.79597879e-01 2.01423880e-03 -3.32694573e+00] [ 9.80910365e-03 -4.38224890e-05 9.99951889e-01 3.63345673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.379999999999995 meters Centerline goodness [0,1] 0.9999320529081356 Centerline is valid? [True, True] Translation: X:34.79, Y:-3.33, Z:0.37 [[ 9.79896606e-01 1.99274822e-01 -9.60141818e-03 3.47898656e+01] [-1.99264621e-01 9.79943642e-01 2.01733404e-03 -3.33474307e+00] [ 9.81085258e-03 -6.35558283e-05 9.99951870e-01 3.65382764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.41 meters Centerline goodness [0,1] 0.9997502724300763 Centerline is valid? [True, True] Translation: X:34.82, Y:-3.34, Z:0.37 [[ 9.80405561e-01 1.96801964e-01 -8.59782014e-03 3.48215160e+01] [-1.96793668e-01 9.80443257e-01 1.80876746e-03 -3.34199966e+00] [ 8.78564377e-03 -8.13291159e-05 9.99961402e-01 3.65000747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.44 meters Centerline goodness [0,1] 0.9996385161086259 Centerline is valid? [True, True] Translation: X:34.85, Y:-3.35, Z:0.37 [[ 9.81151343e-01 1.93018126e-01 -9.27608579e-03 3.48514652e+01] [-1.93008276e-01 9.81195183e-01 1.95409433e-03 -3.34944113e+00] [ 9.47882632e-03 -1.26900946e-04 9.99955067e-01 3.65007171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.47 meters Centerline goodness [0,1] 0.9997967800934812 Centerline is valid? [True, True] Translation: X:34.88, Y:-3.36, Z:0.37 [[ 9.81489550e-01 1.91280575e-01 -9.48708500e-03 3.48813570e+01] [-1.91270168e-01 9.81535389e-01 2.00085434e-03 -3.35704461e+00] [ 9.69463423e-03 -1.49221279e-04 9.99952995e-01 3.65386819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.91, Y:-3.36, Z:0.37 [[ 9.81613668e-01 1.90550447e-01 -1.11863602e-02 3.49127530e+01] [-1.90535896e-01 9.81677387e-01 2.36231959e-03 -3.36486692e+00] [ 1.14315379e-02 -1.87482039e-04 9.99934640e-01 3.67277791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.53 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.94, Y:-3.37, Z:0.37 [[ 9.82417897e-01 1.86291760e-01 -1.22660395e-02 3.49442260e+01] [-1.86273893e-01 9.82494433e-01 2.59338832e-03 -3.37072371e+00] [ 1.25344424e-02 -2.62948170e-04 9.99921406e-01 3.67280836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.56 meters Centerline goodness [0,1] 0.9998641611953815 Centerline is valid? [True, True] Translation: X:34.97, Y:-3.38, Z:0.37 [[ 9.82870776e-01 1.83905463e-01 -1.19924284e-02 3.49742554e+01] [-1.83888193e-01 9.82943894e-01 2.53664750e-03 -3.37821244e+00] [ 1.22543876e-02 -2.87930707e-04 9.99924871e-01 3.66087925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.589999999999996 meters Centerline goodness [0,1] 0.9998871026011561 Centerline is valid? [True, True] Translation: X:35.01, Y:-3.38, Z:0.37 [[ 9.83055466e-01 1.82921568e-01 -1.19017137e-02 3.50059823e+01] [-1.82904451e-01 9.83127464e-01 2.52033970e-03 -3.38484075e+00] [ 1.21619261e-02 -3.00757299e-04 9.99925996e-01 3.67000911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.62 meters Centerline goodness [0,1] 0.9998871026011561 Centerline is valid? [True, True] Translation: X:35.04, Y:-3.39, Z:0.37 [[ 9.83003913e-01 1.83198445e-01 -1.19010830e-02 3.50376610e+01] [-1.83181313e-01 9.83075907e-01 2.52331457e-03 -3.39162814e+00] [ 1.21619353e-02 -3.00372087e-04 9.99925996e-01 3.67355206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.65 meters Centerline goodness [0,1] 0.9999548185966656 Centerline is valid? [True, True] Translation: X:35.07, Y:-3.40, Z:0.37 [[ 9.83100185e-01 1.82670206e-01 -1.20674172e-02 3.50687053e+01] [-1.82652508e-01 9.83174195e-01 2.56212615e-03 -3.39801321e+00] [ 1.23323973e-02 -3.14682669e-04 9.99923904e-01 3.68891973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.68 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.10, Y:-3.40, Z:0.37 [[ 9.83258914e-01 1.81850317e-01 -1.15051978e-02 3.51001287e+01] [-1.81834140e-01 9.83326174e-01 2.44559790e-03 -3.40432013e+00] [ 1.17580949e-02 -3.12618180e-04 9.99930822e-01 3.71126312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.71 meters Centerline goodness [0,1] 0.9998649469916943 Centerline is valid? [True, True] Translation: X:35.13, Y:-3.41, Z:0.37 [[ 9.83397177e-01 1.81142454e-01 -1.08353252e-02 3.51315345e+01] [-1.81128034e-01 9.83456821e-01 2.30583082e-03 -3.41067699e+00] [ 1.10737583e-02 -3.04966355e-04 9.99938638e-01 3.70594329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.74 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.16, Y:-3.42, Z:0.37 [[ 9.83260697e-01 1.81826097e-01 -1.17333650e-02 3.51632712e+01] [-1.81809198e-01 9.83330649e-01 2.50017217e-03 -3.41675209e+00] [ 1.19923739e-02 -3.25087350e-04 9.99928036e-01 3.72716157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.769999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.19, Y:-3.42, Z:0.37 [[ 9.83138117e-01 1.82487007e-01 -1.17445560e-02 3.51938485e+01] [-1.82470087e-01 9.83208213e-01 2.50557557e-03 -3.42420800e+00] [ 1.20045789e-02 -3.20296708e-04 9.99927891e-01 3.73294692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.8 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.23, Y:-3.43, Z:0.37 [[ 9.82980450e-01 1.83321473e-01 -1.19445496e-02 3.52256688e+01] [-1.83303997e-01 9.83052967e-01 2.55115352e-03 -3.43018274e+00] [ 1.22098061e-02 -3.18250354e-04 9.99925407e-01 3.74102728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.83 meters Centerline goodness [0,1] 0.9999101567764251 Centerline is valid? [True, True] Translation: X:35.26, Y:-3.44, Z:0.37 [[ 9.82857870e-01 1.83951302e-01 -1.23420611e-02 3.52574667e+01] [-1.83932652e-01 9.82935305e-01 2.63929071e-03 -3.43618653e+00] [ 1.26169486e-02 -3.23939613e-04 9.99920351e-01 3.73412567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.86 meters Centerline goodness [0,1] 0.9997538819528349 Centerline is valid? [True, True] Translation: X:35.29, Y:-3.44, Z:0.37 [[ 9.82301530e-01 1.86802700e-01 -1.37279263e-02 3.52879839e+01] [-1.86779852e-01 9.82397398e-01 2.93937971e-03 -3.44038682e+00] [ 1.40353632e-02 -3.23257131e-04 9.99901447e-01 3.71476426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.89 meters Centerline goodness [0,1] 0.999865831842576 Centerline is valid? [True, True] Translation: X:35.32, Y:-3.45, Z:0.37 [[ 9.81851202e-01 1.89096032e-01 -1.45226949e-02 3.53201790e+01] [-1.89070669e-01 9.81958550e-01 3.11253510e-03 -3.44571639e+00] [ 1.48492525e-02 -3.10230693e-04 9.99889696e-01 3.72598038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.92 meters Centerline goodness [0,1] 0.9998660265713967 Centerline is valid? [True, True] Translation: X:35.35, Y:-3.45, Z:0.37 [[ 9.81422884e-01 1.91235403e-01 -1.54318674e-02 3.53525976e+01] [-1.91207006e-01 9.81544157e-01 3.30883638e-03 -3.44997501e+00] [ 1.57798259e-02 -2.96686592e-04 9.99875447e-01 3.72822969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.949999999999996 meters Centerline goodness [0,1] 0.9998662356481998 Centerline is valid? [True, True] Translation: X:35.38, Y:-3.45, Z:0.37 [[ 9.80490434e-01 1.95841172e-01 -1.68743756e-02 3.53848349e+01] [-1.95807853e-01 9.80635597e-01 3.62080148e-03 -3.45374762e+00] [ 1.72567154e-02 -2.46025963e-04 9.99851062e-01 3.73965908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.98 meters Centerline goodness [0,1] 0.9997987342621374 Centerline is valid? [True, True] Translation: X:35.42, Y:-3.46, Z:0.37 [[ 9.80017989e-01 1.98126763e-01 -1.76217782e-02 3.54168138e+01] [-1.98090710e-01 9.80176381e-01 3.78588086e-03 -3.45867048e+00] [ 1.80225351e-02 -2.19520787e-04 9.99837557e-01 3.74763103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.01 meters Centerline goodness [0,1] 0.9997988871757055 Centerline is valid? [True, True] Translation: X:35.45, Y:-3.46, Z:0.37 [[ 9.79570744e-01 2.00319682e-01 -1.76969643e-02 3.54472434e+01] [-2.00283596e-01 9.79730571e-01 3.80656270e-03 -3.46426480e+00] [ 1.81007864e-02 -1.84385796e-04 9.99836150e-01 3.74681902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.04 meters Centerline goodness [0,1] 0.9997991967871486 Centerline is valid? [True, True] Translation: X:35.48, Y:-3.47, Z:0.38 [[ 9.79161789e-01 2.02291673e-01 -1.78960856e-02 3.54793388e+01] [-2.02255018e-01 9.79325306e-01 3.85387951e-03 -3.46949797e+00] [ 1.83056972e-02 -1.53998459e-04 9.99832425e-01 3.75064532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.07 meters Centerline goodness [0,1] 0.9998656365468592 Centerline is valid? [True, True] Translation: X:35.51, Y:-3.48, Z:0.38 [[ 9.78813031e-01 2.03975648e-01 -1.78601574e-02 3.55112926e+01] [-2.03939336e-01 9.78975954e-01 3.85075396e-03 -3.47505868e+00] [ 1.82701247e-02 -1.26779525e-04 9.99833079e-01 3.75800291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.1 meters Centerline goodness [0,1] 0.9997776344755509 Centerline is valid? [True, True] Translation: X:35.54, Y:-3.48, Z:0.38 [[ 9.78573384e-01 2.05169243e-01 -1.73122701e-02 3.55416559e+01] [-2.05135236e-01 9.78726505e-01 3.73689058e-03 -3.48047614e+00] [ 1.77106726e-02 -1.05465041e-04 9.99843148e-01 3.75686642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.129999999999995 meters Centerline goodness [0,1] 0.9997104548086775 Centerline is valid? [True, True] Translation: X:35.57, Y:-3.49, Z:0.38 [[ 9.78110251e-01 2.07344267e-01 -1.75696300e-02 3.55727594e+01] [-2.07309528e-01 9.78268036e-01 3.79602218e-03 -3.48524669e+00] [ 1.79748909e-02 -7.05765033e-05 9.99838436e-01 3.76161085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.16 meters Centerline goodness [0,1] 0.9997996839457811 Centerline is valid? [True, True] Translation: X:35.61, Y:-3.49, Z:0.38 [[ 9.77711038e-01 2.09216014e-01 -1.76007065e-02 3.56052029e+01] [-2.09181391e-01 9.77869448e-01 3.80628345e-03 -3.49179744e+00] [ 1.80075286e-02 -3.97050824e-05 9.99837851e-01 3.78073408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.19 meters Centerline goodness [0,1] 0.9997546395431834 Centerline is valid? [True, True] Translation: X:35.64, Y:-3.50, Z:0.38 [[ 9.77356072e-01 2.10749300e-01 -1.89694742e-02 3.56378299e+01] [-2.10709259e-01 9.77540144e-01 4.10802499e-03 -3.49825671e+00] [ 1.94091859e-02 -1.79593180e-05 9.99811624e-01 3.77737853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.22 meters Centerline goodness [0,1] 0.99993328589219 Centerline is valid? [True, True] Translation: X:35.67, Y:-3.50, Z:0.38 [[ 9.76485044e-01 2.14604605e-01 -2.05383369e-02 3.56687109e+01] [-2.14558399e-01 9.76701009e-01 4.45341706e-03 -3.50318158e+00] [ 2.10155382e-02 5.79775359e-05 9.99779148e-01 3.78526686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.25 meters Centerline goodness [0,1] 0.9997547544199942 Centerline is valid? [True, True] Translation: X:35.70, Y:-3.51, Z:0.38 [[ 9.75995967e-01 2.16577861e-01 -2.29325485e-02 3.57006008e+01] [-2.16520661e-01 9.76265342e-01 4.97840576e-03 -3.50884592e+00] [ 2.34664648e-02 1.06466601e-04 9.99724619e-01 3.76519007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.28 meters Centerline goodness [0,1] 0.9998662356481998 Centerline is valid? [True, True] Translation: X:35.73, Y:-3.51, Z:0.38 [[ 9.75392707e-01 2.19271718e-01 -2.29995594e-02 3.57325858e+01] [-2.19214795e-01 9.75663818e-01 4.99875417e-03 -3.51475668e+00] [ 2.35359234e-02 1.66095346e-04 9.99722978e-01 3.78051457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.309999999999995 meters Centerline goodness [0,1] 0.9998219293950051 Centerline is valid? [True, True] Translation: X:35.76, Y:-3.52, Z:0.38 [[ 9.74863312e-01 2.21445062e-01 -2.45684455e-02 3.57640209e+01] [-2.21380635e-01 9.75172822e-01 5.34616775e-03 -3.52067161e+00] [ 2.51423628e-02 2.27195264e-04 9.99683855e-01 3.76970548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.339999999999996 meters Centerline goodness [0,1] 0.9997325607310007 Centerline is valid? [True, True] Translation: X:35.80, Y:-3.53, Z:0.37 [[ 9.74047147e-01 2.24738656e-01 -2.69200886e-02 3.57950562e+01] [-2.24662372e-01 9.74419019e-01 5.86469387e-03 -3.52615758e+00] [ 2.75494697e-02 3.35442629e-04 9.99620385e-01 3.74909368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.37 meters Centerline goodness [0,1] 0.9998660146044082 Centerline is valid? [True, True] Translation: X:35.83, Y:-3.53, Z:0.38 [[ 9.73698199e-01 2.26282030e-01 -2.66131537e-02 3.58265716e+01] [-2.26207875e-01 9.74061757e-01 5.80432171e-03 -3.53411000e+00] [ 2.72362689e-02 3.68447329e-04 9.99628956e-01 3.77125151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.4 meters Centerline goodness [0,1] 0.9997989141363363 Centerline is valid? [True, True] Translation: X:35.86, Y:-3.54, Z:0.38 [[ 9.73407154e-01 2.27398159e-01 -2.77234476e-02 3.58570125e+01] [-2.27317947e-01 9.73801781e-01 6.05322985e-03 -3.54053125e+00] [ 2.83736360e-02 4.09779976e-04 9.99597303e-01 3.76150671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.43 meters Centerline goodness [0,1] 0.9996636318787281 Centerline is valid? [True, True] Translation: X:35.89, Y:-3.55, Z:0.38 [[ 9.73167679e-01 2.28302868e-01 -2.86787337e-02 3.58885473e+01] [-2.28217222e-01 9.73590059e-01 6.26868528e-03 -3.54839155e+00] [ 2.93524888e-02 4.44499039e-04 9.99569024e-01 3.76169821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.46 meters Centerline goodness [0,1] 0.9997537331810956 Centerline is valid? [True, True] Translation: X:35.92, Y:-3.56, Z:0.38 [[ 9.72957735e-01 2.29206004e-01 -2.85981414e-02 3.59200362e+01] [-2.29121010e-01 9.73377826e-01 6.25855222e-03 -3.55683274e+00] [ 2.92712944e-02 4.63128255e-04 9.99571397e-01 3.77982475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.49 meters Centerline goodness [0,1] 0.9997980296671978 Centerline is valid? [True, True] Translation: X:35.95, Y:-3.57, Z:0.38 [[ 9.72514811e-01 2.31028743e-01 -2.89941625e-02 3.59503801e+01] [-2.30941962e-01 9.72946788e-01 6.35280795e-03 -3.56734603e+00] [ 2.96774585e-02 5.17768949e-04 9.99559393e-01 3.81857643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.519999999999996 meters Centerline goodness [0,1] 0.999820341799726 Centerline is valid? [True, True] Translation: X:35.98, Y:-3.58, Z:0.38 [[ 9.72233093e-01 2.32269592e-01 -2.85245408e-02 3.59822993e+01] [-2.32185907e-01 9.72651297e-01 6.25769488e-03 -3.57544657e+00] [ 2.91979039e-02 5.39058337e-04 9.99573505e-01 3.83170659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.55 meters Centerline goodness [0,1] 0.9996620175300241 Centerline is valid? [True, True] Translation: X:36.01, Y:-3.58, Z:0.38 [[ 9.71835712e-01 2.33805260e-01 -2.95033773e-02 3.60132879e+01] [-2.33716195e-01 9.72283263e-01 6.48047203e-03 -3.58350834e+00] [ 3.02008084e-02 5.97462947e-04 9.99543673e-01 3.84740579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.58 meters Centerline goodness [0,1] 0.999909432595209 Centerline is valid? [True, True] Translation: X:36.04, Y:-3.59, Z:0.39 [[ 9.71173335e-01 2.36661928e-01 -2.85216703e-02 3.60444293e+01] [-2.36579707e-01 9.71591839e-01 6.27223591e-03 -3.59228189e+00] [ 2.91958215e-02 6.56220127e-04 9.99573496e-01 3.87906894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.61 meters Centerline goodness [0,1] 0.999593165174939 Centerline is valid? [True, True] Translation: X:36.07, Y:-3.60, Z:0.39 [[ 9.71026131e-01 2.36999948e-01 -3.06476374e-02 3.60745693e+01] [-2.36904931e-01 9.71509404e-01 6.74765988e-03 -3.59854269e+00] [ 3.13736630e-02 7.08422345e-04 9.99507474e-01 3.85424125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.64 meters Centerline goodness [0,1] 0.9997062611564272 Centerline is valid? [True, True] Translation: X:36.11, Y:-3.61, Z:0.39 [[ 9.71157421e-01 2.36475117e-01 -3.05414900e-02 3.61050753e+01] [-2.36380254e-01 9.71637306e-01 6.73208018e-03 -3.60710689e+00] [ 3.12672205e-02 6.81495534e-04 9.99510829e-01 3.86649616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.67 meters Centerline goodness [0,1] 0.9997058157954288 Centerline is valid? [True, True] Translation: X:36.14, Y:-3.61, Z:0.39 [[ 9.71313255e-01 2.35815432e-01 -3.06862085e-02 3.61357836e+01] [-2.35719158e-01 9.71797638e-01 6.76973580e-03 -3.61445674e+00] [ 3.14171931e-02 6.57793098e-04 9.99506142e-01 3.86410622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.699999999999996 meters Centerline goodness [0,1] 0.999750283768445 Centerline is valid? [True, True] Translation: X:36.17, Y:-3.63, Z:0.39 [[ 9.71755208e-01 2.33962536e-01 -3.08763257e-02 3.61657056e+01] [-2.33863916e-01 9.72245431e-01 6.81844343e-03 -3.62556241e+00] [ 3.16146269e-02 5.95000517e-04 9.99499956e-01 3.89239099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.73 meters Centerline goodness [0,1] 0.9999319372915579 Centerline is valid? [True, True] Translation: X:36.20, Y:-3.63, Z:0.39 [[ 9.71827027e-01 2.33817789e-01 -2.96895805e-02 3.61966366e+01] [-2.33726310e-01 9.72280272e-01 6.56386831e-03 -3.63383838e+00] [ 3.04013426e-02 5.60291484e-04 9.99537615e-01 3.91607282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.76 meters Centerline goodness [0,1] 0.9999546351532198 Centerline is valid? [True, True] Translation: X:36.23, Y:-3.64, Z:0.39 [[ 9.71916392e-01 2.33360067e-01 -3.03579621e-02 3.62275107e+01] [-2.33264001e-01 9.72390238e-01 6.71800182e-03 -3.64137323e+00] [ 3.10874993e-02 5.52083626e-04 9.99516514e-01 3.91826278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.79 meters Centerline goodness [0,1] 0.999818045352196 Centerline is valid? [True, True] Translation: X:36.26, Y:-3.65, Z:0.39 [[ 9.72020262e-01 2.32663811e-01 -3.23134785e-02 3.62581748e+01] [-2.32554330e-01 9.72557063e-01 7.15838016e-03 -3.64936870e+00] [ 3.30921977e-02 5.56548782e-04 9.99452148e-01 3.91087930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.82 meters Centerline goodness [0,1] 0.9997494076909058 Centerline is valid? [True, True] Translation: X:36.29, Y:-3.66, Z:0.39 [[ 9.72269221e-01 2.31395199e-01 -3.38943060e-02 3.62888623e+01] [-2.31273660e-01 9.72859693e-01 7.51751533e-03 -3.65776159e+00] [ 3.47139210e-02 5.29811407e-04 9.99397150e-01 3.90768789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.85 meters Centerline goodness [0,1] 0.9998406555884362 Centerline is valid? [True, True] Translation: X:36.32, Y:-3.67, Z:0.39 [[ 9.72407240e-01 2.30847955e-01 -3.36657150e-02 3.63195373e+01] [-2.30727511e-01 9.72989707e-01 7.47295670e-03 -3.66503894e+00] [ 3.44815110e-02 5.00849439e-04 9.99405210e-01 3.91451609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.879999999999995 meters Centerline goodness [0,1] 0.9999772763424001 Centerline is valid? [True, True] Translation: X:36.35, Y:-3.67, Z:0.39 [[ 9.72555090e-01 2.30355061e-01 -3.27588615e-02 3.63503435e+01] [-2.30240498e-01 9.73106536e-01 7.27886007e-03 -3.67321830e+00] [ 3.35545845e-02 4.63324167e-04 9.99436779e-01 3.93984424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.91 meters Centerline goodness [0,1] 0.9998179666879039 Centerline is valid? [True, True] Translation: X:36.38, Y:-3.68, Z:0.40 [[ 9.73446947e-01 2.26495143e-01 -3.31811820e-02 3.63808562e+01] [-2.26375071e-01 9.74012240e-01 7.38129623e-03 -3.68308317e+00] [ 3.39907051e-02 3.26092153e-04 9.99422096e-01 3.95678661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.94 meters Centerline goodness [0,1] 0.9998402883935295 Centerline is valid? [True, True] Translation: X:36.41, Y:-3.69, Z:0.40 [[ 9.73909405e-01 2.24588455e-01 -3.25652696e-02 3.64117677e+01] [-2.24471451e-01 9.74453675e-01 7.25276682e-03 -3.69157279e+00] [ 3.33622344e-02 2.46435501e-04 9.99443295e-01 3.97973073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.97 meters Centerline goodness [0,1] 0.9998408837769646 Centerline is valid? [True, True] Translation: X:36.44, Y:-3.70, Z:0.40 [[ 9.74514664e-01 2.21988647e-01 -3.22832851e-02 3.64420550e+01] [-2.21872034e-01 9.75049239e-01 7.19598931e-03 -3.69898421e+00] [ 3.30752205e-02 1.50161038e-04 9.99452854e-01 3.95679276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.0 meters Centerline goodness [0,1] 0.9998860580648101 Centerline is valid? [True, True] Translation: X:36.47, Y:-3.71, Z:0.40 [[ 9.75094131e-01 2.19457308e-01 -3.20924698e-02 3.64730246e+01] [-2.19340472e-01 9.75622102e-01 7.16034950e-03 -3.70759940e+00] [ 3.28815139e-02 5.71626850e-05 9.99459255e-01 3.95904079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.03 meters Centerline goodness [0,1] 0.9999315365480728 Centerline is valid? [True, True] Translation: X:36.50, Y:-3.72, Z:0.40 [[ 9.76482312e-01 2.13264129e-01 -3.16339323e-02 3.65037775e+01] [-2.13147071e-01 9.76994568e-01 7.06680072e-03 -3.71861916e+00] [ 3.24132752e-02 -1.57925873e-04 9.99474539e-01 3.98260200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.059999999999995 meters Centerline goodness [0,1] 0.9999085547071465 Centerline is valid? [True, True] Translation: X:36.53, Y:-3.73, Z:0.40 [[ 9.77244144e-01 2.09688801e-01 -3.20076496e-02 3.65330976e+01] [-2.09566772e-01 9.77768134e-01 7.15850204e-03 -3.72806570e+00] [ 3.27971176e-02 -2.87864364e-04 9.99461988e-01 3.97995130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.089999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.56, Y:-3.74, Z:0.40 [[ 9.77985161e-01 2.06359479e-01 -3.09966059e-02 3.65640635e+01] [-2.06243126e-01 9.78476167e-01 6.93994270e-03 -3.73845564e+00] [ 3.17615631e-02 -3.94324070e-04 9.99495396e-01 3.99319802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.12 meters Centerline goodness [0,1] 0.999840058492894 Centerline is valid? [True, True] Translation: X:36.59, Y:-3.75, Z:0.40 [[ 9.78746530e-01 2.02560432e-01 -3.20078329e-02 3.65949824e+01] [-2.02434187e-01 9.79269616e-01 7.17068831e-03 -3.74662629e+00] [ 3.27967959e-02 -5.38806682e-04 9.99461895e-01 4.00006171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.15 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.63, Y:-3.76, Z:0.40 [[ 9.79790142e-01 1.97855617e-01 -2.94012197e-02 3.66262973e+01] [-1.97746815e-01 9.80230962e-01 6.59230020e-03 -3.75514607e+00] [ 3.01243095e-02 -6.45073197e-04 9.99545952e-01 4.01955538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.18 meters Centerline goodness [0,1] 0.9998172222349151 Centerline is valid? [True, True] Translation: X:36.66, Y:-3.76, Z:0.40 [[ 9.80217569e-01 1.95521654e-01 -3.07376069e-02 3.66560149e+01] [-1.95401345e-01 9.80699092e-01 6.89959673e-03 -3.76499516e+00] [ 3.14933638e-02 -7.56936186e-04 9.99503674e-01 3.98910057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.21 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.69, Y:-3.77, Z:0.40 [[ 9.80520808e-01 1.94216406e-01 -2.93075383e-02 3.66883646e+01] [-1.94106216e-01 9.80958407e-01 6.58646302e-03 -3.77068036e+00] [ 3.00286752e-02 -7.69388702e-04 9.99548742e-01 4.02318896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.24 meters Centerline goodness [0,1] 0.9999540662823546 Centerline is valid? [True, True] Translation: X:36.72, Y:-3.78, Z:0.40 [[ 9.80829886e-01 1.92622348e-01 -2.94850053e-02 3.67194640e+01] [-1.92509857e-01 9.81272613e-01 6.63433929e-03 -3.77732970e+00] [ 3.02107502e-02 -8.31004094e-04 9.99543206e-01 4.02461432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.269999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.75, Y:-3.79, Z:0.40 [[ 9.81205723e-01 1.90735927e-01 -2.92426906e-02 3.67492916e+01] [-1.90624226e-01 9.81640981e-01 6.58696518e-03 -3.78574418e+00] [ 2.99621944e-02 -8.88802664e-04 9.99550638e-01 4.00777719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.3 meters Centerline goodness [0,1] 0.9998630637210152 Centerline is valid? [True, True] Translation: X:36.78, Y:-3.79, Z:0.40 [[ 9.81342834e-01 1.89830596e-01 -3.05055386e-02 3.67793609e+01] [-1.89708374e-01 9.81816387e-01 6.87864336e-03 -3.79343207e+00] [ 3.12566146e-02 -9.63151243e-04 9.99510929e-01 3.98831152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.33 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.81, Y:-3.80, Z:0.40 [[ 9.81306066e-01 1.90180263e-01 -2.94935995e-02 3.68109191e+01] [-1.90065963e-01 9.81748750e-01 6.65747431e-03 -3.79942993e+00] [ 3.02214247e-02 -9.27290532e-04 9.99542798e-01 3.99419500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.36 meters Centerline goodness [0,1] 0.9998863197144351 Centerline is valid? [True, True] Translation: X:36.84, Y:-3.80, Z:0.40 [[ 9.81300595e-01 1.90062951e-01 -3.04173885e-02 3.68429552e+01] [-1.89941079e-01 9.81771429e-01 6.87372415e-03 -3.80310193e+00] [ 3.11693633e-02 -9.67677985e-04 9.99513649e-01 4.00045558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.39 meters Centerline goodness [0,1] 0.9998636270654817 Centerline is valid? [True, True] Translation: X:36.87, Y:-3.81, Z:0.40 [[ 9.81192034e-01 1.90661086e-01 -3.01752093e-02 3.68734630e+01] [-1.90541260e-01 9.81655466e-01 6.82449802e-03 -3.80894494e+00] [ 3.09228254e-02 -9.46520680e-04 9.99521327e-01 3.99194147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.42 meters Centerline goodness [0,1] 0.9999547449880074 Centerline is valid? [True, True] Translation: X:36.91, Y:-3.81, Z:0.40 [[ 9.80938666e-01 1.92220073e-01 -2.84741615e-02 3.69054209e+01] [-1.92113863e-01 9.81351475e-01 6.44570990e-03 -3.81372368e+00] [ 2.91821552e-02 -8.52564926e-04 9.99573747e-01 4.00286014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.449999999999996 meters Centerline goodness [0,1] 0.9998868778280543 Centerline is valid? [True, True] Translation: X:36.94, Y:-3.82, Z:0.40 [[ 9.80764028e-01 1.93174526e-01 -2.80272004e-02 3.69358112e+01] [-1.93071823e-01 9.81164071e-01 6.35117871e-03 -3.81953412e+00] [ 2.87261680e-02 -8.17744952e-04 9.99586984e-01 4.01104698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.48 meters Centerline goodness [0,1] 0.999954864480603 Centerline is valid? [True, True] Translation: X:36.97, Y:-3.83, Z:0.40 [[ 9.80370825e-01 1.95286786e-01 -2.71314848e-02 3.69672651e+01] [-1.95191171e-01 9.80745903e-01 6.15467387e-03 -3.82501701e+00] [ 2.78110190e-02 -7.38036409e-04 9.99612926e-01 4.01805304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.51 meters Centerline goodness [0,1] 0.999954864480603 Centerline is valid? [True, True] Translation: X:37.00, Y:-3.83, Z:0.40 [[ 9.80318150e-01 1.95551256e-01 -2.71299054e-02 3.69988498e+01] [-1.95455550e-01 9.80693205e-01 6.16163052e-03 -3.83227304e+00] [ 2.78110285e-02 -7.37667650e-04 9.99612926e-01 4.02159669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.54 meters Centerline goodness [0,1] 0.999932420255902 Centerline is valid? [True, True] Translation: X:37.03, Y:-3.84, Z:0.40 [[ 9.79949047e-01 1.97495738e-01 -2.63685208e-02 3.70312154e+01] [-1.97405846e-01 9.80303516e-01 5.99563995e-03 -3.83588141e+00] [ 2.70332670e-02 -6.70121506e-04 9.99634310e-01 4.03487722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.57 meters Centerline goodness [0,1] 0.9997750837812914 Centerline is valid? [True, True] Translation: X:37.06, Y:-3.84, Z:0.40 [[ 9.79052051e-01 2.02041576e-01 -2.52246372e-02 3.70624427e+01] [-2.01960741e-01 9.79376805e-01 5.73865923e-03 -3.83766431e+00] [ 2.58638723e-02 -5.24059669e-04 9.99665337e-01 4.03978547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.6 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.09, Y:-3.84, Z:0.40 [[ 9.78326919e-01 2.05852478e-01 -2.23874145e-02 3.70941119e+01] [-2.05789776e-01 9.78582963e-01 5.09442070e-03 -3.84171199e+00] [ 2.29566416e-02 -3.76907897e-04 9.99736391e-01 4.04224374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.629999999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.13, Y:-3.84, Z:0.40 [[ 9.77677662e-01 2.08975449e-01 -2.18094398e-02 3.71269065e+01] [-2.08916666e-01 9.77920842e-01 4.96523071e-03 -3.84456072e+00] [ 2.23655170e-02 -2.98039702e-04 9.99749816e-01 4.04959769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.66 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.16, Y:-3.85, Z:0.40 [[ 9.76188579e-01 2.15970925e-01 -2.03080551e-02 3.71584722e+01] [-2.15921394e-01 9.76399786e-01 4.62705170e-03 -3.84500185e+00] [ 2.08280893e-02 -1.31931472e-04 9.99783063e-01 4.03481368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.69 meters Centerline goodness [0,1] 0.9997550165920581 Centerline is valid? [True, True] Translation: X:37.19, Y:-3.85, Z:0.40 [[ 9.75483996e-01 2.18976846e-01 -2.19115060e-02 3.71909765e+01] [-2.18919809e-01 9.75730052e-01 4.99821356e-03 -3.84910981e+00] [ 2.24742079e-02 -7.88146238e-05 9.99747420e-01 4.03567355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.72 meters Centerline goodness [0,1] 0.9998216554829793 Centerline is valid? [True, True] Translation: X:37.22, Y:-3.85, Z:0.40 [[ 9.74764393e-01 2.22247401e-01 -2.09873835e-02 3.72223587e+01] [-2.22195716e-01 9.74990304e-01 4.79282613e-03 -3.85370414e+00] [ 2.15276886e-02 -8.56954977e-06 9.99768252e-01 4.04387271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.75 meters Centerline goodness [0,1] 0.9997777580229353 Centerline is valid? [True, True] Translation: X:37.25, Y:-3.86, Z:0.40 [[ 9.74103727e-01 2.25114262e-01 -2.11068269e-02 3.72543581e+01] [-2.25062541e-01 9.74332370e-01 4.82553961e-03 -3.85874920e+00] [ 2.16513625e-02 4.97799879e-05 9.99765581e-01 4.04380945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.78 meters Centerline goodness [0,1] 0.9998444029518982 Centerline is valid? [True, True] Translation: X:37.29, Y:-3.86, Z:0.41 [[ 9.72953146e-01 2.30130741e-01 -2.00503829e-02 3.72876399e+01] [-2.30085021e-01 9.73159710e-01 4.58943445e-03 -3.86225459e+00] [ 2.05683947e-02 1.47988074e-04 9.99788437e-01 4.05098655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.809999999999995 meters Centerline goodness [0,1] 0.9997554142393383 Centerline is valid? [True, True] Translation: X:37.32, Y:-3.87, Z:0.40 [[ 9.72397532e-01 2.32480606e-01 -1.98949027e-02 3.73184416e+01] [-2.32435976e-01 9.72601013e-01 4.55910260e-03 -3.86673919e+00] [ 2.04097054e-02 1.91031011e-04 9.99791682e-01 4.04711947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.839999999999996 meters Centerline goodness [0,1] 0.9997558322789727 Centerline is valid? [True, True] Translation: X:37.35, Y:-3.87, Z:0.40 [[ 9.71761834e-01 2.35097881e-01 -2.01971576e-02 3.73502248e+01] [-2.35052346e-01 9.71971670e-01 4.63335715e-03 -3.87272548e+00] [ 2.07203574e-02 2.44869629e-04 9.99785280e-01 4.04991258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.87 meters Centerline goodness [0,1] 0.999800796812749 Centerline is valid? [True, True] Translation: X:37.38, Y:-3.88, Z:0.40 [[ 9.70856351e-01 2.38778909e-01 -2.05566955e-02 3.73809196e+01] [-2.38732478e-01 9.71073904e-01 4.71986726e-03 -3.87609844e+00] [ 2.10890753e-02 3.25237761e-04 9.99777548e-01 4.03202474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.9 meters Centerline goodness [0,1] 0.9997344604014073 Centerline is valid? [True, True] Translation: X:37.41, Y:-3.88, Z:0.40 [[ 9.70509178e-01 2.40147891e-01 -2.09982367e-02 3.74122590e+01] [-2.40099679e-01 9.70736247e-01 4.82520532e-03 -3.88231657e+00] [ 2.15425124e-02 3.58763851e-04 9.99767869e-01 4.02537737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.93 meters Centerline goodness [0,1] 0.9998446136429221 Centerline is valid? [True, True] Translation: X:37.44, Y:-3.89, Z:0.40 [[ 9.70190611e-01 2.41439497e-01 -2.09080765e-02 3.74434814e+01] [-2.41391884e-01 9.70415800e-01 4.80975618e-03 -3.89008664e+00] [ 2.14507929e-02 3.80659694e-04 9.99769833e-01 4.02870941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.96 meters Centerline goodness [0,1] 0.9997559893522626 Centerline is valid? [True, True] Translation: X:37.47, Y:-3.90, Z:0.40 [[ 9.69951251e-01 2.42428598e-01 -2.05656639e-02 3.74746282e+01] [-2.42382640e-01 9.70169172e-01 4.73638921e-03 -3.89533785e+00] [ 2.11004093e-02 3.90693260e-04 9.99777285e-01 4.01758627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.99 meters Centerline goodness [0,1] 0.9998670212765958 Centerline is valid? [True, True] Translation: X:37.51, Y:-3.90, Z:0.40 [[ 9.69891043e-01 2.42741655e-01 -1.96940078e-02 3.75063637e+01] [-2.42699468e-01 9.70090897e-01 4.54096910e-03 -3.90337930e+00] [ 2.02072600e-02 3.75479948e-04 9.99795742e-01 4.02592575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.019999999999996 meters Centerline goodness [0,1] 0.9998667939524455 Centerline is valid? [True, True] Translation: X:37.54, Y:-3.91, Z:0.40 [[ 9.69949035e-01 2.42611159e-01 -1.84036766e-02 3.75376761e+01] [-2.42574207e-01 9.70123553e-01 4.24814105e-03 -3.91171595e+00] [ 1.88844866e-02 3.43776943e-04 9.99821613e-01 4.03934065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.05 meters Centerline goodness [0,1] 0.9998889086384642 Centerline is valid? [True, True] Translation: X:37.57, Y:-3.92, Z:0.41 [[ 9.70098322e-01 2.42119134e-01 -1.69578775e-02 3.75677330e+01] [-2.42087628e-01 9.70246480e-01 3.91768798e-03 -3.91955250e+00] [ 1.74018682e-02 3.04749811e-04 9.99848530e-01 4.05253555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.08 meters Centerline goodness [0,1] 0.9997998665777185 Centerline is valid? [True, True] Translation: X:37.60, Y:-3.93, Z:0.41 [[ 9.70304422e-01 2.41373445e-01 -1.57540130e-02 3.75985971e+01] [-2.41346112e-01 9.70432269e-01 3.64221555e-03 -3.92914006e+00] [ 1.61673367e-02 2.68111930e-04 9.99869264e-01 4.06512162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.11 meters Centerline goodness [0,1] 0.9998221352661301 Centerline is valid? [True, True] Translation: X:37.63, Y:-3.94, Z:0.41 [[ 9.70907237e-01 2.39074575e-01 -1.35086631e-02 3.76296135e+01] [-2.39054222e-01 9.71001189e-01 3.12563027e-03 -3.93965645e+00] [ 1.38641867e-02 1.94605896e-04 9.99903869e-01 4.07904622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.14 meters Centerline goodness [0,1] 0.9998217071540004 Centerline is valid? [True, True] Translation: X:37.66, Y:-3.95, Z:0.41 [[ 9.71127513e-01 2.38214965e-01 -1.28446053e-02 3.76601373e+01] [-2.38196469e-01 9.71212439e-01 2.97343778e-03 -3.94892885e+00] [ 1.31831578e-02 1.71952378e-04 9.99913084e-01 4.08355353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.17 meters Centerline goodness [0,1] 0.9997989590546608 Centerline is valid? [True, True] Translation: X:37.69, Y:-3.96, Z:0.41 [[ 9.71713794e-01 2.35856723e-01 -1.19962092e-02 3.76899905e+01] [-2.35840375e-01 9.71787832e-01 2.77986537e-03 -3.95971334e+00] [ 1.23134201e-02 1.27956966e-04 9.99924179e-01 4.08380628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.199999999999996 meters Centerline goodness [0,1] 0.9997986081586072 Centerline is valid? [True, True] Translation: X:37.72, Y:-3.97, Z:0.41 [[ 9.71943731e-01 2.34901527e-01 -1.21101824e-02 3.77197977e+01] [-2.34884757e-01 9.72019166e-01 2.80914048e-03 -3.96825992e+00] [ 1.24312008e-02 1.14170771e-04 9.99922723e-01 4.08055782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.23 meters Centerline goodness [0,1] 0.9998208407049918 Centerline is valid? [True, True] Translation: X:37.75, Y:-3.98, Z:0.41 [[ 9.72145570e-01 2.34065327e-01 -1.21001258e-02 3.77508416e+01] [-2.34048498e-01 9.72220866e-01 2.80864617e-03 -3.97707439e+00] [ 1.24214015e-02 1.01603333e-04 9.99922846e-01 4.07720204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.26 meters Centerline goodness [0,1] 0.9998657958307238 Centerline is valid? [True, True] Translation: X:37.78, Y:-3.99, Z:0.41 [[ 9.72297493e-01 2.33405677e-01 -1.26243790e-02 3.77820883e+01] [-2.33387259e-01 9.72379443e-01 2.93359605e-03 -3.98605096e+00] [ 1.29604045e-02 9.40411259e-05 9.99916006e-01 4.07560717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.29 meters Centerline goodness [0,1] 0.9998425303129148 Centerline is valid? [True, True] Translation: X:37.81, Y:-4.00, Z:0.41 [[ 9.72765063e-01 2.31460538e-01 -1.24158077e-02 3.78130602e+01] [-2.31442523e-01 9.72844291e-01 2.88847082e-03 -3.99640654e+00] [ 1.27472146e-02 6.37423564e-05 9.99918749e-01 4.06779781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.32 meters Centerline goodness [0,1] 0.9997966974632361 Centerline is valid? [True, True] Translation: X:37.84, Y:-4.01, Z:0.41 [[ 9.72961136e-01 2.30611953e-01 -1.28357100e-02 3.78437586e+01] [-2.30592583e-01 9.73045798e-01 2.98937845e-03 -4.00518076e+00] [ 1.31791201e-02 5.12704597e-05 9.99913150e-01 4.06440543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.35 meters Centerline goodness [0,1] 0.9998197020576503 Centerline is valid? [True, True] Translation: X:37.88, Y:-4.01, Z:0.41 [[ 9.73226312e-01 2.29498920e-01 -1.26803418e-02 3.78751455e+01] [-2.29479879e-01 9.73308915e-01 2.95645761e-03 -4.01428287e+00] [ 1.30203936e-02 3.25809651e-05 9.99915231e-01 4.06555856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.379999999999995 meters Centerline goodness [0,1] 0.9997059688326962 Centerline is valid? [True, True] Translation: X:37.91, Y:-4.02, Z:0.41 [[ 9.73517259e-01 2.28278485e-01 -1.23725389e-02 3.79056935e+01] [-2.28260217e-01 9.73595878e-01 2.88798736e-03 -4.02316681e+00] [ 1.27051183e-02 1.26528765e-05 9.99919287e-01 4.06370006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.41 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.94, Y:-4.04, Z:0.41 [[ 9.74411447e-01 2.24393053e-01 -1.30418810e-02 3.79363356e+01] [-2.24372359e-01 9.74498720e-01 3.04774134e-03 -4.03506942e+00] [ 1.33931883e-02 -4.35164581e-05 9.99910306e-01 4.07994836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.44 meters Centerline goodness [0,1] 0.9997956774427896 Centerline is valid? [True, True] Translation: X:37.97, Y:-4.05, Z:0.41 [[ 9.74993787e-01 2.21952314e-01 -1.11483414e-02 3.79668142e+01] [-2.21937004e-01 9.75057519e-01 2.60783031e-03 -4.04641493e+00] [ 1.14490881e-02 -6.83888544e-05 9.99934455e-01 4.07923538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.47 meters Centerline goodness [0,1] 0.9999546588075267 Centerline is valid? [True, True] Translation: X:38.00, Y:-4.06, Z:0.41 [[ 9.75561471e-01 2.19425716e-01 -1.14966040e-02 3.79972916e+01] [-2.19409224e-01 9.75629204e-01 2.69225236e-03 -4.05670712e+00] [ 1.18071720e-02 -1.03996710e-04 9.99930288e-01 4.09887229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.5 meters Centerline goodness [0,1] 0.9998401534526854 Centerline is valid? [True, True] Translation: X:38.03, Y:-4.07, Z:0.41 [[ 9.76194659e-01 2.16663711e-01 -1.00411412e-02 3.80269486e+01] [-2.16650963e-01 9.76246291e-01 2.35346490e-03 -4.06801119e+00] [ 1.03125373e-02 -1.22016959e-04 9.99946817e-01 4.10614677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.53 meters Centerline goodness [0,1] 0.9998855756688102 Centerline is valid? [True, True] Translation: X:38.06, Y:-4.08, Z:0.41 [[ 9.77485190e-01 2.10808790e-01 -9.07509983e-03 3.80552488e+01] [-2.10798108e-01 9.77527302e-01 2.12878075e-03 -4.08238862e+00] [ 9.31992354e-03 -1.67837776e-04 9.99956554e-01 4.12729372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.559999999999995 meters Centerline goodness [0,1] 0.999771235101686 Centerline is valid? [True, True] Translation: X:38.08, Y:-4.09, Z:0.41 [[ 9.78086211e-01 2.08041986e-01 -8.11764049e-03 3.80847387e+01] [-2.08033332e-01 9.78119881e-01 1.90568363e-03 -4.09332061e+00] [ 8.33648776e-03 -1.75183087e-04 9.99965236e-01 4.13292089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.589999999999996 meters Centerline goodness [0,1] 0.9998400365630713 Centerline is valid? [True, True] Translation: X:38.12, Y:-4.10, Z:0.41 [[ 9.78538811e-01 2.05875655e-01 -8.77548063e-03 3.81159773e+01] [-2.05865436e-01 9.78578137e-01 2.06209338e-03 -4.09996572e+00] [ 9.01202831e-03 -2.11270254e-04 9.99959369e-01 4.13369303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.62 meters Centerline goodness [0,1] 0.9998397545956093 Centerline is valid? [True, True] Translation: X:38.14, Y:-4.12, Z:0.41 [[ 9.79313497e-01 2.02086521e-01 -1.03011281e-02 3.81438583e+01] [-2.02072198e-01 9.79367629e-01 2.42362621e-03 -4.11570416e+00] [ 1.05783736e-02 -2.91918263e-04 9.99944005e-01 4.12443852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.65 meters Centerline goodness [0,1] 0.999907986750092 Centerline is valid? [True, True] Translation: X:38.18, Y:-4.12, Z:0.41 [[ 9.79486136e-01 2.01206521e-01 -1.10835224e-02 3.81752715e+01] [-2.01189877e-01 9.79548789e-01 2.60821919e-03 -4.12041691e+00] [ 1.13816417e-02 -3.24822024e-04 9.99935174e-01 4.12497193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.68 meters Centerline goodness [0,1] 0.9999077767274571 Centerline is valid? [True, True] Translation: X:38.21, Y:-4.13, Z:0.41 [[ 9.79607673e-01 2.00556619e-01 -1.20767803e-02 3.82064107e+01] [-2.00536771e-01 9.79682045e-01 2.84510130e-03 -4.12914220e+00] [ 1.24020087e-02 -3.65244550e-04 9.99923025e-01 4.12378421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.71 meters Centerline goodness [0,1] 0.999908111460798 Centerline is valid? [True, True] Translation: X:38.24, Y:-4.14, Z:0.41 [[ 9.79612156e-01 2.00434590e-01 -1.36381446e-02 3.82372315e+01] [-2.00409214e-01 9.79706997e-01 3.21657798e-03 -4.13664196e+00] [ 1.40060991e-02 -4.17789059e-04 9.99901823e-01 4.11568939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.74 meters Centerline goodness [0,1] 0.9998388507758184 Centerline is valid? [True, True] Translation: X:38.27, Y:-4.14, Z:0.41 [[ 9.79612431e-01 2.00279031e-01 -1.57414868e-02 3.82690092e+01] [-2.00245134e-01 9.79738777e-01 3.71697008e-03 -4.14249469e+00] [ 1.61669762e-02 -4.89033973e-04 9.99869186e-01 4.09871581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.769999999999996 meters Centerline goodness [0,1] 0.999862423186279 Centerline is valid? [True, True] Translation: X:38.30, Y:-4.15, Z:0.41 [[ 9.79528015e-01 2.00652701e-01 -1.62284285e-02 3.83004757e+01] [-2.00616652e-01 9.79662310e-01 3.83638029e-03 -4.15068757e+00] [ 1.66681598e-02 -5.02148985e-04 9.99860950e-01 4.09743166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.8 meters Centerline goodness [0,1] 0.9998166735414089 Centerline is valid? [True, True] Translation: X:38.33, Y:-4.16, Z:0.41 [[ 9.79523063e-01 2.00687649e-01 -1.60945834e-02 3.83310899e+01] [-2.00652121e-01 9.79655151e-01 3.80928139e-03 -4.15965404e+00] [ 1.65316172e-02 -5.01866681e-04 9.99863218e-01 4.10013378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.83 meters Centerline goodness [0,1] 0.9999078468414505 Centerline is valid? [True, True] Translation: X:38.36, Y:-4.17, Z:0.41 [[ 9.79472147e-01 2.00912186e-01 -1.63892033e-02 3.83632515e+01] [-2.00875300e-01 9.79609122e-01 3.88359051e-03 -4.16763405e+00] [ 1.68352738e-02 -5.11682601e-04 9.99858146e-01 4.11905554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.86 meters Centerline goodness [0,1] 0.9997470857379348 Centerline is valid? [True, True] Translation: X:38.39, Y:-4.18, Z:0.41 [[ 9.79742637e-01 1.99729771e-01 -1.45733902e-02 3.83930613e+01] [-1.99700421e-01 9.79850903e-01 3.45692996e-03 -4.17687692e+00] [ 1.49702013e-02 -4.76589521e-04 9.99887827e-01 4.12861733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.89 meters Centerline goodness [0,1] 0.9997932982705955 Centerline is valid? [True, True] Translation: X:38.42, Y:-4.18, Z:0.41 [[ 9.79814743e-01 1.99398429e-01 -1.42595669e-02 3.84248060e+01] [-1.99370246e-01 9.79918385e-01 3.38580343e-03 -4.18393308e+00] [ 1.46483356e-02 -4.74526763e-04 9.99892595e-01 4.14305312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.92 meters Centerline goodness [0,1] 0.9999082631928996 Centerline is valid? [True, True] Translation: X:38.45, Y:-4.20, Z:0.41 [[ 9.79836319e-01 1.99272726e-01 -1.45316542e-02 3.84520067e+01] [-1.99243389e-01 9.79943948e-01 3.45404644e-03 -4.20398597e+00] [ 1.49285038e-02 -4.89064121e-04 9.99888444e-01 4.14339509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.949999999999996 meters Centerline goodness [0,1] 0.9997025580011898 Centerline is valid? [True, True] Translation: X:38.49, Y:-4.20, Z:0.41 [[ 9.79888612e-01 1.99046733e-01 -1.40963510e-02 3.84858772e+01] [-1.99019057e-01 9.79989881e-01 3.35384812e-03 -4.19919503e+00] [ 1.44818539e-02 -4.80955096e-04 9.99895017e-01 4.14794010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.98 meters Centerline goodness [0,1] 0.9998623253252564 Centerline is valid? [True, True] Translation: X:38.52, Y:-4.20, Z:0.42 [[ 9.79790920e-01 1.99476490e-01 -1.47947072e-02 3.85184655e+01] [-1.99445990e-01 9.79902484e-01 3.52407779e-03 -4.20319084e+00] [ 1.52003410e-02 -5.02114405e-04 9.99884342e-01 4.16161060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.01 meters Centerline goodness [0,1] 0.9998393906020558 Centerline is valid? [True, True] Translation: X:38.55, Y:-4.21, Z:0.42 [[ 9.79621763e-01 2.00248409e-01 -1.55491673e-02 3.85484712e+01] [-2.00214742e-01 9.79745020e-01 3.70838953e-03 -4.21195320e+00] [ 1.59768183e-02 -5.19646566e-04 9.99872227e-01 4.15460722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.04 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.58, Y:-4.22, Z:0.42 [[ 9.79284281e-01 2.01784469e-01 -1.68915656e-02 3.85804327e+01] [-2.01744889e-01 9.79429801e-01 4.03300453e-03 -4.21680396e+00] [ 1.73579004e-02 -5.41670908e-04 9.99849194e-01 4.17969527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.07 meters Centerline goodness [0,1] 0.9998629135441418 Centerline is valid? [True, True] Translation: X:38.61, Y:-4.22, Z:0.42 [[ 9.79149822e-01 2.02401986e-01 -1.72934155e-02 3.86117382e+01] [-2.02360516e-01 9.79302372e-01 4.13351564e-03 -4.22349641e+00] [ 1.77721146e-02 -5.47826620e-04 9.99841913e-01 4.15936745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.1 meters Centerline goodness [0,1] 0.9999544034835739 Centerline is valid? [True, True] Translation: X:38.64, Y:-4.23, Z:0.42 [[ 9.78466879e-01 2.05531928e-01 -1.89524025e-02 3.86433851e+01] [-2.05482604e-01 9.78650260e-01 4.53521114e-03 -4.22794679e+00] [ 1.94799043e-02 -5.43164868e-04 9.99810101e-01 4.16371047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.129999999999995 meters Centerline goodness [0,1] 0.9997724376479156 Centerline is valid? [True, True] Translation: X:38.68, Y:-4.23, Z:0.41 [[ 9.78206825e-01 2.06744949e-01 -1.91816143e-02 3.86751034e+01] [-2.06694558e-01 9.78394729e-01 4.59505653e-03 -4.23352596e+00] [ 1.97171950e-02 -5.30180367e-04 9.99805457e-01 4.14771771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.16 meters Centerline goodness [0,1] 0.9998635309102488 Centerline is valid? [True, True] Translation: X:38.71, Y:-4.24, Z:0.42 [[ 9.77803397e-01 2.08558935e-01 -2.00919811e-02 3.87058434e+01] [-2.08503941e-01 9.78009662e-01 4.81743831e-03 -4.23986972e+00] [ 2.06548714e-02 -5.21250304e-04 9.99786530e-01 4.15578425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.19 meters Centerline goodness [0,1] 0.9999543003381774 Centerline is valid? [True, True] Translation: X:38.74, Y:-4.25, Z:0.42 [[ 9.77325505e-01 2.10698742e-01 -2.09975612e-02 3.87377056e+01] [-2.10639078e-01 9.77550913e-01 5.03888622e-03 -4.24568795e+00] [ 2.15878721e-02 -5.01725090e-04 9.99766829e-01 4.17110731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.22 meters Centerline goodness [0,1] 0.9997727272727273 Centerline is valid? [True, True] Translation: X:38.77, Y:-4.25, Z:0.42 [[ 9.76768502e-01 2.13218072e-01 -2.14790029e-02 3.87699379e+01] [-2.13156124e-01 9.77004524e-01 5.16003577e-03 -4.25007073e+00] [ 2.20852959e-02 -4.61779403e-04 9.99755983e-01 4.15643787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.25 meters Centerline goodness [0,1] 0.9999773581488023 Centerline is valid? [True, True] Translation: X:38.80, Y:-4.26, Z:0.42 [[ 9.76225481e-01 2.15668318e-01 -2.17022250e-02 3.88016029e+01] [-2.15605555e-01 9.76466591e-01 5.21932584e-03 -4.25547836e+00] [ 2.23171409e-02 -4.16118602e-04 9.99750855e-01 4.18485319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.28 meters Centerline goodness [0,1] 0.9998188979942952 Centerline is valid? [True, True] Translation: X:38.83, Y:-4.26, Z:0.42 [[ 9.75855569e-01 2.17341231e-01 -2.16494290e-02 3.88316591e+01] [-2.17279064e-01 9.76095612e-01 5.21201737e-03 -4.26156210e+00] [ 2.22646989e-02 -3.82208508e-04 9.99752038e-01 4.16907910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.309999999999995 meters Centerline goodness [0,1] 0.9997498806248437 Centerline is valid? [True, True] Translation: X:38.86, Y:-4.27, Z:0.42 [[ 9.74809283e-01 2.22011315e-01 -2.13971353e-02 3.88633433e+01] [-2.21951596e-01 9.75044050e-01 5.15655687e-03 -4.26579345e+00] [ 2.20079634e-02 -2.77531180e-04 9.99757757e-01 4.18377463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.339999999999996 meters Centerline goodness [0,1] 0.9997968809948318 Centerline is valid? [True, True] Translation: X:38.89, Y:-4.27, Z:0.42 [[ 9.74253292e-01 2.24519995e-01 -2.05254723e-02 3.88935949e+01] [-2.24465495e-01 9.74469458e-01 4.95144503e-03 -4.27162075e+00] [ 2.11131443e-02 -2.16701321e-04 9.99777069e-01 4.19939866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.37 meters Centerline goodness [0,1] 0.9997293456932134 Centerline is valid? [True, True] Translation: X:38.92, Y:-4.28, Z:0.42 [[ 9.73672835e-01 2.26991391e-01 -2.08834639e-02 3.89249258e+01] [-2.26935430e-01 9.73896750e-01 5.04294618e-03 -4.27776303e+00] [ 2.14830430e-02 -1.70981837e-04 9.99769198e-01 4.20404823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.4 meters Centerline goodness [0,1] 0.9997287216005426 Centerline is valid? [True, True] Translation: X:38.96, Y:-4.28, Z:0.42 [[ 9.73045204e-01 2.29678002e-01 -2.07616556e-02 3.89566901e+01] [-2.29623189e-01 9.73266665e-01 5.01885799e-03 -4.28320031e+00] [ 2.13593486e-02 -1.16218115e-04 9.99771856e-01 4.21971952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.43 meters Centerline goodness [0,1] 0.9997287216005426 Centerline is valid? [True, True] Translation: X:38.99, Y:-4.29, Z:0.42 [[ 9.72979967e-01 2.29954329e-01 -2.07603216e-02 3.89881545e+01] [-2.29899462e-01 9.73201414e-01 5.02437146e-03 -4.29088875e+00] [ 2.13593504e-02 -1.15825991e-04 9.99771856e-01 4.22326159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.46 meters Centerline goodness [0,1] 0.9998873899236503 Centerline is valid? [True, True] Translation: X:39.02, Y:-4.29, Z:0.42 [[ 9.71830256e-01 2.34760173e-01 -2.08234299e-02 3.90194366e+01] [-2.34705952e-01 9.72053322e-01 5.04531437e-03 -4.29447369e+00] [ 2.14259231e-02 -1.58061960e-05 9.99770438e-01 4.23888084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.49 meters Centerline goodness [0,1] 0.9998196410857607 Centerline is valid? [True, True] Translation: X:39.05, Y:-4.30, Z:0.42 [[ 9.71245332e-01 2.37098882e-01 -2.16015099e-02 3.90501098e+01] [-2.37041017e-01 9.71485522e-01 5.23806409e-03 -4.30045507e+00] [ 2.22274932e-02 3.29985563e-05 9.99752938e-01 4.23407675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.519999999999996 meters Centerline goodness [0,1] 0.9996840085769101 Centerline is valid? [True, True] Translation: X:39.08, Y:-4.31, Z:0.42 [[ 9.70630333e-01 2.39423145e-01 -2.35226116e-02 3.90819676e+01] [-2.39355089e-01 9.70915315e-01 5.70891045e-03 -4.30680736e+00] [ 2.42053092e-02 8.90151502e-05 9.99707005e-01 4.22650700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.55 meters Centerline goodness [0,1] 0.9997972470657145 Centerline is valid? [True, True] Translation: X:39.11, Y:-4.31, Z:0.42 [[ 9.69657209e-01 2.43186372e-01 -2.50057104e-02 3.91126510e+01] [-2.43110547e-01 9.69979563e-01 6.07523253e-03 -4.31223763e+00] [ 2.57324418e-02 1.88258923e-04 9.99668848e-01 4.22519417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.58 meters Centerline goodness [0,1] 0.9997518386500023 Centerline is valid? [True, True] Translation: X:39.14, Y:-4.32, Z:0.42 [[ 9.69275366e-01 2.44534338e-01 -2.66124423e-02 3.91434407e+01] [-2.44448785e-01 9.69640605e-01 6.47205947e-03 -4.31940231e+00] [ 2.73871455e-02 2.32171398e-04 9.99624875e-01 4.22215648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.61 meters Centerline goodness [0,1] 0.9997291868836181 Centerline is valid? [True, True] Translation: X:39.17, Y:-4.33, Z:0.42 [[ 9.69025674e-01 2.45393421e-01 -2.77725217e-02 3.91748472e+01] [-2.45300399e-01 9.69423541e-01 6.76116519e-03 -4.32720483e+00] [ 2.85824818e-02 2.60868007e-04 9.99591403e-01 4.22331498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.64 meters Centerline goodness [0,1] 0.9996838944207366 Centerline is valid? [True, True] Translation: X:39.21, Y:-4.34, Z:0.42 [[ 9.68918441e-01 2.45716898e-01 -2.86401773e-02 3.92061759e+01] [-2.45617892e-01 9.69341597e-01 6.97988976e-03 -4.33552552e+00] [ 2.94771921e-02 2.71596075e-04 9.99565416e-01 4.22877495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.67 meters Centerline goodness [0,1] 0.9997964675818087 Centerline is valid? [True, True] Translation: X:39.24, Y:-4.34, Z:0.42 [[ 9.69061815e-01 2.45215454e-01 -2.80816766e-02 3.92361865e+01] [-2.45119862e-01 9.69468577e-01 6.85069774e-03 -4.34430943e+00] [ 2.89042000e-02 2.44627099e-04 9.99582156e-01 4.23439774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.699999999999996 meters Centerline goodness [0,1] 0.999818951275262 Centerline is valid? [True, True] Translation: X:39.27, Y:-4.35, Z:0.43 [[ 9.69186369e-01 2.44781876e-01 -2.75611328e-02 3.92668643e+01] [-2.44689422e-01 9.69578148e-01 6.73068414e-03 -4.35408920e+00] [ 2.83702216e-02 2.20630325e-04 9.99597460e-01 4.26183066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.73 meters Centerline goodness [0,1] 0.9999093237821051 Centerline is valid? [True, True] Translation: X:39.30, Y:-4.36, Z:0.43 [[ 9.69360757e-01 2.44221823e-01 -2.63708867e-02 3.92971788e+01] [-2.44136791e-01 9.69719375e-01 6.44683070e-03 -4.36335291e+00] [ 2.71468165e-02 1.88798955e-04 9.99631439e-01 4.27842343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.76 meters Centerline goodness [0,1] 0.9998407425945306 Centerline is valid? [True, True] Translation: X:39.33, Y:-4.38, Z:0.43 [[ 9.69920620e-01 2.42000158e-01 -2.62662206e-02 3.93278114e+01] [-2.41914870e-01 9.70276202e-01 6.42548153e-03 -4.37534986e+00] [ 2.70404563e-02 1.21982318e-04 9.99634333e-01 4.29139898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.79 meters Centerline goodness [0,1] 0.9999089419049354 Centerline is valid? [True, True] Translation: X:39.36, Y:-4.38, Z:0.43 [[ 9.70090125e-01 2.41427159e-01 -2.52601625e-02 3.93579307e+01] [-2.41347970e-01 9.70418939e-01 6.18386707e-03 -4.38470397e+00] [ 2.60058935e-02 9.75805540e-05 9.99661785e-01 4.30279458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.82 meters Centerline goodness [0,1] 0.999954477170301 Centerline is valid? [True, True] Translation: X:39.39, Y:-4.39, Z:0.43 [[ 9.70243461e-01 2.40843770e-01 -2.49380141e-02 3.93896874e+01] [-2.40766222e-01 9.70563894e-01 6.11172936e-03 -4.39460313e+00] [ 2.56759080e-02 7.43659904e-05 9.99670317e-01 4.31043058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.85 meters Centerline goodness [0,1] 0.9998397582638953 Centerline is valid? [True, True] Translation: X:39.42, Y:-4.41, Z:0.43 [[ 9.70656636e-01 2.38992919e-01 -2.66097626e-02 3.94194302e+01] [-2.38903732e-01 9.71021310e-01 6.52858605e-03 -4.40592759e+00] [ 2.73989324e-02 2.01562221e-05 9.99624579e-01 4.30653764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.879999999999995 meters Centerline goodness [0,1] 0.9998169838945827 Centerline is valid? [True, True] Translation: X:39.45, Y:-4.42, Z:0.43 [[ 9.70777495e-01 2.38391870e-01 -2.75748165e-02 3.94505345e+01] [-2.38295653e-01 9.71169046e-01 6.77241415e-03 -4.41529238e+00] [ 2.83942968e-02 -3.54833523e-06 9.99596801e-01 4.31073950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.91 meters Centerline goodness [0,1] 0.9998624515714908 Centerline is valid? [True, True] Translation: X:39.48, Y:-4.42, Z:0.43 [[ 9.70889280e-01 2.37873066e-01 -2.81142303e-02 3.94824713e+01] [-2.37772595e-01 9.71296249e-01 6.91300071e-03 -4.42489112e+00] [ 2.89516631e-02 -2.69648116e-05 9.99580812e-01 4.31392695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.94 meters Centerline goodness [0,1] 0.9998620309050773 Centerline is valid? [True, True] Translation: X:39.51, Y:-4.43, Z:0.43 [[ 9.71023156e-01 2.37183897e-01 -2.92887245e-02 3.95133354e+01] [-2.37074291e-01 9.71464768e-01 7.21005534e-03 -4.43486712e+00] [ 3.01630730e-02 -5.75270889e-05 9.99544989e-01 4.31807310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.97 meters Centerline goodness [0,1] 0.9999770904925545 Centerline is valid? [True, True] Translation: X:39.54, Y:-4.44, Z:0.43 [[ 9.70904514e-01 2.37871854e-01 -2.75935758e-02 3.95437619e+01] [-2.37774656e-01 9.71296546e-01 6.79951603e-03 -4.44192198e+00] [ 2.84189583e-02 -4.06278157e-05 9.99596099e-01 4.31792352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.0 meters Centerline goodness [0,1] 0.9998857116734097 Centerline is valid? [True, True] Translation: X:39.58, Y:-4.45, Z:0.43 [[ 9.70674726e-01 2.38618433e-01 -2.91859377e-02 3.95751209e+01] [-2.38509802e-01 9.71113404e-01 7.19941067e-03 -4.44845847e+00] [ 3.00607674e-02 -2.71537621e-05 9.99548073e-01 4.32218087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.03 meters Centerline goodness [0,1] 0.9998853132096245 Centerline is valid? [True, True] Translation: X:39.61, Y:-4.45, Z:0.43 [[ 9.70374985e-01 2.39819778e-01 -2.93063678e-02 3.96066165e+01] [-2.39710559e-01 9.70817426e-01 7.23699042e-03 -4.45489018e+00] [ 3.01867060e-02 2.45133166e-06 9.99544278e-01 4.32634868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.059999999999995 meters Centerline goodness [0,1] 0.9998857064484422 Centerline is valid? [True, True] Translation: X:39.64, Y:-4.46, Z:0.43 [[ 9.70240817e-01 2.40457079e-01 -2.85158085e-02 3.96379723e+01] [-2.40353731e-01 9.70659772e-01 7.04917174e-03 -4.46196198e+00] [ 2.93741714e-02 1.44868254e-05 9.99568486e-01 4.34295975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.089999999999996 meters Centerline goodness [0,1] 0.9997482895128258 Centerline is valid? [True, True] Translation: X:39.67, Y:-4.47, Z:0.43 [[ 9.70222200e-01 2.40432118e-01 -2.93475560e-02 3.96693166e+01] [-2.40322410e-01 9.70665955e-01 7.26240348e-03 -4.46954043e+00] [ 3.02327885e-02 6.73031442e-06 9.99542885e-01 4.34865924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.12 meters Centerline goodness [0,1] 0.9997702892058898 Centerline is valid? [True, True] Translation: X:39.70, Y:-4.48, Z:0.44 [[ 9.70249736e-01 2.40357458e-01 -2.90472517e-02 3.97012295e+01] [-2.40249705e-01 9.70684445e-01 7.19630391e-03 -4.47789913e+00] [ 2.99254007e-02 -3.61830697e-06 9.99552135e-01 4.35911935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.15 meters Centerline goodness [0,1] 0.9997710360618203 Centerline is valid? [True, True] Translation: X:39.73, Y:-4.49, Z:0.44 [[ 9.70376651e-01 2.39930041e-01 -2.83324971e-02 3.97325155e+01] [-2.39827121e-01 9.70790181e-01 7.02690247e-03 -4.48637435e+00] [ 2.91908750e-02 -2.38408837e-05 9.99573855e-01 4.36868426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.18 meters Centerline goodness [0,1] 0.9999313186813187 Centerline is valid? [True, True] Translation: X:39.76, Y:-4.49, Z:0.44 [[ 9.70616882e-01 2.39215233e-01 -2.60564735e-02 3.97625152e+01] [-2.39127763e-01 9.70966565e-01 6.46862203e-03 -4.49478176e+00] [ 2.68473575e-02 -4.77275367e-05 9.99639544e-01 4.37326996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.21 meters Centerline goodness [0,1] 0.9997704579364168 Centerline is valid? [True, True] Translation: X:39.79, Y:-4.50, Z:0.44 [[ 9.70656777e-01 2.38824195e-01 -2.80789133e-02 3.97938639e+01] [-2.38722241e-01 9.71062819e-01 6.97800989e-03 -4.50302548e+00] [ 2.89329063e-02 -7.01914702e-05 9.99581353e-01 4.38048974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.24 meters Centerline goodness [0,1] 0.9997933931727921 Centerline is valid? [True, True] Translation: X:39.83, Y:-4.51, Z:0.44 [[ 9.70552254e-01 2.39274086e-01 -2.78609660e-02 3.98252685e+01] [-2.39173668e-01 9.70952062e-01 6.93174275e-03 -4.51096784e+00] [ 2.87102489e-02 -6.40091201e-05 9.99587774e-01 4.37977449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.269999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.86, Y:-4.52, Z:0.44 [[ 9.70390030e-01 2.40213348e-01 -2.53127711e-02 3.98568803e+01] [-2.40130605e-01 9.70720117e-01 6.30452030e-03 -4.51816247e+00] [ 2.60860460e-02 -3.94726259e-05 9.99659700e-01 4.38980007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.3 meters Centerline goodness [0,1] 0.9997716217142074 Centerline is valid? [True, True] Translation: X:39.89, Y:-4.52, Z:0.44 [[ 9.69931320e-01 2.41691260e-01 -2.86106368e-02 3.98875925e+01] [-2.41586023e-01 9.70353201e-01 7.13152879e-03 -4.52389540e+00] [ 2.94860512e-02 -5.16316359e-06 9.99565192e-01 4.38091867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.33 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.92, Y:-4.53, Z:0.44 [[ 9.69526553e-01 2.43605123e-01 -2.59770535e-02 3.99196968e+01] [-2.43518985e-01 9.69874498e-01 6.47781156e-03 -4.53026976e+00] [ 2.67725098e-02 4.54953831e-05 9.99641551e-01 4.38491397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.36 meters Centerline goodness [0,1] 0.9998398682344329 Centerline is valid? [True, True] Translation: X:39.95, Y:-4.54, Z:0.44 [[ 9.69125755e-01 2.44859696e-01 -2.89654825e-02 3.99506710e+01] [-2.44752990e-01 9.69558519e-01 7.22852927e-03 -4.53651822e+00] [ 2.98537058e-02 8.40345649e-05 9.99554275e-01 4.38631489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.39 meters Centerline goodness [0,1] 0.9998172347619483 Centerline is valid? [True, True] Translation: X:39.98, Y:-4.54, Z:0.44 [[ 9.68272681e-01 2.48147190e-01 -2.95125114e-02 3.99814086e+01] [-2.48037724e-01 9.68722323e-01 7.37213853e-03 -4.54102741e+00] [ 3.04188040e-02 1.81975801e-04 9.99537225e-01 4.37987724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.42 meters Centerline goodness [0,1] 0.9997714651370067 Centerline is valid? [True, True] Translation: X:40.01, Y:-4.55, Z:0.44 [[ 9.67816869e-01 2.49881383e-01 -2.98295460e-02 4.00126428e+01] [-2.49770146e-01 9.68276428e-01 7.45878248e-03 -4.54709403e+00] [ 3.07470571e-02 2.31794545e-04 9.99527171e-01 4.38087171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.449999999999996 meters Centerline goodness [0,1] 0.9997721628579891 Centerline is valid? [True, True] Translation: X:40.04, Y:-4.55, Z:0.44 [[ 9.67397536e-01 2.51501154e-01 -2.98190573e-02 4.00449829e+01] [-2.51390510e-01 9.67856959e-01 7.46443047e-03 -4.55364607e+00] [ 3.07378950e-02 2.75156362e-04 9.99527441e-01 4.38114896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.48 meters Centerline goodness [0,1] 0.9998178713716562 Centerline is valid? [True, True] Translation: X:40.08, Y:-4.56, Z:0.44 [[ 9.67033641e-01 2.52981485e-01 -2.90913246e-02 4.00774982e+01] [-2.52876596e-01 9.67471072e-01 7.29058619e-03 -4.56010832e+00] [ 2.99893983e-02 3.06273051e-04 9.99550170e-01 4.38349142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.51 meters Centerline goodness [0,1] 0.9998409271673674 Centerline is valid? [True, True] Translation: X:40.11, Y:-4.56, Z:0.44 [[ 9.66722425e-01 2.54347523e-01 -2.74789216e-02 4.01085951e+01] [-2.54254300e-01 9.67112834e-01 6.89330525e-03 -4.56495839e+00] [ 2.83285129e-02 3.22721224e-04 9.99598615e-01 4.38168900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.54 meters Centerline goodness [0,1] 0.9997951052931132 Centerline is valid? [True, True] Translation: X:40.14, Y:-4.57, Z:0.44 [[ 9.66710440e-01 2.54392514e-01 -2.74840585e-02 4.01401884e+01] [-2.54299069e-01 9.67101002e-01 6.90185303e-03 -4.57252094e+00] [ 2.83356403e-02 3.17077114e-04 9.99598415e-01 4.38672179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.57 meters Centerline goodness [0,1] 0.9998179294021257 Centerline is valid? [True, True] Translation: X:40.17, Y:-4.58, Z:0.44 [[ 9.66763245e-01 2.54257804e-01 -2.68662798e-02 4.01709250e+01] [-2.54168269e-01 9.67136433e-01 6.75365451e-03 -4.58041067e+00] [ 2.77005274e-02 2.99370885e-04 9.99616222e-01 4.39162558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.6 meters Centerline goodness [0,1] 0.9997497440564214 Centerline is valid? [True, True] Translation: X:40.20, Y:-4.59, Z:0.44 [[ 9.67193904e-01 2.52695287e-01 -2.60968105e-02 4.02014657e+01] [-2.52610061e-01 9.67545882e-01 6.56683929e-03 -4.59122018e+00] [ 2.69092708e-02 2.40909951e-04 9.99637851e-01 4.42998403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.629999999999995 meters Centerline goodness [0,1] 0.9997042900686957 Centerline is valid? [True, True] Translation: X:40.23, Y:-4.60, Z:0.44 [[ 9.67444633e-01 2.51751588e-01 -2.59233656e-02 4.02327380e+01] [-2.51666970e-01 9.67791866e-01 6.52997863e-03 -4.60002352e+00] [ 2.67323548e-02 2.06662101e-04 9.99642605e-01 4.43640997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.66 meters Centerline goodness [0,1] 0.9998407715754515 Centerline is valid? [True, True] Translation: X:40.26, Y:-4.61, Z:0.44 [[ 9.67706476e-01 2.50885438e-01 -2.45086249e-02 4.02631086e+01] [-2.50809377e-01 9.68016771e-01 6.17958344e-03 -4.60746147e+00] [ 2.52751275e-02 1.66970027e-04 9.99680519e-01 4.41576399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.69 meters Centerline goodness [0,1] 0.9997950072886297 Centerline is valid? [True, True] Translation: X:40.29, Y:-4.62, Z:0.44 [[ 9.67986604e-01 2.49769824e-01 -2.48388842e-02 4.02936733e+01] [-2.49691203e-01 9.68305229e-01 6.26786981e-03 -4.61624172e+00] [ 2.56171462e-02 1.34836856e-04 9.99671818e-01 4.41328803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.72 meters Centerline goodness [0,1] 0.99970479369621 Centerline is valid? [True, True] Translation: X:40.33, Y:-4.63, Z:0.44 [[ 9.68603461e-01 2.47341312e-01 -2.50920595e-02 4.03251686e+01] [-2.47260106e-01 9.68928414e-01 6.33786146e-03 -4.62597091e+00] [ 2.58800244e-02 6.53907623e-05 9.99665054e-01 4.42693136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.75 meters Centerline goodness [0,1] 0.9997952591109696 Centerline is valid? [True, True] Translation: X:40.36, Y:-4.63, Z:0.44 [[ 9.68842727e-01 2.46447004e-01 -2.46504502e-02 4.03561130e+01] [-2.46368173e-01 9.69156269e-01 6.23298891e-03 -4.63460690e+00] [ 2.54262398e-02 3.43004302e-05 9.99676700e-01 4.42155448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.78 meters Centerline goodness [0,1] 0.9997498863119599 Centerline is valid? [True, True] Translation: X:40.39, Y:-4.64, Z:0.44 [[ 9.69098191e-01 2.45418773e-01 -2.48660735e-02 4.03875955e+01] [-2.45338039e-01 9.69417158e-01 6.29450895e-03 -4.64392220e+00] [ 2.56503890e-02 5.96464386e-07 9.99670975e-01 4.42627605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.809999999999995 meters Centerline goodness [0,1] 0.9998177178271965 Centerline is valid? [True, True] Translation: X:40.42, Y:-4.66, Z:0.44 [[ 9.69903907e-01 2.42303597e-01 -2.39870371e-02 4.04185079e+01] [-2.42227341e-01 9.70200474e-01 6.07912701e-03 -4.65521370e+00] [ 2.47452291e-02 -8.58528363e-05 9.99693786e-01 4.43194528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.839999999999996 meters Centerline goodness [0,1] 0.9998177884067874 Centerline is valid? [True, True] Translation: X:40.45, Y:-4.67, Z:0.44 [[ 9.70334106e-01 2.40615841e-01 -2.35741255e-02 4.04491621e+01] [-2.40541522e-01 9.70620420e-01 5.98134124e-03 -4.66501235e+00] [ 2.43207330e-02 -1.33343368e-04 9.99704198e-01 4.43013225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.87 meters Centerline goodness [0,1] 0.9997945346209164 Centerline is valid? [True, True] Translation: X:40.48, Y:-4.68, Z:0.44 [[ 9.70724761e-01 2.39115027e-01 -2.27473385e-02 4.04795693e+01] [-2.39045271e-01 9.70991233e-01 5.77784814e-03 -4.67515194e+00] [ 2.34690365e-02 -1.71056561e-04 9.99724550e-01 4.42839527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.9 meters Centerline goodness [0,1] 0.9999087299776388 Centerline is valid? [True, True] Translation: X:40.51, Y:-4.68, Z:0.44 [[ 9.70875493e-01 2.38713215e-01 -2.04151559e-02 4.05107432e+01] [-2.38656832e-01 9.71090095e-01 5.19068615e-03 -4.68299119e+00] [ 2.10640410e-02 -1.67293536e-04 9.99778114e-01 4.44479540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.93 meters Centerline goodness [0,1] 0.9997949792701262 Centerline is valid? [True, True] Translation: X:40.54, Y:-4.69, Z:0.44 [[ 9.70655900e-01 2.39655625e-01 -1.98066816e-02 4.05421845e+01] [-2.39602646e-01 9.70857950e-01 5.04106451e-03 -4.68914240e+00] [ 2.04375937e-02 -1.47405691e-04 9.99791120e-01 4.44811217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.96 meters Centerline goodness [0,1] 0.9997036631790103 Centerline is valid? [True, True] Translation: X:40.57, Y:-4.70, Z:0.45 [[ 9.70451082e-01 2.40552584e-01 -1.89512936e-02 4.05731968e+01] [-2.40504160e-01 9.70636100e-01 4.82817019e-03 -4.69597123e+00] [ 1.95562385e-02 -1.27638047e-04 9.99808750e-01 4.45283342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.99 meters Centerline goodness [0,1] 0.9998174682851145 Centerline is valid? [True, True] Translation: X:40.60, Y:-4.70, Z:0.45 [[ 9.70133246e-01 2.41877761e-01 -1.83475768e-02 4.06046724e+01] [-2.41832522e-01 9.70306724e-01 4.67903951e-03 -4.70341871e+00] [ 1.89345327e-02 -1.02251030e-04 9.99820720e-01 4.45852756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.019999999999996 meters Centerline goodness [0,1] 0.9997267012845039 Centerline is valid? [True, True] Translation: X:40.64, Y:-4.71, Z:0.45 [[ 9.69997603e-01 2.42439368e-01 -1.81053217e-02 4.06366723e+01] [-2.42395321e-01 9.70166555e-01 4.62221944e-03 -4.71132553e+00] [ 1.86857855e-02 -9.48965238e-05 9.99825401e-01 4.46094439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.05 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.67, Y:-4.72, Z:0.45 [[ 9.69687814e-01 2.43779386e-01 -1.66479866e-02 4.06673028e+01] [-2.43742264e-01 9.69830710e-01 4.25466677e-03 -4.71928434e+00] [ 1.71829287e-02 -6.78805709e-05 9.99852360e-01 4.48208707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.08 meters Centerline goodness [0,1] 0.9998172055295327 Centerline is valid? [True, True] Translation: X:40.70, Y:-4.73, Z:0.45 [[ 9.69858469e-01 2.43145415e-01 -1.59642590e-02 4.06988196e+01] [-2.43111125e-01 9.69989846e-01 4.08418135e-03 -4.72766425e+00] [ 1.64782191e-02 -7.99889095e-05 9.99864222e-01 4.47741956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.11 meters Centerline goodness [0,1] 0.9997946846127523 Centerline is valid? [True, True] Translation: X:40.73, Y:-4.74, Z:0.45 [[ 9.69861639e-01 2.43166945e-01 -1.54349338e-02 4.07300157e+01] [-2.43134823e-01 9.69984448e-01 3.95315964e-03 -4.73587116e+00] [ 1.59329235e-02 -8.12479932e-05 9.99873060e-01 4.48089535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.14 meters Centerline goodness [0,1] 0.9998174807784445 Centerline is valid? [True, True] Translation: X:40.76, Y:-4.74, Z:0.45 [[ 9.69761471e-01 2.43695393e-01 -1.32379962e-02 4.07607169e+01] [-2.43671770e-01 9.69851819e-01 3.39370501e-03 -4.74342447e+00] [ 1.36659249e-02 -6.53584070e-05 9.99906615e-01 4.50024137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.17 meters Centerline goodness [0,1] 0.9998404558404559 Centerline is valid? [True, True] Translation: X:40.79, Y:-4.75, Z:0.45 [[ 9.69609279e-01 2.44322110e-01 -1.28277716e-02 4.07917202e+01] [-2.44299940e-01 9.69694129e-01 3.29187581e-03 -4.75146344e+00] [ 1.32432929e-02 -5.80095047e-05 9.99912302e-01 4.51106287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.199999999999996 meters Centerline goodness [0,1] 0.9999543545736718 Centerline is valid? [True, True] Translation: X:40.82, Y:-4.76, Z:0.45 [[ 9.69264729e-01 2.45697203e-01 -1.26003759e-02 4.08239800e+01] [-2.45675882e-01 9.69346627e-01 3.23705371e-03 -4.75961468e+00] [ 1.30094669e-02 -4.19535429e-05 9.99915372e-01 4.52411014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.23 meters Centerline goodness [0,1] 0.9997710727530791 Centerline is valid? [True, True] Translation: X:40.86, Y:-4.77, Z:0.45 [[ 9.69345080e-01 2.45455409e-01 -1.10344394e-02 4.08557931e+01] [-2.45439009e-01 9.69407881e-01 2.83771007e-03 -4.76750851e+00] [ 1.13934038e-02 -4.24384126e-05 9.99935092e-01 4.51750014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.26 meters Centerline goodness [0,1] 0.9999543785214079 Centerline is valid? [True, True] Translation: X:40.89, Y:-4.77, Z:0.45 [[ 9.68381953e-01 2.49245417e-01 -1.06355275e-02 4.08865420e+01] [-2.49230376e-01 9.68440355e-01 2.73820767e-03 -4.77446087e+00] [ 1.09823597e-02 -9.34379883e-07 9.99939692e-01 4.53918111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.29 meters Centerline goodness [0,1] 0.9997949886104783 Centerline is valid? [True, True] Translation: X:40.92, Y:-4.78, Z:0.45 [[ 9.68080747e-01 2.50448002e-01 -9.77060465e-03 4.09184273e+01] [-2.50435344e-01 9.68130052e-01 2.51800622e-03 -4.78144432e+00] [ 1.00898456e-02 9.27139066e-06 9.99949096e-01 4.52877633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.32 meters Centerline goodness [0,1] 0.9997949886104783 Centerline is valid? [True, True] Translation: X:40.95, Y:-4.79, Z:0.45 [[ 9.68010046e-01 2.50721159e-01 -9.76989356e-03 4.09497682e+01] [-2.50708487e-01 9.68059348e-01 2.52076215e-03 -4.78961027e+00] [ 1.00898452e-02 9.27214890e-06 9.99949096e-01 4.53231989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.35 meters Centerline goodness [0,1] 0.9997036429125062 Centerline is valid? [True, True] Translation: X:40.98, Y:-4.80, Z:0.45 [[ 9.67528161e-01 2.52594875e-01 -9.22425842e-03 4.09818897e+01] [-2.52583639e-01 9.67572131e-01 2.38257820e-03 -4.79650566e+00] [ 9.52696242e-03 2.46852544e-05 9.99954617e-01 4.52391074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.379999999999995 meters Centerline goodness [0,1] 0.999795207864018 Centerline is valid? [True, True] Translation: X:41.01, Y:-4.80, Z:0.45 [[ 9.66296831e-01 2.57226960e-01 -1.02334921e-02 4.10138755e+01] [-2.57213354e-01 9.66351016e-01 2.64671350e-03 -4.80170414e+00] [ 1.05699516e-02 7.46799608e-05 9.99944134e-01 4.50929538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.41 meters Centerline goodness [0,1] 0.9997500397664008 Centerline is valid? [True, True] Translation: X:41.04, Y:-4.81, Z:0.45 [[ 9.65710768e-01 2.59420813e-01 -1.01761529e-02 4.10448641e+01] [-2.59407452e-01 9.65764377e-01 2.63458137e-03 -4.80830400e+00] [ 1.05112313e-02 9.55263065e-05 9.99944751e-01 4.50058515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.44 meters Centerline goodness [0,1] 0.9998406918525262 Centerline is valid? [True, True] Translation: X:41.08, Y:-4.81, Z:0.45 [[ 9.65069558e-01 2.61774142e-01 -1.07260163e-02 4.10752168e+01] [-2.61759411e-01 9.65129154e-01 2.77991919e-03 -4.81498134e+00] [ 1.10797019e-02 1.24820309e-04 9.99938610e-01 4.50504976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.47 meters Centerline goodness [0,1] 0.9997725928958021 Centerline is valid? [True, True] Translation: X:41.11, Y:-4.82, Z:0.45 [[ 9.64519844e-01 2.63788261e-01 -1.08270319e-02 4.11055779e+01] [-2.63773360e-01 9.64580599e-01 2.80770210e-03 -4.82159707e+00] [ 1.11841838e-02 1.47798201e-04 9.99937444e-01 4.50078076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.5 meters Centerline goodness [0,1] 0.9997033724273262 Centerline is valid? [True, True] Translation: X:41.14, Y:-4.83, Z:0.45 [[ 9.63777346e-01 2.66505397e-01 -1.03971485e-02 4.11369731e+01] [-2.66491788e-01 9.63833411e-01 2.69865089e-03 -4.82854668e+00] [ 1.07403241e-02 1.69856088e-04 9.99942307e-01 4.49449801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.53 meters Centerline goodness [0,1] 0.9998406954780273 Centerline is valid? [True, True] Translation: X:41.17, Y:-4.84, Z:0.45 [[ 9.63711739e-01 2.66679645e-01 -1.19017424e-02 4.11689484e+01] [-2.66661781e-01 9.63785209e-01 3.09275505e-03 -4.83717928e+00] [ 1.22954981e-02 1.93215491e-04 9.99924389e-01 4.49690545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.559999999999995 meters Centerline goodness [0,1] 0.9998405793800815 Centerline is valid? [True, True] Translation: X:41.20, Y:-4.85, Z:0.45 [[ 9.63955947e-01 2.65787088e-01 -1.20895446e-02 4.11993040e+01] [-2.65768540e-01 9.64031738e-01 3.14520286e-03 -4.84638728e+00] [ 1.24906590e-02 1.81183613e-04 9.99921972e-01 4.49879641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.589999999999996 meters Centerline goodness [0,1] 0.9997274028304672 Centerline is valid? [True, True] Translation: X:41.23, Y:-4.86, Z:0.45 [[ 9.64505565e-01 2.63815095e-01 -1.14285407e-02 4.12294466e+01] [-2.63798347e-01 9.64573260e-01 2.97612355e-03 -4.85550479e+00] [ 1.18088111e-02 1.44342411e-04 9.99930263e-01 4.49262570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.62 meters Centerline goodness [0,1] 0.9997486805730083 Centerline is valid? [True, True] Translation: X:41.26, Y:-4.87, Z:0.45 [[ 9.65340072e-01 2.60802072e-01 -1.00411676e-02 4.12595869e+01] [-2.60788959e-01 9.65392288e-01 2.61697756e-03 -4.86714046e+00] [ 1.03761789e-02 9.23523295e-05 9.99946162e-01 4.51213719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.65 meters Centerline goodness [0,1] 0.9998856881572931 Centerline is valid? [True, True] Translation: X:41.29, Y:-4.88, Z:0.45 [[ 9.65427115e-01 2.60487252e-01 -9.84265371e-03 4.12914045e+01] [-2.60474609e-01 9.65477283e-01 2.56774041e-03 -4.87709402e+00] [ 1.01717222e-02 8.47951676e-05 9.99948263e-01 4.53841608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.68 meters Centerline goodness [0,1] 0.9998619896492237 Centerline is valid? [True, True] Translation: X:41.32, Y:-4.89, Z:0.45 [[ 9.65650569e-01 2.59692964e-01 -8.86243726e-03 4.13231629e+01] [-2.59682659e-01 9.65691234e-01 2.31434717e-03 -4.88689615e+00] [ 9.15939765e-03 6.65706147e-05 9.99958050e-01 4.54145733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.71 meters Centerline goodness [0,1] 0.9997705737949388 Centerline is valid? [True, True] Translation: X:41.35, Y:-4.90, Z:0.45 [[ 9.66023073e-01 2.58318061e-01 -8.43814896e-03 4.13524053e+01] [-2.58308645e-01 9.66059924e-01 2.20609994e-03 -4.89612923e+00] [ 8.72163300e-03 4.85033773e-05 9.99961965e-01 4.53799690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.74 meters Centerline goodness [0,1] 0.9997936773572362 Centerline is valid? [True, True] Translation: X:41.38, Y:-4.91, Z:0.45 [[ 9.66147441e-01 2.57839786e-01 -8.81852204e-03 4.13838015e+01] [-2.57829462e-01 9.66187685e-01 2.30774019e-03 -4.90522976e+00] [ 9.11537463e-03 4.40575088e-05 9.99958453e-01 4.53887752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.769999999999996 meters Centerline goodness [0,1] 0.999747225222327 Centerline is valid? [True, True] Translation: X:41.41, Y:-4.91, Z:0.45 [[ 9.66197971e-01 2.57651901e-01 -8.77370613e-03 4.14149209e+01] [-2.57641650e-01 9.66237805e-01 2.29864919e-03 -4.91428244e+00] [ 9.06973789e-03 3.95219457e-05 9.99958868e-01 4.53633681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.8 meters Centerline goodness [0,1] 0.9997464503042597 Centerline is valid? [True, True] Translation: X:41.45, Y:-4.92, Z:0.45 [[ 9.66153366e-01 2.57816832e-01 -8.84053574e-03 4.14465855e+01] [-2.57806409e-01 9.66193810e-01 2.31859258e-03 -4.92461759e+00] [ 9.13944311e-03 3.90307566e-05 9.99958234e-01 4.54214555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.83 meters Centerline goodness [0,1] 0.9997928796630843 Centerline is valid? [True, True] Translation: X:41.48, Y:-4.93, Z:0.46 [[ 9.65965336e-01 2.58486692e-01 -9.77749528e-03 4.14773639e+01] [-2.58473943e-01 9.66014818e-01 2.56764787e-03 -4.93347181e+00] [ 1.01089081e-02 4.69689181e-05 9.99948903e-01 4.55093826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.86 meters Centerline goodness [0,1] 0.9998152168891763 Centerline is valid? [True, True] Translation: X:41.51, Y:-4.94, Z:0.46 [[ 9.65807973e-01 2.59058546e-01 -1.01798425e-02 4.15086224e+01] [-2.59044727e-01 9.65861619e-01 2.67630527e-03 -4.94233285e+00] [ 1.05256389e-02 5.22375512e-05 9.99944603e-01 4.55353791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.89 meters Centerline goodness [0,1] 0.9997927556589219 Centerline is valid? [True, True] Translation: X:41.54, Y:-4.95, Z:0.45 [[ 9.65766791e-01 2.59191664e-01 -1.06857926e-02 4.15392947e+01] [-2.59176408e-01 9.65825905e-01 2.81270544e-03 -4.95043427e+00] [ 1.10496451e-02 5.30878294e-05 9.99938949e-01 4.54679809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.92 meters Centerline goodness [0,1] 0.9997929606625259 Centerline is valid? [True, True] Translation: X:41.57, Y:-4.96, Z:0.45 [[ 9.65632091e-01 2.59626510e-01 -1.21959193e-02 4.15708712e+01] [-2.59606622e-01 9.65709103e-01 3.21407109e-03 -4.95913118e+00] [ 1.26121684e-02 6.25312322e-05 9.99920461e-01 4.54274209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.949999999999996 meters Centerline goodness [0,1] 0.9998385497151556 Centerline is valid? [True, True] Translation: X:41.60, Y:-4.97, Z:0.46 [[ 9.65515648e-01 2.60051624e-01 -1.23566528e-02 4.16030715e+01] [-2.60031196e-01 9.65594712e-01 3.26013143e-03 -4.96773524e+00] [ 1.27793211e-02 6.54073000e-05 9.99918339e-01 4.55728484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.98 meters Centerline goodness [0,1] 0.9998387096774194 Centerline is valid? [True, True] Translation: X:41.63, Y:-4.98, Z:0.46 [[ 9.65373666e-01 2.60616551e-01 -1.15195056e-02 4.16338601e+01] [-2.60598800e-01 9.65442390e-01 3.04243528e-03 -4.97581892e+00] [ 1.19143280e-02 6.48824430e-05 9.99929020e-01 4.56750874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.01 meters Centerline goodness [0,1] 0.9997469926627872 Centerline is valid? [True, True] Translation: X:41.67, Y:-4.98, Z:0.46 [[ 9.65362753e-01 2.60689024e-01 -1.07697934e-02 4.16657489e+01] [-2.60673482e-01 9.65422824e-01 2.84720332e-03 -4.98426941e+00] [ 1.11396390e-02 5.88155173e-05 9.99937951e-01 4.56970483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.04 meters Centerline goodness [0,1] 0.9999079401611047 Centerline is valid? [True, True] Translation: X:41.70, Y:-4.99, Z:0.46 [[ 9.65294514e-01 2.60930076e-01 -1.10452517e-02 4.16977858e+01] [-2.60913707e-01 9.65357702e-01 2.92331476e-03 -4.99330531e+00] [ 1.14253996e-02 5.99978711e-05 9.99934726e-01 4.60328984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.73, Y:-5.00, Z:0.46 [[ 9.65254781e-01 2.61068791e-01 -1.12380300e-02 4.17286670e+01] [-2.61051815e-01 9.65320197e-01 2.97777105e-03 -5.00203820e+00] [ 1.16257004e-02 5.94003810e-05 9.99932417e-01 4.63338782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.1 meters Centerline goodness [0,1] 0.9998391470196241 Centerline is valid? [True, True] Translation: X:41.76, Y:-5.01, Z:0.46 [[ 9.65422792e-01 2.60537486e-01 -8.89107671e-03 4.17602814e+01] [-2.60526821e-01 9.65463731e-01 2.35773894e-03 -5.01048883e+00] [ 9.19829147e-03 4.01490382e-05 9.99957694e-01 4.61118146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.129999999999995 meters Centerline goodness [0,1] 0.9998846198223146 Centerline is valid? [True, True] Translation: X:41.79, Y:-5.02, Z:0.46 [[ 9.65421386e-01 2.60519902e-01 -9.53558924e-03 4.17914454e+01] [-2.60507603e-01 9.65468476e-01 2.53175829e-03 -5.01974574e+00] [ 9.86588424e-03 3.98798978e-05 9.99951330e-01 4.62617518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.16 meters Centerline goodness [0,1] 0.9998850786062333 Centerline is valid? [True, True] Translation: X:41.82, Y:-5.03, Z:0.46 [[ 9.65320324e-01 2.60890085e-01 -9.64547090e-03 4.18231954e+01] [-2.60877490e-01 9.65368511e-01 2.56385327e-03 -5.02882510e+00] [ 9.98031778e-03 4.13465650e-05 9.99950195e-01 4.63031268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.19 meters Centerline goodness [0,1] 0.9997006884166417 Centerline is valid? [True, True] Translation: X:41.85, Y:-5.04, Z:0.46 [[ 9.65193799e-01 2.61377091e-01 -9.10751794e-03 4.18536917e+01] [-2.61365859e-01 9.65236766e-01 2.42347393e-03 -5.03665911e+00] [ 9.42435173e-03 4.12722367e-05 9.99955589e-01 4.61770150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.22 meters Centerline goodness [0,1] 0.9999080163730856 Centerline is valid? [True, True] Translation: X:41.89, Y:-5.04, Z:0.46 [[ 9.64861245e-01 2.62553938e-01 -1.04022631e-02 4.18852708e+01] [-2.62539317e-01 9.64917316e-01 2.77135003e-03 -5.04473999e+00] [ 1.07649527e-02 5.70348193e-05 9.99942055e-01 4.63827594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.25 meters Centerline goodness [0,1] 0.9997254067412645 Centerline is valid? [True, True] Translation: X:41.92, Y:-5.05, Z:0.46 [[ 9.64196543e-01 2.64950374e-01 -1.12394832e-02 4.19161726e+01] [-2.64933427e-01 9.64262045e-01 2.99798264e-03 -5.04987171e+00] [ 1.16321236e-02 8.70702947e-05 9.99932341e-01 4.60224436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.28 meters Centerline goodness [0,1] 0.9998171888210964 Centerline is valid? [True, True] Translation: X:41.95, Y:-5.06, Z:0.46 [[ 9.63670980e-01 2.66804255e-01 -1.23988680e-02 4.19472450e+01] [-2.66783741e-01 9.63750733e-01 3.31053758e-03 -5.05711840e+00] [ 1.28326836e-02 1.17547403e-04 9.99917651e-01 4.60452744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.309999999999995 meters Centerline goodness [0,1] 0.9997942386831276 Centerline is valid? [True, True] Translation: X:41.98, Y:-5.06, Z:0.46 [[ 9.63139493e-01 2.68682299e-01 -1.31201731e-02 4.19773811e+01] [-2.68659455e-01 9.63228841e-01 3.50666678e-03 -5.06301313e+00] [ 1.35799084e-02 1.47449284e-04 9.99907778e-01 4.59874820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.339999999999996 meters Centerline goodness [0,1] 0.999680678785667 Centerline is valid? [True, True] Translation: X:42.01, Y:-5.07, Z:0.46 [[ 9.62557714e-01 2.70718849e-01 -1.39266528e-02 4.20085114e+01] [-2.70693276e-01 9.62658439e-01 3.72546132e-03 -5.06999969e+00] [ 1.44151624e-02 1.83879736e-04 9.99896079e-01 4.58964863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.37 meters Centerline goodness [0,1] 0.9997272913210463 Centerline is valid? [True, True] Translation: X:42.04, Y:-5.08, Z:0.46 [[ 9.61978619e-01 2.72738969e-01 -1.45117466e-02 4.20388788e+01] [-2.72711374e-01 9.62088045e-01 3.88585153e-03 -5.07569120e+00] [ 1.50214011e-02 2.19412264e-04 9.99887148e-01 4.58974109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.4 meters Centerline goodness [0,1] 0.9997037644699662 Centerline is valid? [True, True] Translation: X:42.07, Y:-5.08, Z:0.46 [[ 9.61391314e-01 2.74802711e-01 -1.44986650e-02 4.20702245e+01] [-2.74775346e-01 9.61500602e-01 3.88595822e-03 -5.08297825e+00] [ 1.50083470e-02 2.47949212e-04 9.99887338e-01 4.59377046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.43 meters Centerline goodness [0,1] 0.9997046662728883 Centerline is valid? [True, True] Translation: X:42.10, Y:-5.09, Z:0.46 [[ 9.60488373e-01 2.77930097e-01 -1.47291279e-02 4.21020323e+01] [-2.77902162e-01 9.60601256e-01 3.95166395e-03 -5.08840102e+00] [ 1.52471051e-02 2.97729225e-04 9.99883712e-01 4.60046817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.46 meters Centerline goodness [0,1] 0.9997733813764815 Centerline is valid? [True, True] Translation: X:42.13, Y:-5.09, Z:0.46 [[ 9.60073729e-01 2.79365318e-01 -1.46100746e-02 4.21324325e+01] [-2.79337942e-01 9.60184837e-01 3.92349415e-03 -5.09362997e+00] [ 1.51244603e-02 3.14304499e-04 9.99885569e-01 4.60510823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.49 meters Centerline goodness [0,1] 0.9996822658980528 Centerline is valid? [True, True] Translation: X:42.16, Y:-5.10, Z:0.46 [[ 9.59758182e-01 2.80448024e-01 -1.45992264e-02 4.21628599e+01] [-2.80420760e-01 9.59869157e-01 3.92415515e-03 -5.10210381e+00] [ 1.51138687e-02 3.27686131e-04 9.99885725e-01 4.60257611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.519999999999996 meters Centerline goodness [0,1] 0.9996596478489744 Centerline is valid? [True, True] Translation: X:42.19, Y:-5.11, Z:0.46 [[ 9.59509419e-01 2.81271840e-01 -1.50939270e-02 4.21933627e+01] [-2.81242740e-01 9.59628069e-01 4.06092215e-03 -5.10994490e+00] [ 1.56267791e-02 3.48564344e-04 9.99877834e-01 4.60546992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.55 meters Centerline goodness [0,1] 0.9997948624438721 Centerline is valid? [True, True] Translation: X:42.22, Y:-5.12, Z:0.46 [[ 9.59566866e-01 2.81062763e-01 -1.53346742e-02 4.22239513e+01] [-2.81032638e-01 9.59689326e-01 4.12957590e-03 -5.11976638e+00] [ 1.58771932e-02 3.46939737e-04 9.99873889e-01 4.62260259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.58 meters Centerline goodness [0,1] 0.9997729852440409 Centerline is valid? [True, True] Translation: X:42.26, Y:-5.13, Z:0.46 [[ 9.59764912e-01 2.80389709e-01 -1.52618536e-02 4.22551835e+01] [-2.80359734e-01 9.59886192e-01 4.11319579e-03 -5.12929677e+00] [ 1.58029403e-02 3.31108218e-04 9.99875071e-01 4.62750192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.61 meters Centerline goodness [0,1] 0.99975133937654 Centerline is valid? [True, True] Translation: X:42.28, Y:-5.14, Z:0.46 [[ 9.59993406e-01 2.79634262e-01 -1.47424836e-02 4.22848815e+01] [-2.79606172e-01 9.60106549e-01 3.97523546e-03 -5.13778697e+00] [ 1.52659671e-02 3.05889585e-04 9.99883422e-01 4.62599082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.64 meters Centerline goodness [0,1] 0.9997947501653401 Centerline is valid? [True, True] Translation: X:42.32, Y:-5.15, Z:0.46 [[ 9.60628418e-01 2.77418235e-01 -1.52369758e-02 4.23152270e+01] [-2.77387888e-01 9.60749211e-01 4.11249386e-03 -5.14815867e+00] [ 1.57797933e-02 2.75974076e-04 9.99875453e-01 4.62705247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.67 meters Centerline goodness [0,1] 0.9996822875297855 Centerline is valid? [True, True] Translation: X:42.35, Y:-5.16, Z:0.46 [[ 9.61059269e-01 2.75885961e-01 -1.58750674e-02 4.23457554e+01] [-2.75852740e-01 9.61190340e-01 4.28901421e-03 -5.15814038e+00] [ 1.64422403e-02 2.57183980e-04 9.99864784e-01 4.61411438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.699999999999996 meters Centerline goodness [0,1] 0.99981780915509 Centerline is valid? [True, True] Translation: X:42.38, Y:-5.17, Z:0.46 [[ 9.61601610e-01 2.73965123e-01 -1.62927815e-02 4.23761073e+01] [-2.73929780e-01 9.61739601e-01 4.40623620e-03 -5.16876040e+00] [ 1.68765683e-02 2.26034246e-04 9.99857555e-01 4.62485947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.73 meters Centerline goodness [0,1] 0.9997945393114784 Centerline is valid? [True, True] Translation: X:42.41, Y:-5.18, Z:0.46 [[ 9.62933712e-01 2.69213535e-01 -1.68148366e-02 4.24054689e+01] [-2.69175087e-01 9.63080501e-01 4.55195658e-03 -5.18259070e+00] [ 1.74194896e-02 1.42902654e-04 9.99848259e-01 4.62781856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.76 meters Centerline goodness [0,1] 0.9997714337957989 Centerline is valid? [True, True] Translation: X:42.44, Y:-5.19, Z:0.46 [[ 9.63607134e-01 2.66762009e-01 -1.73008989e-02 4.24350342e+01] [-2.66720842e-01 9.63762430e-01 4.68740059e-03 -5.19313973e+00] [ 1.79243768e-02 9.76976662e-05 9.99839341e-01 4.62542403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.79 meters Centerline goodness [0,1] 0.9998623821647286 Centerline is valid? [True, True] Translation: X:42.47, Y:-5.20, Z:0.46 [[ 9.64263369e-01 2.64359636e-01 -1.76107207e-02 4.24657202e+01] [-2.64316512e-01 9.64424170e-01 4.77504201e-03 -5.20476102e+00] [ 1.82465331e-02 5.04061718e-05 9.99833517e-01 4.64299691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.82 meters Centerline goodness [0,1] 0.9999311247331083 Centerline is valid? [True, True] Translation: X:42.50, Y:-5.22, Z:0.47 [[ 9.64925628e-01 2.61928990e-01 -1.76560609e-02 4.24966100e+01] [-2.61885141e-01 9.65087149e-01 4.79258565e-03 -5.21555789e+00] [ 1.82949546e-02 -6.28716408e-07 9.99832633e-01 4.65803833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.85 meters Centerline goodness [0,1] 0.9996783383880158 Centerline is valid? [True, True] Translation: X:42.53, Y:-5.23, Z:0.46 [[ 9.65892231e-01 2.58273181e-01 -1.86322622e-02 4.25255650e+01] [-2.58223567e-01 9.66071922e-01 5.06279137e-03 -5.22703767e+00] [ 1.93076886e-02 -7.88216441e-05 9.99813586e-01 4.62189250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.879999999999995 meters Centerline goodness [0,1] 0.999792416274564 Centerline is valid? [True, True] Translation: X:42.56, Y:-5.24, Z:0.46 [[ 9.66302213e-01 2.56754302e-01 -1.83646877e-02 4.25574329e+01] [-2.56705735e-01 9.66476702e-01 4.99497403e-03 -5.23687915e+00] [ 1.90315239e-02 -1.12333812e-04 9.99818878e-01 4.64079398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.91 meters Centerline goodness [0,1] 0.9998386539126426 Centerline is valid? [True, True] Translation: X:42.59, Y:-5.25, Z:0.46 [[ 9.66588555e-01 2.55678573e-01 -1.83038835e-02 4.25880158e+01] [-2.55630031e-01 9.66761836e-01 4.98389035e-03 -5.24751735e+00] [ 1.89697700e-02 -1.38349065e-04 9.99820048e-01 4.64867226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.94 meters Centerline goodness [0,1] 0.999884369001642 Centerline is valid? [True, True] Translation: X:42.62, Y:-5.26, Z:0.47 [[ 9.66783970e-01 2.54951373e-01 -1.81259961e-02 4.26184544e+01] [-2.54903547e-01 9.66953863e-01 4.94053481e-03 -5.25794808e+00] [ 1.87865981e-02 -1.56049165e-04 9.99823504e-01 4.66425787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.97 meters Centerline goodness [0,1] 0.9998613550235697 Centerline is valid? [True, True] Translation: X:42.65, Y:-5.27, Z:0.47 [[ 9.66821890e-01 2.54802271e-01 -1.81998885e-02 4.26499450e+01] [-2.54753929e-01 9.66993162e-01 4.96590873e-03 -5.26615975e+00] [ 1.88644925e-02 -1.64656171e-04 9.99822036e-01 4.67177147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.0 meters Centerline goodness [0,1] 0.9999076041762912 Centerline is valid? [True, True] Translation: X:42.68, Y:-5.27, Z:0.47 [[ 9.66633609e-01 2.55534125e-01 -1.79381315e-02 4.26800972e+01] [-2.55487211e-01 9.66800025e-01 4.89871965e-03 -5.27390082e+00] [ 1.85943760e-02 -1.52303867e-04 9.99827098e-01 4.68160652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.03 meters Centerline goodness [0,1] 0.9997698027209319 Centerline is valid? [True, True] Translation: X:42.71, Y:-5.28, Z:0.47 [[ 9.66317723e-01 2.56692058e-01 -1.84186152e-02 4.27109831e+01] [-2.56642734e-01 9.66493233e-01 5.03372143e-03 -5.28141413e+00] [ 1.90935832e-02 -1.37170477e-04 9.99817692e-01 4.66305075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.059999999999995 meters Centerline goodness [0,1] 0.9997474805445238 Centerline is valid? [True, True] Translation: X:42.74, Y:-5.29, Z:0.47 [[ 9.65742180e-01 2.58824466e-01 -1.87600062e-02 4.27424786e+01] [-2.58773601e-01 9.65924368e-01 5.13208821e-03 -5.28694441e+00] [ 1.94490571e-02 -1.01679704e-04 9.99810844e-01 4.65979110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.089999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.77, Y:-5.29, Z:0.47 [[ 9.65375886e-01 2.60284099e-01 -1.73662293e-02 4.27738716e+01] [-2.60240670e-01 9.65532072e-01 4.75509760e-03 -5.29410191e+00] [ 1.80053276e-02 -7.10574218e-05 9.99837888e-01 4.71915641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.12 meters Centerline goodness [0,1] 0.9998853579125969 Centerline is valid? [True, True] Translation: X:42.81, Y:-5.30, Z:0.47 [[ 9.64907197e-01 2.62000736e-01 -1.75987384e-02 4.28050880e+01] [-2.61956346e-01 9.65067672e-01 4.82291079e-03 -5.30143212e+00] [ 1.82475797e-02 -4.35601319e-05 9.99833498e-01 4.69656179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.15 meters Centerline goodness [0,1] 0.9998398352591237 Centerline is valid? [True, True] Translation: X:42.84, Y:-5.31, Z:0.47 [[ 9.64073653e-01 2.65009580e-01 -1.82185038e-02 4.28373544e+01] [-2.64962462e-01 9.64245779e-01 4.99714582e-03 -5.30732256e+00] [ 1.88914069e-02 9.60297937e-06 9.99821541e-01 4.68977623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.18 meters Centerline goodness [0,1] 0.9998855939959729 Centerline is valid? [True, True] Translation: X:42.87, Y:-5.31, Z:0.47 [[ 9.63652893e-01 2.66532237e-01 -1.82665995e-02 4.28684209e+01] [-2.66485040e-01 9.63826004e-01 5.01573786e-03 -5.31420917e+00] [ 1.89426795e-02 3.43452162e-05 9.99820571e-01 4.68643068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.21 meters Centerline goodness [0,1] 0.9998397766028062 Centerline is valid? [True, True] Translation: X:42.90, Y:-5.32, Z:0.47 [[ 9.63287725e-01 2.67816093e-01 -1.87429766e-02 4.28993328e+01] [-2.67766571e-01 9.63470050e-01 5.15038293e-03 -5.32166746e+00] [ 1.94376520e-02 5.74419063e-05 9.99811069e-01 4.68475065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.239999999999995 meters Centerline goodness [0,1] 0.9998397766028062 Centerline is valid? [True, True] Translation: X:42.93, Y:-5.33, Z:0.47 [[ 9.63210944e-01 2.68092170e-01 -1.87420710e-02 4.29305383e+01] [-2.68042636e-01 9.63393266e-01 5.15367658e-03 -5.33032650e+00] [ 1.94376453e-02 5.95964322e-05 9.99811069e-01 4.68828437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.269999999999996 meters Centerline goodness [0,1] 0.9999085463441401 Centerline is valid? [True, True] Translation: X:42.96, Y:-5.34, Z:0.47 [[ 9.62983381e-01 2.68928305e-01 -1.84546910e-02 4.29615180e+01] [-2.68880327e-01 9.63160195e-01 5.08012241e-03 -5.33794001e+00] [ 1.91410125e-02 7.00298999e-05 9.99816792e-01 4.69736003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.3 meters Centerline goodness [0,1] 0.9997721888099144 Centerline is valid? [True, True] Translation: X:42.99, Y:-5.35, Z:0.47 [[ 9.62769799e-01 2.69654923e-01 -1.89877954e-02 4.29937569e+01] [-2.69604163e-01 9.62957017e-01 5.23251757e-03 -5.34644988e+00] [ 1.96954049e-02 8.14788050e-05 9.99806023e-01 4.68466081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.33 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.02, Y:-5.35, Z:0.47 [[ 9.62716998e-01 2.69961318e-01 -1.72298772e-02 4.30244263e+01] [-2.69919489e-01 9.62871165e-01 4.75274248e-03 -5.35469314e+00] [ 1.78732086e-02 7.51336708e-05 9.99840259e-01 4.74339894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.36 meters Centerline goodness [0,1] 0.9999086278182607 Centerline is valid? [True, True] Translation: X:43.06, Y:-5.36, Z:0.47 [[ 9.62772989e-01 2.69730098e-01 -1.77157163e-02 4.30554723e+01] [-2.69685746e-01 9.62935963e-01 4.89169644e-03 -5.36336142e+00] [ 1.83785381e-02 6.80829564e-05 9.99831098e-01 4.72646334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.39 meters Centerline goodness [0,1] 0.9998170801417628 Centerline is valid? [True, True] Translation: X:43.09, Y:-5.37, Z:0.47 [[ 9.62931213e-01 2.69152974e-01 -1.78928743e-02 4.30869831e+01] [-2.69107534e-01 9.63097437e-01 4.94584537e-03 -5.37283806e+00] [ 1.85637704e-02 5.25983828e-05 9.99827677e-01 4.72362616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.42 meters Centerline goodness [0,1] 0.9998857586766285 Centerline is valid? [True, True] Translation: X:43.12, Y:-5.38, Z:0.47 [[ 9.63447189e-01 2.67353264e-01 -1.70805625e-02 4.31162735e+01] [-2.67311492e-01 9.63598584e-01 4.72591501e-03 -5.38249162e+00] [ 1.77222947e-02 1.26611161e-05 9.99842948e-01 4.73598172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.449999999999996 meters Centerline goodness [0,1] 0.9997710150901056 Centerline is valid? [True, True] Translation: X:43.15, Y:-5.39, Z:0.47 [[ 9.63741815e-01 2.66241624e-01 -1.78076329e-02 4.31473970e+01] [-2.66195941e-01 9.63906322e-01 4.93190428e-03 -5.39232504e+00] [ 1.84779681e-02 -1.27628007e-05 9.99829268e-01 4.72365948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.48 meters Centerline goodness [0,1] 0.9997481857931003 Centerline is valid? [True, True] Translation: X:43.18, Y:-5.40, Z:0.47 [[ 9.64085042e-01 2.64978880e-01 -1.80616890e-02 4.31781274e+01] [-2.64931563e-01 9.64254215e-01 5.00751861e-03 -5.40220547e+00] [ 1.87429464e-02 -4.25622839e-05 9.99824335e-01 4.72519414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.51 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.21, Y:-5.41, Z:0.48 [[ 9.64787015e-01 2.62450156e-01 -1.74908809e-02 4.32090820e+01] [-2.62405278e-01 9.64945546e-01 4.85420543e-03 -5.41318838e+00] [ 1.81517346e-02 -9.35748971e-05 9.99835239e-01 4.77816008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.54 meters Centerline goodness [0,1] 0.9997924784984666 Centerline is valid? [True, True] Translation: X:43.24, Y:-5.42, Z:0.47 [[ 9.65136857e-01 2.61056001e-01 -1.89897715e-02 4.32383792e+01] [-2.61002721e-01 9.65323648e-01 5.27575539e-03 -5.42312013e+00] [ 1.97085431e-02 -1.35443941e-04 9.99805759e-01 4.72429516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.57 meters Centerline goodness [0,1] 0.9999770484278173 Centerline is valid? [True, True] Translation: X:43.27, Y:-5.43, Z:0.48 [[ 9.65283679e-01 2.60571619e-01 -1.81617777e-02 4.32702168e+01] [-2.60522709e-01 9.65454510e-01 5.05050160e-03 -5.43229154e+00] [ 1.88503875e-02 -1.43611259e-04 9.99822305e-01 4.76897595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.6 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.30, Y:-5.44, Z:0.48 [[ 9.65416000e-01 2.60064275e-01 -1.83988779e-02 4.33009146e+01] [-2.60013884e-01 9.65591294e-01 5.12186797e-03 -5.44178128e+00] [ 1.90978112e-02 -1.60769594e-04 9.99817607e-01 4.77960547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.629999999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.33, Y:-5.45, Z:0.48 [[ 9.65423911e-01 2.60032334e-01 -1.84352255e-02 4.33319235e+01] [-2.59981638e-01 9.65599895e-01 5.13714909e-03 -5.45105829e+00] [ 1.91368767e-02 -1.66706425e-04 9.99816859e-01 4.78283848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.66 meters Centerline goodness [0,1] 0.9999080586585758 Centerline is valid? [True, True] Translation: X:43.36, Y:-5.46, Z:0.48 [[ 9.65336712e-01 2.60355807e-01 -1.84359763e-02 4.33634013e+01] [-2.60305066e-01 9.65512727e-01 5.14262173e-03 -5.45943422e+00] [ 1.91390812e-02 -1.65383524e-04 9.99816817e-01 4.76422362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.69 meters Centerline goodness [0,1] 0.9998391063507022 Centerline is valid? [True, True] Translation: X:43.40, Y:-5.47, Z:0.48 [[ 9.65163111e-01 2.60963341e-01 -1.89289078e-02 4.33950528e+01] [-2.60909855e-01 9.65348698e-01 5.28578579e-03 -5.46768782e+00] [ 1.96523928e-02 -1.62906856e-04 9.99806860e-01 4.75368804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.72 meters Centerline goodness [0,1] 0.9998162440279309 Centerline is valid? [True, True] Translation: X:43.43, Y:-5.47, Z:0.47 [[ 9.64531168e-01 2.63212777e-01 -1.99664446e-02 4.34253274e+01] [-2.63153652e-01 9.64737797e-01 5.58012780e-03 -5.47481983e+00] [ 2.07311447e-02 -1.27964385e-04 9.99785079e-01 4.74057289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.75 meters Centerline goodness [0,1] 0.9999770410506015 Centerline is valid? [True, True] Translation: X:43.46, Y:-5.48, Z:0.48 [[ 9.64035671e-01 2.65075267e-01 -1.92439148e-02 4.34562714e+01] [-2.65020642e-01 9.64227719e-01 5.38185254e-03 -5.48284086e+00] [ 1.99821121e-02 -8.82631698e-05 9.99800334e-01 4.77923391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.78 meters Centerline goodness [0,1] 0.9997703261368857 Centerline is valid? [True, True] Translation: X:43.49, Y:-5.49, Z:0.47 [[ 9.63624619e-01 2.66475921e-01 -2.04493609e-02 4.34875031e+01] [-2.66414436e-01 9.63841573e-01 5.72445444e-03 -5.49070866e+00] [ 2.12353735e-02 -6.82202611e-05 9.99774502e-01 4.74535755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.809999999999995 meters Centerline goodness [0,1] 0.999954020874523 Centerline is valid? [True, True] Translation: X:43.52, Y:-5.50, Z:0.48 [[ 9.63096644e-01 2.68411211e-01 -2.00069083e-02 4.35187168e+01] [-2.68352669e-01 9.63304428e-01 5.60572703e-03 -5.49844468e+00] [ 2.07773834e-02 -2.99496370e-05 9.99784126e-01 4.77934909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.839999999999996 meters Centerline goodness [0,1] 0.9998160877261546 Centerline is valid? [True, True] Translation: X:43.55, Y:-5.51, Z:0.48 [[ 9.62506298e-01 2.70452693e-01 -2.09037584e-02 4.35494402e+01] [-2.70389146e-01 9.62733266e-01 5.86251624e-03 -5.50563288e+00] [ 2.17102769e-02 9.44056441e-06 9.99764304e-01 4.76047015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.87 meters Centerline goodness [0,1] 0.9998164042777803 Centerline is valid? [True, True] Translation: X:43.58, Y:-5.51, Z:0.48 [[ 9.62141384e-01 2.71780110e-01 -2.04824236e-02 4.35814222e+01] [-2.71719282e-01 9.62359377e-01 5.74987818e-03 -5.51369589e+00] [ 2.12741549e-02 3.32736692e-05 9.99773679e-01 4.76622962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.9 meters Centerline goodness [0,1] 0.9998852947923835 Centerline is valid? [True, True] Translation: X:43.61, Y:-5.52, Z:0.48 [[ 9.61782581e-01 2.73105381e-01 -1.96905424e-02 4.36135476e+01] [-2.73049332e-01 9.61984120e-01 5.53302907e-03 -5.52184354e+00] [ 2.04530891e-02 5.49184748e-05 9.99790812e-01 4.78912397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.93 meters Centerline goodness [0,1] 0.9997700039099335 Centerline is valid? [True, True] Translation: X:43.64, Y:-5.53, Z:0.48 [[ 9.61460748e-01 2.74233094e-01 -1.97342370e-02 4.36443784e+01] [-2.74176939e-01 9.61663249e-01 5.54995265e-03 -5.52932778e+00] [ 2.04996712e-02 7.46110714e-05 9.99789857e-01 4.77593800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.96 meters Centerline goodness [0,1] 0.9997698662923158 Centerline is valid? [True, True] Translation: X:43.68, Y:-5.54, Z:0.48 [[ 9.60881468e-01 2.76259570e-01 -1.96838656e-02 4.36760421e+01] [-2.76204030e-01 9.61083054e-01 5.54045367e-03 -5.53821456e+00] [ 2.04484331e-02 1.13043749e-04 9.99790903e-01 4.80125793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.989999999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.71, Y:-5.55, Z:0.49 [[ 9.60544785e-01 2.77527881e-01 -1.82206249e-02 4.37070813e+01] [-2.77480418e-01 9.60717576e-01 5.13396419e-03 -5.54750718e+00] [ 1.89296927e-02 1.24464070e-04 9.99820810e-01 4.85022608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.019999999999996 meters Centerline goodness [0,1] 0.999816833043319 Centerline is valid? [True, True] Translation: X:43.74, Y:-5.56, Z:0.48 [[ 9.60615097e-01 2.77205408e-01 -1.93855112e-02 4.37378392e+01] [-2.77151494e-01 9.60810672e-01 5.46824289e-03 -5.55592547e+00] [ 2.01416325e-02 1.19846723e-04 9.99797130e-01 4.81225544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.05 meters Centerline goodness [0,1] 0.9997934453318645 Centerline is valid? [True, True] Translation: X:43.77, Y:-5.57, Z:0.48 [[ 9.60582378e-01 2.77289196e-01 -1.98039796e-02 4.37687788e+01] [-2.77232825e-01 9.60786494e-01 5.59221112e-03 -5.56585181e+00] [ 2.05780558e-02 1.18533754e-04 9.99788242e-01 4.82025748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.08 meters Centerline goodness [0,1] 0.9998394826755945 Centerline is valid? [True, True] Translation: X:43.80, Y:-5.58, Z:0.48 [[ 9.60516968e-01 2.77523710e-01 -1.96912241e-02 4.37999577e+01] [-2.77467908e-01 9.60718781e-01 5.56630328e-03 -5.57503510e+00] [ 2.04625100e-02 1.17154005e-04 9.99790614e-01 4.83410456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.11 meters Centerline goodness [0,1] 0.9997710360618203 Centerline is valid? [True, True] Translation: X:43.83, Y:-5.58, Z:0.48 [[ 9.60489449e-01 2.77591766e-01 -2.00706091e-02 4.38306790e+01] [-2.77533683e-01 9.60699120e-01 5.67946873e-03 -5.58347344e+00] [ 2.08583902e-02 1.15200263e-04 9.99782433e-01 4.82242367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.14 meters Centerline goodness [0,1] 0.9998165179697713 Centerline is valid? [True, True] Translation: X:43.86, Y:-5.59, Z:0.48 [[ 9.60479393e-01 2.77626306e-01 -2.00740817e-02 4.38620823e+01] [-2.77568089e-01 9.60689139e-01 5.68628864e-03 -5.59231031e+00] [ 2.08636156e-02 1.10361448e-04 9.99782325e-01 4.82441334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.17 meters Centerline goodness [0,1] 0.9998847076185206 Centerline is valid? [True, True] Translation: X:43.89, Y:-5.60, Z:0.48 [[ 9.60685986e-01 2.76928826e-01 -1.98207181e-02 4.38935832e+01] [-2.76871798e-01 9.60890429e-01 5.62050104e-03 -5.60168186e+00] [ 2.06020171e-02 8.82612785e-05 9.99787752e-01 4.83556898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.199999999999996 meters Centerline goodness [0,1] 0.999862271600404 Centerline is valid? [True, True] Translation: X:43.92, Y:-5.61, Z:0.48 [[ 9.60847826e-01 2.76402841e-01 -1.93112311e-02 4.39240294e+01] [-2.76348488e-01 9.61041864e-01 5.48168362e-03 -5.61081579e+00] [ 2.00740545e-02 6.95657252e-05 9.99798493e-01 4.83706703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.23 meters Centerline goodness [0,1] 0.9998393574297189 Centerline is valid? [True, True] Translation: X:43.95, Y:-5.62, Z:0.48 [[ 9.61004876e-01 2.75894428e-01 -1.87588258e-02 4.39546473e+01] [-2.75842941e-01 9.61187943e-01 5.33011193e-03 -5.62007543e+00] [ 1.95013054e-02 5.22261241e-05 9.99809830e-01 4.83754786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.26 meters Centerline goodness [0,1] 0.9998389731085091 Centerline is valid? [True, True] Translation: X:43.98, Y:-5.63, Z:0.48 [[ 9.61566647e-01 2.73992897e-01 -1.78178311e-02 4.39845718e+01] [-2.73946032e-01 9.61731715e-01 5.06744065e-03 -5.63048334e+00] [ 1.85244160e-02 8.44221226e-06 9.99828408e-01 4.84557814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.29 meters Centerline goodness [0,1] 0.9999311073347724 Centerline is valid? [True, True] Translation: X:44.02, Y:-5.64, Z:0.49 [[ 9.61674906e-01 2.73633090e-01 -1.75016213e-02 4.40154306e+01] [-2.73587728e-01 9.61834150e-01 4.98228510e-03 -5.64042021e+00] [ 1.81969751e-02 -3.10974701e-06 9.99834421e-01 4.86966446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.32 meters Centerline goodness [0,1] 0.9998156172213515 Centerline is valid? [True, True] Translation: X:44.05, Y:-5.65, Z:0.48 [[ 9.61971634e-01 2.72535290e-01 -1.83054777e-02 4.40467571e+01] [-2.72485359e-01 9.62145787e-01 5.21674867e-03 -5.64996063e+00] [ 1.90342864e-02 -3.03895734e-05 9.99818831e-01 4.84626985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.35 meters Centerline goodness [0,1] 0.9998157446220461 Centerline is valid? [True, True] Translation: X:44.08, Y:-5.66, Z:0.48 [[ 9.62078049e-01 2.72096351e-01 -1.92198794e-02 4.40785568e+01] [-2.72041100e-01 9.62270011e-01 5.48327748e-03 -5.65963676e+00] [ 1.99866933e-02 -4.67437735e-05 9.99800245e-01 4.84055913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.379999999999995 meters Centerline goodness [0,1] 0.9998389879240943 Centerline is valid? [True, True] Translation: X:44.11, Y:-5.67, Z:0.48 [[ 9.62502431e-01 2.70591092e-01 -1.92232014e-02 4.41088151e+01] [-2.70535410e-01 9.62694372e-01 5.48982663e-03 -5.67016830e+00] [ 1.99915660e-02 -8.34148105e-05 9.99800145e-01 4.84063919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.41 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.14, Y:-5.68, Z:0.49 [[ 9.62553361e-01 2.70449372e-01 -1.86591507e-02 4.41401355e+01] [-2.70396781e-01 9.62734195e-01 5.33400170e-03 -5.67994927e+00] [ 1.94063798e-02 -8.88869797e-05 9.99811675e-01 4.88127807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.44 meters Centerline goodness [0,1] 0.9997695002765997 Centerline is valid? [True, True] Translation: X:44.17, Y:-5.69, Z:0.49 [[ 9.62722596e-01 2.69811845e-01 -1.91512684e-02 4.41715248e+01] [-2.69756200e-01 9.62913058e-01 5.48050706e-03 -5.68965575e+00] [ 1.99197121e-02 -1.10034598e-04 9.99801577e-01 4.85126223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.47 meters Centerline goodness [0,1] 0.9998383707774365 Centerline is valid? [True, True] Translation: X:44.20, Y:-5.70, Z:0.49 [[ 9.62762849e-01 2.69740319e-01 -1.81068073e-02 4.42013007e+01] [-2.69690468e-01 9.62933096e-01 5.18680406e-03 -5.69985511e+00] [ 1.88347342e-02 -1.10428896e-04 9.99822605e-01 4.86385128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.5 meters Centerline goodness [0,1] 0.999838478933038 Centerline is valid? [True, True] Translation: X:44.23, Y:-5.71, Z:0.49 [[ 9.62635074e-01 2.70229420e-01 -1.76004351e-02 4.42331423e+01] [-2.70182311e-01 9.62795954e-01 5.04668120e-03 -5.70896824e+00] [ 1.83093895e-02 -1.02786092e-04 9.99832364e-01 4.87332491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.53 meters Centerline goodness [0,1] 0.9997691277646951 Centerline is valid? [True, True] Translation: X:44.27, Y:-5.72, Z:0.49 [[ 9.62436597e-01 2.70939788e-01 -1.75336237e-02 4.42650733e+01] [-2.70893060e-01 9.62596293e-01 5.03267200e-03 -5.71695595e+00] [ 1.82413523e-02 -9.38907333e-05 9.99833608e-01 4.87945019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.559999999999995 meters Centerline goodness [0,1] 0.9998385385431563 Centerline is valid? [True, True] Translation: X:44.30, Y:-5.72, Z:0.49 [[ 9.61739562e-01 2.73492671e-01 -1.60864379e-02 4.42968151e+01] [-2.73453621e-01 9.61874086e-01 4.62172373e-03 -5.72365525e+00] [ 1.67371353e-02 -4.59998604e-05 9.99859923e-01 4.89409348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.589999999999996 meters Centerline goodness [0,1] 0.9998386278758817 Centerline is valid? [True, True] Translation: X:44.33, Y:-5.73, Z:0.49 [[ 9.61201905e-01 2.75362027e-01 -1.63294502e-02 4.43278442e+01] [-2.75321981e-01 9.61340602e-01 4.69604313e-03 -5.73164626e+00] [ 1.69912755e-02 -1.79890090e-05 9.99855638e-01 4.89106130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.62 meters Centerline goodness [0,1] 0.9998389694041868 Centerline is valid? [True, True] Translation: X:44.36, Y:-5.74, Z:0.49 [[ 9.60749977e-01 2.76925941e-01 -1.64774115e-02 4.43584072e+01] [-2.76885326e-01 9.60891265e-01 4.74272807e-03 -5.73973723e+00] [ 1.71463852e-02 5.77756028e-06 9.99852990e-01 4.89162813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.65 meters Centerline goodness [0,1] 0.9999073194466971 Centerline is valid? [True, True] Translation: X:44.39, Y:-5.75, Z:0.49 [[ 9.59826205e-01 2.80065453e-01 -1.72336171e-02 4.43902204e+01] [-2.80021455e-01 9.59980905e-01 4.96451584e-03 -5.74826281e+00] [ 1.79343327e-02 6.07101358e-05 9.99839165e-01 4.91088834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.68 meters Centerline goodness [0,1] 0.999792459356624 Centerline is valid? [True, True] Translation: X:44.42, Y:-5.76, Z:0.49 [[ 9.59534614e-01 2.81027829e-01 -1.77955911e-02 4.44221375e+01] [-2.80980977e-01 9.59699616e-01 5.13195234e-03 -5.75726831e+00] [ 1.85206433e-02 7.59366620e-05 9.99828475e-01 4.89530738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.71 meters Centerline goodness [0,1] 0.999930807020781 Centerline is valid? [True, True] Translation: X:44.45, Y:-5.77, Z:0.49 [[ 9.59167926e-01 2.82311720e-01 -1.72331684e-02 4.44538429e+01] [-2.82267898e-01 9.59322722e-01 4.97491102e-03 -5.76617415e+00] [ 1.79366457e-02 9.25951307e-05 9.99839121e-01 4.91969323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.739999999999995 meters Centerline goodness [0,1] 0.9998616427616105 Centerline is valid? [True, True] Translation: X:44.49, Y:-5.77, Z:0.49 [[ 9.58824401e-01 2.83467133e-01 -1.73825404e-02 4.44852055e+01] [-2.83422642e-01 9.58981946e-01 5.02333144e-03 -5.77481190e+00] [ 1.80934917e-02 1.10112747e-04 9.99836293e-01 4.90516034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.769999999999996 meters Centerline goodness [0,1] 0.999677322700348 Centerline is valid? [True, True] Translation: X:44.52, Y:-5.78, Z:0.49 [[ 9.58658806e-01 2.83997257e-01 -1.78564188e-02 4.45166125e+01] [-2.83950296e-01 9.58825085e-01 5.16575020e-03 -5.78410765e+00] [ 1.85882411e-02 1.18143475e-04 9.99827217e-01 4.89027000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.8 meters Centerline goodness [0,1] 0.999815986198965 Centerline is valid? [True, True] Translation: X:44.55, Y:-5.79, Z:0.49 [[ 9.58640933e-01 2.84097480e-01 -1.72100016e-02 4.45470677e+01] [-2.84053798e-01 9.58795395e-01 4.98304181e-03 -5.79332480e+00] [ 1.79165399e-02 1.11618460e-04 9.99839480e-01 4.90064595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.83 meters Centerline goodness [0,1] 0.9998619324849851 Centerline is valid? [True, True] Translation: X:44.58, Y:-5.80, Z:0.49 [[ 9.58700907e-01 2.83894764e-01 -1.72143784e-02 4.45773495e+01] [-2.83850958e-01 9.58855439e-01 4.98812005e-03 -5.80296135e+00] [ 1.79222015e-02 1.04202568e-04 9.99839379e-01 4.90747192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.86 meters Centerline goodness [0,1] 0.9999306246097635 Centerline is valid? [True, True] Translation: X:44.61, Y:-5.82, Z:0.49 [[ 9.59162840e-01 2.82374087e-01 -1.64778816e-02 4.46074417e+01] [-2.82333651e-01 9.59304368e-01 4.77902670e-03 -5.81529142e+00] [ 1.71567771e-02 6.83956567e-05 9.99852809e-01 4.93158412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.64, Y:-5.83, Z:0.50 [[ 9.59304735e-01 2.81883145e-01 -1.66228172e-02 4.46387037e+01] [-2.81841841e-01 9.59448742e-01 4.82568980e-03 -5.82608664e+00] [ 1.73090217e-02 5.56983370e-05 9.99850186e-01 4.95543439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.92 meters Centerline goodness [0,1] 0.9997442217365019 Centerline is valid? [True, True] Translation: X:44.67, Y:-5.84, Z:0.49 [[ 9.59597608e-01 2.80851493e-01 -1.71717468e-02 4.46700535e+01] [-2.80807154e-01 9.59751237e-01 4.99046142e-03 -5.83650020e+00] [ 1.78821838e-02 3.31144902e-05 9.99840100e-01 4.91845424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.949999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.70, Y:-5.84, Z:0.50 [[ 9.59473255e-01 2.81353466e-01 -1.58524594e-02 4.47001166e+01] [-2.81315683e-01 9.59604203e-01 4.61093032e-03 -5.84476594e+00] [ 1.65093879e-02 3.54811296e-05 9.99863710e-01 4.96108071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.98 meters Centerline goodness [0,1] 0.9998151143979662 Centerline is valid? [True, True] Translation: X:44.73, Y:-5.85, Z:0.49 [[ 9.59436889e-01 2.81457418e-01 -1.62042535e-02 4.47321547e+01] [-2.81417896e-01 9.59573718e-01 4.71665460e-03 -5.85385294e+00] [ 1.68767132e-02 3.48345205e-05 9.99857578e-01 4.93043105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.01 meters Centerline goodness [0,1] 0.9999538564474079 Centerline is valid? [True, True] Translation: X:44.76, Y:-5.86, Z:0.50 [[ 9.59152404e-01 2.82419484e-01 -1.63064911e-02 4.47634625e+01] [-2.82379517e-01 9.59291005e-01 4.75141766e-03 -5.86221941e+00] [ 1.69845632e-02 4.72854152e-05 9.99855751e-01 4.95857183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.04 meters Centerline goodness [0,1] 0.9997003779846962 Centerline is valid? [True, True] Translation: X:44.80, Y:-5.87, Z:0.49 [[ 9.58850566e-01 2.83359015e-01 -1.76991559e-02 4.47954388e+01] [-2.83311983e-01 9.59013902e-01 5.16290970e-03 -5.86950476e+00] [ 1.84366936e-02 6.39240725e-05 9.99830028e-01 4.91761622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.07 meters Centerline goodness [0,1] 0.9998150203477617 Centerline is valid? [True, True] Translation: X:44.83, Y:-5.88, Z:0.49 [[ 9.58714527e-01 2.83851166e-01 -1.71747034e-02 4.48272421e+01] [-2.83806867e-01 9.58868349e-01 5.01508241e-03 -5.87817555e+00] [ 1.78918165e-02 6.62664015e-05 9.99839926e-01 4.92923263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.1 meters Centerline goodness [0,1] 0.9997697126013264 Centerline is valid? [True, True] Translation: X:44.86, Y:-5.89, Z:0.49 [[ 9.58601641e-01 2.84205503e-01 -1.76104108e-02 4.48574731e+01] [-2.84158890e-01 9.58763384e-01 5.14764534e-03 -5.88670053e+00] [ 1.83472062e-02 6.96135210e-05 9.99831673e-01 4.92734527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.129999999999995 meters Centerline goodness [0,1] 0.9997697126013264 Centerline is valid? [True, True] Translation: X:44.89, Y:-5.90, Z:0.49 [[ 9.58522357e-01 2.84472868e-01 -1.76090225e-02 4.48885347e+01] [-2.84426213e-01 9.58684089e-01 5.15239101e-03 -5.89587021e+00] [ 1.83472052e-02 6.97856150e-05 9.99831673e-01 4.93088818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.16 meters Centerline goodness [0,1] 0.9997926697228685 Centerline is valid? [True, True] Translation: X:44.92, Y:-5.90, Z:0.49 [[ 9.58415924e-01 2.84817154e-01 -1.78355376e-02 4.49197778e+01] [-2.84769248e-01 9.58581861e-01 5.22412896e-03 -5.90484413e+00] [ 1.85847443e-02 7.21242394e-05 9.99827286e-01 4.93741558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.19 meters Centerline goodness [0,1] 0.9999306502693082 Centerline is valid? [True, True] Translation: X:44.95, Y:-5.91, Z:0.50 [[ 9.58331946e-01 2.85136544e-01 -1.72346458e-02 4.49510089e+01] [-2.85091770e-01 9.58486905e-01 5.05334416e-03 -5.91415280e+00] [ 1.79600754e-02 7.06745478e-05 9.99838702e-01 4.97121567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.22 meters Centerline goodness [0,1] 0.9997701730596861 Centerline is valid? [True, True] Translation: X:44.98, Y:-5.92, Z:0.49 [[ 9.58424466e-01 2.84790385e-01 -1.78038926e-02 4.49815705e+01] [-2.84742442e-01 9.58589815e-01 5.22580647e-03 -5.92341900e+00] [ 1.85548895e-02 6.09830679e-05 9.99827841e-01 4.94886709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.25 meters Centerline goodness [0,1] 0.9998388470658655 Centerline is valid? [True, True] Translation: X:45.01, Y:-5.93, Z:0.50 [[ 9.58440775e-01 2.84763465e-01 -1.73507614e-02 4.50132453e+01] [-2.84717836e-01 9.58597812e-01 5.09782855e-03 -5.93332641e+00] [ 1.80840772e-02 5.41044815e-05 9.99836468e-01 4.96439166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.28 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.04, Y:-5.94, Z:0.50 [[ 9.58777711e-01 2.83630518e-01 -1.72925174e-02 4.50446863e+01] [-2.83584916e-01 9.58933641e-01 5.08590553e-03 -5.94412968e+00] [ 1.80248947e-02 2.76442424e-05 9.99837538e-01 5.00492480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.309999999999995 meters Centerline goodness [0,1] 0.9998379817150793 Centerline is valid? [True, True] Translation: X:45.08, Y:-5.95, Z:0.50 [[ 9.59174406e-01 2.82285285e-01 -1.73053726e-02 4.50750639e+01] [-2.82239304e-01 9.59330505e-01 5.09487108e-03 -5.95445873e+00] [ 1.80397790e-02 -2.61362330e-06 9.99837270e-01 4.97187684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.339999999999996 meters Centerline goodness [0,1] 0.9998153917157032 Centerline is valid? [True, True] Translation: X:45.11, Y:-5.97, Z:0.50 [[ 9.59570291e-01 2.80945345e-01 -1.71630436e-02 4.51058712e+01] [-2.80899812e-01 9.59723769e-01 5.05800346e-03 -5.96510858e+00] [ 1.78928034e-02 -3.24141288e-05 9.99839910e-01 4.98026587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.37 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.14, Y:-5.98, Z:0.50 [[ 9.59818976e-01 2.80115364e-01 -1.68201146e-02 4.51358164e+01] [-2.80071418e-01 9.59966343e-01 4.96192348e-03 -5.97562142e+00] [ 1.75366550e-02 -5.17149574e-05 9.99846220e-01 5.02297195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.4 meters Centerline goodness [0,1] 0.9997224791859389 Centerline is valid? [True, True] Translation: X:45.17, Y:-5.99, Z:0.50 [[ 9.60777774e-01 2.76820332e-01 -1.66304747e-02 4.51657633e+01] [-2.76776797e-01 9.60921688e-01 4.91061267e-03 -5.98710262e+00] [ 1.73399413e-02 -1.15077983e-04 9.99849645e-01 4.99287870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.43 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.20, Y:-6.00, Z:0.50 [[ 9.60842013e-01 2.76650141e-01 -1.57266131e-02 4.51973230e+01] [-2.76611116e-01 9.60970700e-01 4.64802141e-03 -5.99737793e+00] [ 1.63986902e-02 -1.15858244e-04 9.99865526e-01 5.04732314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.46 meters Centerline goodness [0,1] 0.9997913720763114 Centerline is valid? [True, True] Translation: X:45.23, Y:-6.01, Z:0.50 [[ 9.61218231e-01 2.75308228e-01 -1.62754925e-02 4.52269553e+01] [-2.75266158e-01 9.61355999e-01 4.81502737e-03 -6.00664247e+00] [ 1.69721590e-02 -1.48199784e-04 9.99855952e-01 5.01400781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.489999999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.26, Y:-6.02, Z:0.51 [[ 9.61256816e-01 2.75243561e-01 -1.50437978e-02 4.52583012e+01] [-2.75207551e-01 9.61374517e-01 4.45441325e-03 -6.01554150e+00] [ 1.56887724e-02 -1.41668346e-04 9.99876914e-01 5.05899964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.519999999999996 meters Centerline goodness [0,1] 0.99976827714054 Centerline is valid? [True, True] Translation: X:45.29, Y:-6.02, Z:0.50 [[ 9.61589244e-01 2.74072150e-01 -1.51849123e-02 4.52893258e+01] [-2.74035245e-01 9.61709119e-01 4.50063032e-03 -6.02447657e+00] [ 1.58369660e-02 -1.66556547e-04 9.99874574e-01 5.02065786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.55 meters Centerline goodness [0,1] 0.9998146131207564 Centerline is valid? [True, True] Translation: X:45.32, Y:-6.03, Z:0.50 [[ 9.61626812e-01 2.73929576e-01 -1.53773449e-02 4.53196876e+01] [-2.73891643e-01 9.61749737e-01 4.56188277e-03 -6.03407569e+00] [ 1.60387921e-02 -1.75102513e-04 9.99871355e-01 5.02092128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.58 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.35, Y:-6.04, Z:0.51 [[ 9.61371971e-01 2.74825891e-01 -1.53187274e-02 4.53513539e+01] [-2.74788292e-01 9.61493995e-01 4.54886094e-03 -6.04353954e+00] [ 1.59790092e-02 -1.63740470e-04 9.99872314e-01 5.05949825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.61 meters Centerline goodness [0,1] 0.9999074031205148 Centerline is valid? [True, True] Translation: X:45.38, Y:-6.05, Z:0.50 [[ 9.61359764e-01 2.74746229e-01 -1.73756380e-02 4.53829356e+01] [-2.74697745e-01 9.61516756e-01 5.16490230e-03 -6.05144523e+00] [ 1.81260045e-02 -1.92280668e-04 9.99835692e-01 5.02841027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.64 meters Centerline goodness [0,1] 0.9998151741983181 Centerline is valid? [True, True] Translation: X:45.42, Y:-6.06, Z:0.50 [[ 9.61187476e-01 2.75246423e-01 -1.89220347e-02 4.54150356e+01] [-2.75188911e-01 9.61373686e-01 5.63010457e-03 -6.05974565e+00] [ 1.97408124e-02 -2.04451889e-04 9.99805110e-01 5.01354036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.67 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.45, Y:-6.07, Z:0.50 [[ 9.60712300e-01 2.76868982e-01 -1.93763692e-02 4.54458487e+01] [-2.76808890e-01 9.60907662e-01 5.77094550e-03 -6.06748609e+00] [ 2.02166974e-02 -1.80667065e-04 9.99795605e-01 5.04882056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.699999999999996 meters Centerline goodness [0,1] 0.9998153107396804 Centerline is valid? [True, True] Translation: X:45.48, Y:-6.08, Z:0.50 [[ 9.60275395e-01 2.78283007e-01 -2.07300345e-02 4.54767749e+01] [-2.78214425e-01 9.60499110e-01 6.18007225e-03 -6.07515711e+00] [ 2.16309888e-02 -1.67176678e-04 9.99766009e-01 5.00561739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.73 meters Centerline goodness [0,1] 0.9997697019943808 Centerline is valid? [True, True] Translation: X:45.51, Y:-6.08, Z:0.50 [[ 9.59996011e-01 2.79170994e-01 -2.17075080e-02 4.55087259e+01] [-2.79095870e-01 9.60241392e-01 6.47801338e-03 -6.08400764e+00] [ 2.26529211e-02 -1.60391159e-04 9.99743377e-01 5.00846513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.76 meters Centerline goodness [0,1] 0.9997931319817956 Centerline is valid? [True, True] Translation: X:45.54, Y:-6.09, Z:0.50 [[ 9.59643766e-01 2.80391134e-01 -2.15558263e-02 4.55408065e+01] [-2.80317219e-01 9.59885823e-01 6.43922210e-03 -6.09317296e+00] [ 2.24966328e-02 -1.36890080e-04 9.99746909e-01 5.01500171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.79 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.57, Y:-6.10, Z:0.51 [[ 9.58851353e-01 2.83197615e-01 -2.00796850e-02 4.55716206e+01] [-2.83133977e-01 9.59061576e-01 6.00375944e-03 -6.10088508e+00] [ 2.09579047e-02 -7.14717907e-05 9.99780356e-01 5.07517546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.82 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.60, Y:-6.11, Z:0.51 [[ 9.58427260e-01 2.84656217e-01 -1.96983757e-02 4.56035749e+01] [-2.84595166e-01 9.58629666e-01 5.89533704e-03 -6.10991461e+00] [ 2.05615917e-02 -4.41892193e-05 9.99788587e-01 5.08793985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.85 meters Centerline goodness [0,1] 0.9997466663595956 Centerline is valid? [True, True] Translation: X:45.63, Y:-6.12, Z:0.50 [[ 9.58256198e-01 2.85204662e-01 -2.00838342e-02 4.56343824e+01] [-2.85141192e-01 9.58466640e-01 6.01676054e-03 -6.11871609e+00] [ 2.09656933e-02 -3.88696363e-05 9.99780195e-01 5.04399476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.879999999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.67, Y:-6.13, Z:0.51 [[ 9.57317421e-01 2.88519308e-01 -1.73194993e-02 4.56657526e+01] [-2.88472571e-01 9.57474077e-01 5.19300588e-03 -6.12608433e+00] [ 1.80812541e-02 2.48455028e-05 9.99836520e-01 5.10989848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.91 meters Centerline goodness [0,1] 0.999816282007119 Centerline is valid? [True, True] Translation: X:45.70, Y:-6.13, Z:0.51 [[ 9.57125338e-01 2.89125026e-01 -1.78271085e-02 4.56979489e+01] [-2.89075520e-01 9.57291344e-01 5.35029785e-03 -6.13473834e+00] [ 1.86126417e-02 3.24750211e-05 9.99826769e-01 5.07739571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.94 meters Centerline goodness [0,1] 0.999931262029145 Centerline is valid? [True, True] Translation: X:45.73, Y:-6.14, Z:0.51 [[ 9.56241249e-01 2.92057304e-01 -1.74701162e-02 4.57294267e+01] [-2.92010167e-01 9.56400818e-01 5.24765944e-03 -6.14259619e+00] [ 1.82410507e-02 8.34231449e-05 9.99833615e-01 5.10052717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.97 meters Centerline goodness [0,1] 0.9998392836643325 Centerline is valid? [True, True] Translation: X:45.76, Y:-6.15, Z:0.51 [[ 9.55870538e-01 2.93219119e-01 -1.82773858e-02 4.57601170e+01] [-2.93167655e-01 9.56045259e-01 5.49447938e-03 -6.15088246e+00] [ 1.90850944e-02 1.06327368e-04 9.99817857e-01 5.08246881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.0 meters Centerline goodness [0,1] 0.9997026600489467 Centerline is valid? [True, True] Translation: X:45.79, Y:-6.16, Z:0.51 [[ 9.55480009e-01 2.94447645e-01 -1.89350854e-02 4.57901552e+01] [-2.94392565e-01 9.55667603e-01 5.69651561e-03 -6.15872860e+00] [ 1.97729733e-02 1.31441587e-04 9.99804487e-01 5.06580809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.03 meters Centerline goodness [0,1] 0.9998169713331351 Centerline is valid? [True, True] Translation: X:45.82, Y:-6.17, Z:0.51 [[ 9.54946536e-01 2.96165747e-01 -1.90515801e-02 4.58213755e+01] [-2.96110255e-01 9.55136547e-01 5.73533686e-03 -6.16716279e+00] [ 1.98954707e-02 1.64428149e-04 9.99802052e-01 5.07845490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.059999999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.85, Y:-6.18, Z:0.51 [[ 9.54222727e-01 2.98554651e-01 -1.80029720e-02 4.58527743e+01] [-2.98505433e-01 9.54392519e-01 5.42452242e-03 -6.17616096e+00] [ 1.88014182e-02 1.97782383e-04 9.99823218e-01 5.12244444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.089999999999996 meters Centerline goodness [0,1] 0.9998398755604355 Centerline is valid? [True, True] Translation: X:45.88, Y:-6.19, Z:0.51 [[ 9.53873521e-01 2.99607321e-01 -1.89936440e-02 4.58832403e+01] [-2.99552633e-01 9.54062578e-01 5.72867821e-03 -6.18521311e+00] [ 1.98374789e-02 2.25161610e-04 9.99803193e-01 5.09403583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.12 meters Centerline goodness [0,1] 0.9997938474929564 Centerline is valid? [True, True] Translation: X:45.91, Y:-6.20, Z:0.51 [[ 9.53814362e-01 2.99798874e-01 -1.89419592e-02 4.59146848e+01] [-2.99744411e-01 9.54002403e-01 5.71862025e-03 -6.19553686e+00] [ 1.97851105e-02 2.23244282e-04 9.99804231e-01 5.09367812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.15 meters Centerline goodness [0,1] 0.9998630762209036 Centerline is valid? [True, True] Translation: X:45.94, Y:-6.20, Z:0.51 [[ 9.53705028e-01 3.00183659e-01 -1.83437024e-02 4.59449876e+01] [-3.00132547e-01 9.53881399e-01 5.54354845e-03 -6.20414024e+00] [ 1.91617992e-02 2.18632089e-04 9.99816372e-01 5.09615516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.18 meters Centerline goodness [0,1] 0.9998169001190149 Centerline is valid? [True, True] Translation: X:45.97, Y:-6.22, Z:0.51 [[ 9.53901755e-01 2.99567341e-01 -1.81893007e-02 4.59747441e+01] [-2.99516876e-01 9.54075138e-01 5.50204380e-03 -6.21584030e+00] [ 1.90021922e-02 1.99593292e-04 9.99819422e-01 5.09969103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.21 meters Centerline goodness [0,1] 0.9997939796268742 Centerline is valid? [True, True] Translation: X:46.01, Y:-6.23, Z:0.51 [[ 9.53926508e-01 2.99463679e-01 -1.85935904e-02 4.60055667e+01] [-2.99410824e-01 9.54107681e-01 5.62959049e-03 -6.22574912e+00] [ 1.94261453e-02 1.96906640e-04 9.99811275e-01 5.09869056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.239999999999995 meters Centerline goodness [0,1] 0.9997714285714285 Centerline is valid? [True, True] Translation: X:46.04, Y:-6.24, Z:0.51 [[ 9.53890729e-01 2.99577387e-01 -1.85974831e-02 4.60366978e+01] [-2.99524423e-01 9.54071985e-01 5.63631720e-03 -6.23596336e+00] [ 1.94318508e-02 1.93969677e-04 9.99811165e-01 5.10202697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.269999999999996 meters Centerline goodness [0,1] 0.9998171177761521 Centerline is valid? [True, True] Translation: X:46.07, Y:-6.24, Z:0.51 [[ 9.53731723e-01 3.00080585e-01 -1.86398102e-02 4.60669563e+01] [-3.00027367e-01 9.53913834e-01 5.65475917e-03 -6.24496552e+00] [ 1.94776563e-02 1.99329983e-04 9.99810273e-01 5.10219573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.3 meters Centerline goodness [0,1] 0.9997937530077686 Centerline is valid? [True, True] Translation: X:46.10, Y:-6.25, Z:0.51 [[ 9.53553473e-01 3.00620397e-01 -1.90565238e-02 4.60982522e+01] [-3.00564766e-01 9.53743851e-01 5.78690593e-03 -6.25439861e+00] [ 1.99147043e-02 2.09595375e-04 9.99801661e-01 5.10289348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.33 meters Centerline goodness [0,1] 0.9998624200316434 Centerline is valid? [True, True] Translation: X:46.13, Y:-6.26, Z:0.51 [[ 9.53371947e-01 3.01207372e-01 -1.88692997e-02 4.61301263e+01] [-3.01152830e-01 9.53558637e-01 5.73580995e-03 -6.26386809e+00] [ 1.97206519e-02 2.14182697e-04 9.99805506e-01 5.11035923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.36 meters Centerline goodness [0,1] 0.9998397655999633 Centerline is valid? [True, True] Translation: X:46.16, Y:-6.27, Z:0.51 [[ 9.53232409e-01 3.01609086e-01 -1.94919044e-02 4.61611377e+01] [-3.01550850e-01 9.53431649e-01 5.93094796e-03 -6.27268594e+00] [ 2.03730264e-02 2.24228535e-04 9.99792423e-01 5.09600756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.39 meters Centerline goodness [0,1] 0.9998168665873088 Centerline is valid? [True, True] Translation: X:46.19, Y:-6.28, Z:0.51 [[ 9.53148172e-01 3.01852909e-01 -1.98339062e-02 4.61928155e+01] [-3.01792542e-01 9.53354483e-01 6.04086728e-03 -6.28272423e+00] [ 2.07321967e-02 2.27883358e-04 9.99785039e-01 5.09753245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.42 meters Centerline goodness [0,1] 0.9997703946915253 Centerline is valid? [True, True] Translation: X:46.22, Y:-6.29, Z:0.51 [[ 9.53081519e-01 3.02049186e-01 -2.00476056e-02 4.62244087e+01] [-3.01987427e-01 9.53292314e-01 6.11203062e-03 -6.29257128e+00] [ 2.09573622e-02 2.28861419e-04 9.99780344e-01 5.09250525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.449999999999996 meters Centerline goodness [0,1] 0.9998848085518132 Centerline is valid? [True, True] Translation: X:46.26, Y:-6.30, Z:0.51 [[ 9.52955976e-01 3.02455432e-01 -1.98901950e-02 4.62555228e+01] [-3.02394603e-01 9.53163500e-01 6.07004961e-03 -6.30266462e+00] [ 2.07945274e-02 2.30197584e-04 9.99783744e-01 5.10832483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.48 meters Centerline goodness [0,1] 0.999770657982249 Centerline is valid? [True, True] Translation: X:46.29, Y:-6.31, Z:0.51 [[ 9.52947124e-01 3.02403813e-01 -2.10644744e-02 4.62860237e+01] [-3.02335436e-01 9.53179877e-01 6.43480157e-03 -6.31140377e+00] [ 2.20241417e-02 2.36511397e-04 9.99757411e-01 5.08638971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.51 meters Centerline goodness [0,1] 0.9998625083067898 Centerline is valid? [True, True] Translation: X:46.32, Y:-6.32, Z:0.51 [[ 9.52867923e-01 3.02653799e-01 -2.10570451e-02 4.63171361e+01] [-3.02585395e-01 9.53100531e-01 6.43870170e-03 -6.32184860e+00] [ 2.20181784e-02 2.36321981e-04 9.99757543e-01 5.10237948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.54 meters Centerline goodness [0,1] 0.9997929416095339 Centerline is valid? [True, True] Translation: X:46.35, Y:-6.33, Z:0.51 [[ 9.52949234e-01 3.02368629e-01 -2.14701891e-02 4.63486167e+01] [-3.02297293e-01 9.53191041e-01 6.57164398e-03 -6.33246808e+00] [ 2.24522509e-02 2.27936948e-04 9.99747890e-01 5.09525953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.57 meters Centerline goodness [0,1] 0.9997703314117729 Centerline is valid? [True, True] Translation: X:46.38, Y:-6.34, Z:0.51 [[ 9.53050548e-01 3.02062372e-01 -2.12832299e-02 4.63794986e+01] [-3.01992056e-01 9.53288140e-01 6.52071272e-03 -6.34131370e+00] [ 2.22587126e-02 2.12797526e-04 9.99752222e-01 5.08449690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.6 meters Centerline goodness [0,1] 0.9997473993616093 Centerline is valid? [True, True] Translation: X:46.41, Y:-6.35, Z:0.51 [[ 9.53252974e-01 3.01446338e-01 -2.09493005e-02 4.64093083e+01] [-3.01377938e-01 9.53483125e-01 6.42412325e-03 -6.35238535e+00] [ 2.19113329e-02 1.89842393e-04 9.99759900e-01 5.10340794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.629999999999995 meters Centerline goodness [0,1] 0.9997933457325894 Centerline is valid? [True, True] Translation: X:46.44, Y:-6.36, Z:0.51 [[ 9.53481561e-01 3.00763549e-01 -2.03519108e-02 4.64398490e+01] [-3.00698725e-01 9.53698726e-01 6.24627085e-03 -6.36336602e+00] [ 2.12882420e-02 1.64089556e-04 9.99773366e-01 5.11872087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.66 meters Centerline goodness [0,1] 0.9997927795174065 Centerline is valid? [True, True] Translation: X:46.47, Y:-6.38, Z:0.51 [[ 9.54280020e-01 2.98333187e-01 -1.86266770e-02 4.64691774e+01] [-2.98278333e-01 9.54461786e-01 5.72152247e-03 -6.37535415e+00] [ 1.94853714e-02 9.59995774e-05 9.99810138e-01 5.14044449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.69 meters Centerline goodness [0,1] 0.9998388099569392 Centerline is valid? [True, True] Translation: X:46.50, Y:-6.39, Z:0.52 [[ 9.54754283e-01 2.96919226e-01 -1.68295251e-02 4.64998730e+01] [-2.96874167e-01 9.54902597e-01 5.17294185e-03 -6.38649409e+00] [ 1.76065031e-02 5.73628628e-05 9.99844992e-01 5.16506320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.72 meters Centerline goodness [0,1] 0.9997928653624856 Centerline is valid? [True, True] Translation: X:46.53, Y:-6.40, Z:0.52 [[ 9.55101573e-01 2.95837666e-01 -1.61573393e-02 4.65301628e+01] [-2.95795927e-01 9.55238229e-01 4.96944588e-03 -6.39708864e+00] [ 1.69042575e-02 3.29495965e-05 9.99857112e-01 5.17069431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.75 meters Centerline goodness [0,1] 0.9997695055894894 Centerline is valid? [True, True] Translation: X:46.56, Y:-6.41, Z:0.52 [[ 9.55694579e-01 2.93987715e-01 -1.48018467e-02 4.65600997e+01] [-2.93952403e-01 9.55809198e-01 4.55646525e-03 -6.40798017e+00] [ 1.54872860e-02 -3.55074738e-06 9.99880065e-01 5.18594716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.78 meters Centerline goodness [0,1] 0.9998155789667812 Centerline is valid? [True, True] Translation: X:46.59, Y:-6.42, Z:0.52 [[ 9.55813442e-01 2.93598541e-01 -1.48513190e-02 4.65911450e+01] [-2.93562881e-01 9.55928813e-01 4.57587256e-03 -6.41780909e+00] [ 1.55402733e-02 -1.38845110e-05 9.99879243e-01 5.19404496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.809999999999995 meters Centerline goodness [0,1] 0.9997925502489396 Centerline is valid? [True, True] Translation: X:46.62, Y:-6.43, Z:0.52 [[ 9.55921596e-01 2.93237796e-01 -1.50165407e-02 4.66214287e+01] [-2.93201221e-01 9.56039536e-01 4.63139102e-03 -6.42730841e+00] [ 1.57145055e-02 -2.43786330e-05 9.99876519e-01 5.18976308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.839999999999996 meters Centerline goodness [0,1] 0.9999539531242805 Centerline is valid? [True, True] Translation: X:46.65, Y:-6.44, Z:0.52 [[ 9.55838856e-01 2.93524671e-01 -1.46747551e-02 4.66527075e+01] [-2.93489710e-01 9.55951498e-01 4.53023799e-03 -6.43682878e+00] [ 1.53580907e-02 -2.32878826e-05 9.99882057e-01 5.20690719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.87 meters Centerline goodness [0,1] 0.9998147676491699 Centerline is valid? [True, True] Translation: X:46.68, Y:-6.45, Z:0.52 [[ 9.56084548e-01 2.92609046e-01 -1.68012814e-02 4.66828525e+01] [-2.92562981e-01 9.56232160e-01 5.19213469e-03 -6.44644626e+00] [ 1.75851912e-02 -4.86867723e-05 9.99845367e-01 5.18164692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.9 meters Centerline goodness [0,1] 0.9996776199138785 Centerline is valid? [True, True] Translation: X:46.71, Y:-6.46, Z:0.52 [[ 9.56140891e-01 2.92366287e-01 -1.77918758e-02 4.67147032e+01] [-2.92314488e-01 9.56306410e-01 5.50358395e-03 -6.45626602e+00] [ 1.86235473e-02 -6.13786083e-05 9.99826565e-01 5.16655530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.93 meters Centerline goodness [0,1] 0.9998842163764358 Centerline is valid? [True, True] Translation: X:46.75, Y:-6.47, Z:0.52 [[ 9.56058340e-01 2.92674319e-01 -1.71520606e-02 4.67457669e+01] [-2.92626134e-01 9.56212183e-01 5.31093385e-03 -6.46566202e+00] [ 1.79553832e-02 -5.84214277e-05 9.99838787e-01 5.18408679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.96 meters Centerline goodness [0,1] 0.9998154938997671 Centerline is valid? [True, True] Translation: X:46.78, Y:-6.48, Z:0.52 [[ 9.56320139e-01 2.91790166e-01 -1.76150716e-02 4.67765211e+01] [-2.91739093e-01 9.56482353e-01 5.45977885e-03 -6.47524877e+00] [ 1.84416149e-02 -8.22914731e-05 9.99829936e-01 5.17920703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.989999999999995 meters Centerline goodness [0,1] 0.9998390360559235 Centerline is valid? [True, True] Translation: X:46.81, Y:-6.48, Z:0.52 [[ 9.56428381e-01 2.91469515e-01 -1.70374289e-02 4.68078871e+01] [-2.91421597e-01 9.56580114e-01 5.28574342e-03 -6.48483044e+00] [ 1.78382988e-02 -9.03602679e-05 9.99840881e-01 5.18855888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.019999999999996 meters Centerline goodness [0,1] 0.9998157361341441 Centerline is valid? [True, True] Translation: X:46.84, Y:-6.49, Z:0.52 [[ 9.56458107e-01 2.91375763e-01 -1.69721667e-02 4.68389643e+01] [-2.91328103e-01 9.56608674e-01 5.27073157e-03 -6.49458300e+00] [ 1.77714854e-02 -9.67647942e-05 9.99842070e-01 5.18957110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.05 meters Centerline goodness [0,1] 0.9998157361341441 Centerline is valid? [True, True] Translation: X:46.87, Y:-6.50, Z:0.52 [[ 9.56376060e-01 2.91645038e-01 -1.69706839e-02 4.68698672e+01] [-2.91597336e-01 9.56526614e-01 5.27550251e-03 -6.50426513e+00] [ 1.77714850e-02 -9.67580717e-05 9.99842070e-01 5.19311480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.08 meters Centerline goodness [0,1] 0.9999077341821788 Centerline is valid? [True, True] Translation: X:46.90, Y:-6.51, Z:0.52 [[ 9.56678934e-01 2.90711980e-01 -1.58733068e-02 4.69014274e+01] [-2.90670041e-01 9.56810604e-01 4.93907559e-03 -6.51442054e+00] [ 1.66235967e-02 -1.11214841e-04 9.99861812e-01 5.21499583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.11 meters Centerline goodness [0,1] 0.9998387542614945 Centerline is valid? [True, True] Translation: X:46.93, Y:-6.52, Z:0.52 [[ 9.56815523e-01 2.90219720e-01 -1.66303598e-02 4.69324826e+01] [-2.90173519e-01 9.56960029e-01 5.17995494e-03 -6.52465855e+00] [ 1.74179147e-02 -1.30571267e-04 9.99848288e-01 5.20887154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.14 meters Centerline goodness [0,1] 0.9997927031509121 Centerline is valid? [True, True] Translation: X:46.96, Y:-6.54, Z:0.52 [[ 9.56847263e-01 2.90090195e-01 -1.70585583e-02 4.69624101e+01] [-2.90041470e-01 9.56999299e-01 5.31855780e-03 -6.53500632e+00] [ 1.78678898e-02 -1.41358148e-04 9.99840347e-01 5.20236799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.17 meters Centerline goodness [0,1] 0.9998616619016877 Centerline is valid? [True, True] Translation: X:46.99, Y:-6.54, Z:0.52 [[ 9.56775687e-01 2.90257121e-01 -1.81958545e-02 4.69935311e+01] [-2.90201606e-01 9.56948682e-01 5.67870099e-03 -6.54499979e+00] [ 1.90607824e-02 -1.52776845e-04 9.99818315e-01 5.19312263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.199999999999996 meters Centerline goodness [0,1] 0.9998384901132876 Centerline is valid? [True, True] Translation: X:47.03, Y:-6.55, Z:0.52 [[ 9.56636796e-01 2.90685777e-01 -1.86499373e-02 4.70251602e+01] [-2.90627425e-01 9.56818559e-01 5.82616822e-03 -6.55416145e+00] [ 1.95381904e-02 -1.53343634e-04 9.99809100e-01 5.18618732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.23 meters Centerline goodness [0,1] 0.9997698027209319 Centerline is valid? [True, True] Translation: X:47.06, Y:-6.56, Z:0.52 [[ 9.56466512e-01 2.91172769e-01 -1.97542245e-02 4.70562314e+01] [-2.91107276e-01 9.56670473e-01 6.17738909e-03 -6.56357714e+00] [ 2.06969708e-02 -1.57867300e-04 9.99785782e-01 5.17501043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.26 meters Centerline goodness [0,1] 0.9998160031279468 Centerline is valid? [True, True] Translation: X:47.09, Y:-6.57, Z:0.52 [[ 9.55898159e-01 2.93013355e-01 -2.00470200e-02 4.70864724e+01] [-2.92946192e-01 9.56108340e-01 6.27455499e-03 -6.57192688e+00] [ 2.10056514e-02 -1.25137385e-04 9.99779349e-01 5.17493251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.29 meters Centerline goodness [0,1] 0.9997700462207096 Centerline is valid? [True, True] Translation: X:47.12, Y:-6.58, Z:0.52 [[ 9.55487205e-01 2.94332293e-01 -2.03150986e-02 4.71184659e+01] [-2.94263501e-01 9.55703139e-01 6.36407888e-03 -6.58089982e+00] [ 2.12883574e-02 -1.02803911e-04 9.99773372e-01 5.17311222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.32 meters Centerline goodness [0,1] 0.999862110173971 Centerline is valid? [True, True] Translation: X:47.15, Y:-6.59, Z:0.52 [[ 9.55118948e-01 2.95571385e-01 -1.96303543e-02 4.71483756e+01] [-2.95507322e-01 9.55320653e-01 6.15401752e-03 -6.58938053e+00] [ 2.05722344e-02 -7.69052921e-05 9.99788366e-01 5.18362613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.35 meters Centerline goodness [0,1] 0.9997925454671185 Centerline is valid? [True, True] Translation: X:47.18, Y:-6.60, Z:0.52 [[ 9.54301198e-01 2.98223305e-01 -1.92894874e-02 4.71794658e+01] [-2.98161911e-01 9.54496129e-01 6.05102042e-03 -6.59662586e+00] [ 2.02162963e-02 -2.31056130e-05 9.99795630e-01 5.18818716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.379999999999995 meters Centerline goodness [0,1] 0.999747573261124 Centerline is valid? [True, True] Translation: X:47.21, Y:-6.60, Z:0.52 [[ 9.53812859e-01 2.99800049e-01 -1.89989391e-02 4.72099237e+01] [-2.99740702e-01 9.54002060e-01 5.96497244e-03 -6.60472152e+00] [ 1.99133261e-02 5.28792750e-06 9.99801710e-01 5.18463479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.41 meters Centerline goodness [0,1] 0.9999084710081918 Centerline is valid? [True, True] Translation: X:47.24, Y:-6.61, Z:0.52 [[ 9.53317680e-01 3.01432822e-01 -1.79904335e-02 4.72417479e+01] [-3.01379805e-01 9.53487416e-01 5.65334860e-03 -6.61319258e+00] [ 1.88577568e-02 3.25161768e-05 9.99822176e-01 5.20546848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.44 meters Centerline goodness [0,1] 0.999839985370091 Centerline is valid? [True, True] Translation: X:47.27, Y:-6.62, Z:0.52 [[ 9.52994918e-01 3.02438385e-01 -1.82129034e-02 4.72732269e+01] [-3.02384127e-01 9.53168936e-01 5.72878043e-03 -6.62213124e+00] [ 1.90925769e-02 4.77942589e-05 9.99817719e-01 5.20469576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.47 meters Centerline goodness [0,1] 0.9997954080472835 Centerline is valid? [True, True] Translation: X:47.30, Y:-6.63, Z:0.52 [[ 9.52506920e-01 3.03972565e-01 -1.82002111e-02 4.73040396e+01] [-3.03918558e-01 9.52680783e-01 5.73021024e-03 -6.63003164e+00] [ 1.90808181e-02 7.33170172e-05 9.99817942e-01 5.19391722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.5 meters Centerline goodness [0,1] 0.9998853500263695 Centerline is valid? [True, True] Translation: X:47.34, Y:-6.64, Z:0.52 [[ 9.52177552e-01 3.05045922e-01 -1.74612239e-02 4.73359317e+01] [-3.04996301e-01 9.52337639e-01 5.50257143e-03 -6.63982834e+00] [ 1.83075177e-02 8.61837065e-05 9.99832400e-01 5.21151779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.53 meters Centerline goodness [0,1] 0.9998395415472779 Centerline is valid? [True, True] Translation: X:47.37, Y:-6.65, Z:0.52 [[ 9.51900490e-01 3.05882564e-01 -1.79252100e-02 4.73672655e+01] [-3.05830313e-01 9.52069245e-01 5.65441716e-03 -6.64963008e+00] [ 1.87956288e-02 9.96301244e-05 9.99823342e-01 5.21299247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.559999999999995 meters Centerline goodness [0,1] 0.9997713083449585 Centerline is valid? [True, True] Translation: X:47.40, Y:-6.66, Z:0.52 [[ 9.51682194e-01 3.06536158e-01 -1.83462597e-02 4.73983048e+01] [-3.06481434e-01 9.51859008e-01 5.79300589e-03 -6.65921818e+00] [ 1.92388183e-02 1.09687419e-04 9.99814911e-01 5.21239224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.589999999999996 meters Centerline goodness [0,1] 0.9997712246345314 Centerline is valid? [True, True] Translation: X:47.43, Y:-6.67, Z:0.52 [[ 9.51116998e-01 3.08258618e-01 -1.87904313e-02 4.74289360e+01] [-3.08201437e-01 9.51302583e-01 5.93884679e-03 -6.66789576e+00] [ 1.97060866e-02 1.42699807e-04 9.99805806e-01 5.21349752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.62 meters Centerline goodness [0,1] 0.9998169294491864 Centerline is valid? [True, True] Translation: X:47.46, Y:-6.68, Z:0.52 [[ 9.50697676e-01 3.09542600e-01 -1.89025538e-02 4.74604306e+01] [-3.09484880e-01 9.50885562e-01 5.97978251e-03 -6.67699888e+00] [ 1.98251629e-02 1.65089258e-04 9.99803449e-01 5.21870201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.65 meters Centerline goodness [0,1] 0.9999542992939241 Centerline is valid? [True, True] Translation: X:47.49, Y:-6.69, Z:0.52 [[ 9.49792134e-01 3.12331425e-01 -1.85467878e-02 4.74919049e+01] [-3.12276282e-01 9.49973176e-01 5.87266127e-03 -6.68505176e+00] [ 1.94531676e-02 2.13914481e-04 9.99810746e-01 5.23498286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.68 meters Centerline goodness [0,1] 0.9997937341003369 Centerline is valid? [True, True] Translation: X:47.52, Y:-6.69, Z:0.52 [[ 9.49580543e-01 3.12924100e-01 -1.93726689e-02 4.75221613e+01] [-3.12863946e-01 9.49778108e-01 6.13978167e-03 -6.69417166e+00] [ 2.03210225e-02 2.30792440e-04 9.99793480e-01 5.21904602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.71 meters Centerline goodness [0,1] 0.9996566641488704 Centerline is valid? [True, True] Translation: X:47.55, Y:-6.70, Z:0.52 [[ 9.49396511e-01 3.13432133e-01 -2.01633880e-02 4.75525557e+01] [-3.13366955e-01 9.49610572e-01 6.39638979e-03 -6.70369294e+00] [ 2.11522005e-02 2.45829339e-04 9.99776237e-01 5.20992999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.739999999999995 meters Centerline goodness [0,1] 0.9999541736360928 Centerline is valid? [True, True] Translation: X:47.58, Y:-6.71, Z:0.52 [[ 9.49113301e-01 3.14345308e-01 -1.92605784e-02 4.75839454e+01] [-3.14285911e-01 9.49308678e-01 6.11561791e-03 -6.71388395e+00] [ 2.02066500e-02 2.48914142e-04 9.99795794e-01 5.23801814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.769999999999996 meters Centerline goodness [0,1] 0.9998856986100951 Centerline is valid? [True, True] Translation: X:47.61, Y:-6.73, Z:0.52 [[ 9.49392265e-01 3.13492818e-01 -1.94056561e-02 4.76137889e+01] [-3.13432229e-01 9.49590544e-01 6.16738221e-03 -6.72539996e+00] [ 2.03608575e-02 2.27093074e-04 9.99792670e-01 5.23803270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.8 meters Centerline goodness [0,1] 0.9997470508427806 Centerline is valid? [True, True] Translation: X:47.64, Y:-6.74, Z:0.52 [[ 9.49632371e-01 3.12761729e-01 -1.94540654e-02 4.76441550e+01] [-3.12700575e-01 9.49831595e-01 6.18807430e-03 -6.73627952e+00] [ 2.04134788e-02 2.06901769e-04 9.99791602e-01 5.23170987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.83 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.67, Y:-6.75, Z:0.53 [[ 9.49612592e-01 3.12875912e-01 -1.85631277e-02 4.76743065e+01] [-3.12820157e-01 9.49793991e-01 5.90961534e-03 -6.74737924e+00] [ 1.94801235e-02 1.95075404e-04 9.99810225e-01 5.26636193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.86 meters Centerline goodness [0,1] 0.9997471787446276 Centerline is valid? [True, True] Translation: X:47.70, Y:-6.76, Z:0.52 [[ 9.50121479e-01 3.11303664e-01 -1.89526872e-02 4.77044679e+01] [-3.11245127e-01 9.50310477e-01 6.03889102e-03 -6.75844184e+00] [ 1.98908661e-02 1.61251447e-04 9.99802144e-01 5.24568093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.89 meters Centerline goodness [0,1] 0.9997932507867956 Centerline is valid? [True, True] Translation: X:47.73, Y:-6.77, Z:0.52 [[ 9.50708135e-01 3.09535746e-01 -1.84841348e-02 4.77339043e+01] [-3.09479640e-01 9.50887800e-01 5.89442110e-03 -6.76963249e+00] [ 1.94008723e-02 1.16589285e-04 9.99811779e-01 5.24939589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.92 meters Centerline goodness [0,1] 0.9998848563006633 Centerline is valid? [True, True] Translation: X:47.77, Y:-6.78, Z:0.53 [[ 9.50858163e-01 3.09106210e-01 -1.79472671e-02 4.77651862e+01] [-3.09053148e-01 9.51027518e-01 5.72808157e-03 -6.78080755e+00] [ 1.88389305e-02 1.00066285e-04 9.99822527e-01 5.26547445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.949999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.80, Y:-6.79, Z:0.53 [[ 9.50842846e-01 3.09192562e-01 -1.72581158e-02 4.77959411e+01] [-3.09143417e-01 9.50999449e-01 5.51329863e-03 -6.79136732e+00] [ 1.81171295e-02 9.29523174e-05 9.99835867e-01 5.28576279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.98 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.83, Y:-6.80, Z:0.53 [[ 9.51195660e-01 3.08136818e-01 -1.66888262e-02 4.78265796e+01] [-3.08090616e-01 9.51342050e-01 5.33621387e-03 -6.80150812e+00] [ 1.75210661e-02 6.58872883e-05 9.99846492e-01 5.29085108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.01 meters Centerline goodness [0,1] 0.9998162229215961 Centerline is valid? [True, True] Translation: X:47.86, Y:-6.81, Z:0.53 [[ 9.51468212e-01 3.07268809e-01 -1.71499262e-02 4.78576282e+01] [-3.07219788e-01 9.51622760e-01 5.48862082e-03 -6.81163271e+00] [ 1.80067421e-02 4.65484513e-05 9.99837864e-01 5.27589619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.04 meters Centerline goodness [0,1] 0.999838865613922 Centerline is valid? [True, True] Translation: X:47.89, Y:-6.82, Z:0.53 [[ 9.51553160e-01 3.07010523e-01 -1.70623277e-02 4.78878665e+01] [-3.06961868e-01 9.51706119e-01 5.46574753e-03 -6.82107384e+00] [ 1.79163637e-02 3.65346450e-05 9.99839488e-01 5.27832235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.07 meters Centerline goodness [0,1] 0.9998159311582532 Centerline is valid? [True, True] Translation: X:47.92, Y:-6.83, Z:0.53 [[ 9.51760677e-01 3.06369543e-01 -1.70092866e-02 4.79185357e+01] [-3.06321000e-01 9.51912655e-01 5.45366916e-03 -6.83085119e+00] [ 1.78621933e-02 1.97138292e-05 9.99840458e-01 5.27589628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.1 meters Centerline goodness [0,1] 0.9998388878659547 Centerline is valid? [True, True] Translation: X:47.95, Y:-6.84, Z:0.53 [[ 9.51794102e-01 3.06253054e-01 -1.72352456e-02 4.79501214e+01] [-3.06203101e-01 9.51950139e-01 5.53122914e-03 -6.84073184e+00] [ 1.81010503e-02 1.28943744e-05 9.99836162e-01 5.28002917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.129999999999995 meters Centerline goodness [0,1] 0.9997016501044225 Centerline is valid? [True, True] Translation: X:47.98, Y:-6.85, Z:0.53 [[ 9.51908413e-01 3.05886192e-01 -1.74359116e-02 4.79805958e+01] [-3.05834924e-01 9.52068084e-01 5.60017646e-03 -6.85056635e+00] [ 1.83131916e-02 1.65559391e-06 9.99832299e-01 5.26598997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.16 meters Centerline goodness [0,1] 0.9997243976941274 Centerline is valid? [True, True] Translation: X:48.01, Y:-6.86, Z:0.53 [[ 9.52118650e-01 3.05215340e-01 -1.77108207e-02 4.80114578e+01] [-3.05162247e-01 9.52283359e-01 5.69273271e-03 -6.86100666e+00] [ 1.86032292e-02 -1.54831404e-05 9.99826945e-01 5.26455608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.19 meters Centerline goodness [0,1] 0.999746280705801 Centerline is valid? [True, True] Translation: X:48.04, Y:-6.87, Z:0.53 [[ 9.52274672e-01 3.04682091e-01 -1.84870921e-02 4.80421966e+01] [-3.04624027e-01 9.52454105e-01 5.94808148e-03 -6.87150571e+00] [ 1.94203806e-02 -3.25949107e-05 9.99811406e-01 5.26649562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.22 meters Centerline goodness [0,1] 0.999815646963936 Centerline is valid? [True, True] Translation: X:48.07, Y:-6.88, Z:0.53 [[ 9.52559251e-01 3.03763032e-01 -1.89444763e-02 4.80723850e+01] [-3.03701780e-01 9.52747614e-01 6.10016545e-03 -6.88248303e+00] [ 1.99023094e-02 -5.72978514e-05 9.99801928e-01 5.26841497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.25 meters Centerline goodness [0,1] 0.9998385161945188 Centerline is valid? [True, True] Translation: X:48.10, Y:-6.89, Z:0.53 [[ 9.53365194e-01 3.01228028e-01 -1.88807203e-02 4.81024237e+01] [-3.01166605e-01 9.53552129e-01 6.08391971e-03 -6.89420509e+00] [ 1.98363982e-02 -1.13954858e-04 9.99803233e-01 5.28678680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.28 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.13, Y:-6.91, Z:0.53 [[ 9.53577409e-01 3.00603975e-01 -1.80935344e-02 4.81325939e+01] [-3.00547376e-01 9.53749042e-01 5.83443545e-03 -6.90554485e+00] [ 1.90105456e-02 -1.25621563e-04 9.99819275e-01 5.30935124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.309999999999995 meters Centerline goodness [0,1] 0.9997926076136049 Centerline is valid? [True, True] Translation: X:48.16, Y:-6.92, Z:0.53 [[ 9.54032850e-01 2.99163738e-01 -1.79549396e-02 4.81632264e+01] [-2.99107671e-01 9.54201778e-01 5.79378730e-03 -6.91572586e+00] [ 1.88659264e-02 -1.57003233e-04 9.99822010e-01 5.29888327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.339999999999996 meters Centerline goodness [0,1] 0.999769271590411 Centerline is valid? [True, True] Translation: X:48.19, Y:-6.93, Z:0.53 [[ 9.54706386e-01 2.97058826e-01 -1.70812836e-02 4.81922613e+01] [-2.97007667e-01 9.54859161e-01 5.51625127e-03 -6.92653422e+00] [ 1.79488712e-02 -1.93128136e-04 9.99838887e-01 5.30517766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.37 meters Centerline goodness [0,1] 0.999884983437615 Centerline is valid? [True, True] Translation: X:48.22, Y:-6.94, Z:0.53 [[ 9.54977109e-01 2.96254010e-01 -1.58833968e-02 4.82223019e+01] [-2.96209598e-01 9.55109168e-01 5.13338932e-03 -6.93723681e+00] [ 1.66911650e-02 -1.97454722e-04 9.99860673e-01 5.32108756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.4 meters Centerline goodness [0,1] 0.9997921093966553 Centerline is valid? [True, True] Translation: X:48.25, Y:-6.95, Z:0.53 [[ 9.55176202e-01 2.95644413e-01 -1.52579084e-02 4.82540296e+01] [-2.95603282e-01 9.55298037e-01 4.93560056e-03 -6.94650833e+00] [ 1.60350327e-02 -2.04080396e-04 9.99871410e-01 5.32959973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.43 meters Centerline goodness [0,1] 0.9998390323544968 Centerline is valid? [True, True] Translation: X:48.28, Y:-6.96, Z:0.53 [[ 9.55283602e-01 2.95339710e-01 -1.44116696e-02 4.82841478e+01] [-2.95302916e-01 9.55392283e-01 4.66614172e-03 -6.95827246e+00] [ 1.51468949e-02 -2.01680595e-04 9.99885259e-01 5.33564931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.46 meters Centerline goodness [0,1] 0.9998161342220179 Centerline is valid? [True, True] Translation: X:48.32, Y:-6.97, Z:0.53 [[ 9.55442915e-01 2.94838335e-01 -1.41135463e-02 4.83163903e+01] [-2.94802931e-01 9.55547127e-01 4.57376642e-03 -6.96688434e+00] [ 1.48346803e-02 -2.09257908e-04 9.99889938e-01 5.34209786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.489999999999995 meters Centerline goodness [0,1] 0.999724328049621 Centerline is valid? [True, True] Translation: X:48.35, Y:-6.98, Z:0.53 [[ 9.55495675e-01 2.94687642e-01 -1.36824165e-02 4.83473781e+01] [-2.94654293e-01 9.55593611e-01 4.43815691e-03 -6.97636472e+00] [ 1.43826998e-02 -2.09056959e-04 9.99896542e-01 5.33693904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.519999999999996 meters Centerline goodness [0,1] 0.9998623884773286 Centerline is valid? [True, True] Translation: X:48.38, Y:-6.99, Z:0.53 [[ 9.55353177e-01 2.95153699e-01 -1.35867738e-02 4.83783504e+01] [-2.95120805e-01 9.55449764e-01 4.41117112e-03 -6.98628183e+00] [ 1.42834533e-02 -2.04486742e-04 9.99897965e-01 5.34698563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.55 meters Centerline goodness [0,1] 0.9997019784048967 Centerline is valid? [True, True] Translation: X:48.41, Y:-7.00, Z:0.53 [[ 9.55268593e-01 2.95409569e-01 -1.39678994e-02 4.84093075e+01] [-2.95374771e-01 9.55370683e-01 4.53892582e-03 -6.99581443e+00] [ 1.46853638e-02 -2.10128181e-04 9.99892142e-01 5.33112607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.58 meters Centerline goodness [0,1] 0.9997255197968846 Centerline is valid? [True, True] Translation: X:48.44, Y:-7.01, Z:0.53 [[ 9.55170714e-01 2.95739184e-01 -1.36836160e-02 4.84393806e+01] [-2.95705785e-01 9.55268702e-01 4.44914623e-03 -7.00560612e+00] [ 1.43873170e-02 -2.03369762e-04 9.99896477e-01 5.33108617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.61 meters Centerline goodness [0,1] 0.9997710570296939 Centerline is valid? [True, True] Translation: X:48.47, Y:-7.01, Z:0.53 [[ 9.54978416e-01 2.96326664e-01 -1.43781994e-02 4.84709497e+01] [-2.96289805e-01 9.55086627e-01 4.67831112e-03 -7.01396830e+00] [ 1.51187343e-02 -2.07572247e-04 9.99885684e-01 5.33037893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.64 meters Centerline goodness [0,1] 0.999908319963328 Centerline is valid? [True, True] Translation: X:48.50, Y:-7.02, Z:0.53 [[ 9.54745057e-01 2.97059907e-01 -1.47406728e-02 4.85023371e+01] [-2.97021180e-01 9.54858822e-01 4.80092482e-03 -7.02259277e+00] [ 1.55014237e-02 -2.05367216e-04 9.99879825e-01 5.34427499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.67 meters Centerline goodness [0,1] 0.9999312714776633 Centerline is valid? [True, True] Translation: X:48.53, Y:-7.03, Z:0.53 [[ 9.54476514e-01 2.97881606e-01 -1.55284795e-02 4.85327285e+01] [-2.97838657e-01 9.54602800e-01 5.06246050e-03 -7.03178596e+00] [ 1.63315438e-02 -2.07018180e-04 9.99866610e-01 5.32888785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.699999999999996 meters Centerline goodness [0,1] 0.9997938522149434 Centerline is valid? [True, True] Translation: X:48.56, Y:-7.04, Z:0.53 [[ 9.54404011e-01 2.98067395e-01 -1.63954962e-02 4.85646209e+01] [-2.98019456e-01 9.54544802e-01 5.35019741e-03 -7.04093234e+00] [ 1.72449551e-02 -2.20073015e-04 9.99851270e-01 5.31690854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.73 meters Centerline goodness [0,1] 0.9997029454105066 Centerline is valid? [True, True] Translation: X:48.60, Y:-7.05, Z:0.53 [[ 9.54257747e-01 2.98563565e-01 -1.58729611e-02 4.85951479e+01] [-2.98518623e-01 9.54389729e-01 5.18438978e-03 -7.05070929e+00] [ 1.66968610e-02 -2.08869614e-04 9.99860576e-01 5.31479900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.76 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.63, Y:-7.06, Z:0.54 [[ 9.53900725e-01 2.99726058e-01 -1.54174375e-02 4.86250325e+01] [-2.99683743e-01 9.54025291e-01 5.03976012e-03 -7.06009633e+00] [ 1.62191727e-02 -1.87075462e-04 9.99868443e-01 5.35551879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.79 meters Centerline goodness [0,1] 0.9999316644267784 Centerline is valid? [True, True] Translation: X:48.66, Y:-7.07, Z:0.54 [[ 9.53610418e-01 3.00685142e-01 -1.46838532e-02 4.86564928e+01] [-3.00646816e-01 9.53723449e-01 4.80357630e-03 -7.06852852e+00] [ 1.54486991e-02 -1.66086697e-04 9.99880648e-01 5.35948927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.82 meters Centerline goodness [0,1] 0.9998177302863913 Centerline is valid? [True, True] Translation: X:48.69, Y:-7.08, Z:0.53 [[ 9.53382626e-01 3.01419030e-01 -1.44269757e-02 4.86878737e+01] [-3.01382055e-01 9.53491764e-01 4.72358601e-03 -7.07782265e+00] [ 1.51797812e-02 -1.55353250e-04 9.99884768e-01 5.34782227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.85 meters Centerline goodness [0,1] 0.999840572118341 Centerline is valid? [True, True] Translation: X:48.72, Y:-7.09, Z:0.53 [[ 9.53097586e-01 3.02306038e-01 -1.46986884e-02 4.87184805e+01] [-3.02267692e-01 9.53210909e-01 4.81709997e-03 -7.08707471e+00] [ 1.54671885e-02 -1.48227735e-04 9.99880365e-01 5.34798196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.879999999999995 meters Centerline goodness [0,1] 0.9997958072420364 Centerline is valid? [True, True] Translation: X:48.75, Y:-7.10, Z:0.53 [[ 9.52732740e-01 3.03444068e-01 -1.49004433e-02 4.87502701e+01] [-3.03404732e-01 9.52849243e-01 4.88766711e-03 -7.09638742e+00] [ 1.56810097e-02 -1.35775481e-04 9.99877036e-01 5.34020154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.91 meters Centerline goodness [0,1] 0.9997274771194331 Centerline is valid? [True, True] Translation: X:48.78, Y:-7.11, Z:0.53 [[ 9.52513715e-01 3.04115214e-01 -1.52170759e-02 4.87810098e+01] [-3.04074200e-01 9.52635250e-01 4.99618232e-03 -7.10662939e+00] [ 1.60157379e-02 -1.31812008e-04 9.99871731e-01 5.33361773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.94 meters Centerline goodness [0,1] 0.9997274771194331 Centerline is valid? [True, True] Translation: X:48.81, Y:-7.12, Z:0.53 [[ 9.52430322e-01 3.04376350e-01 -1.52157580e-02 4.88117567e+01] [-3.04335305e-01 9.52551847e-01 5.00019312e-03 -7.11681900e+00] [ 1.60157389e-02 -1.31643192e-04 9.99871731e-01 5.33716070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.97 meters Centerline goodness [0,1] 0.9999089874857793 Centerline is valid? [True, True] Translation: X:48.84, Y:-7.13, Z:0.54 [[ 9.52059096e-01 3.05530347e-01 -1.53194032e-02 4.88428145e+01] [-3.05488814e-01 9.52182332e-01 5.03895371e-03 -7.12668659e+00] [ 1.61264183e-02 -1.17475395e-04 9.99869954e-01 5.35665219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.0 meters Centerline goodness [0,1] 0.9998408910103421 Centerline is valid? [True, True] Translation: X:48.87, Y:-7.14, Z:0.54 [[ 9.51878900e-01 3.06084208e-01 -1.54601633e-02 4.88736445e+01] [-3.06041903e-01 9.52004435e-01 5.09005942e-03 -7.13702019e+00] [ 1.62761309e-02 -1.13662353e-04 9.99867529e-01 5.35186327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.03 meters Centerline goodness [0,1] 0.9997955985555631 Centerline is valid? [True, True] Translation: X:48.91, Y:-7.15, Z:0.54 [[ 9.51341649e-01 3.07731241e-01 -1.58288061e-02 4.89053364e+01] [-3.07687040e-01 9.51473318e-01 5.21640437e-03 -7.14723206e+00] [ 1.66659372e-02 -9.22642570e-05 9.99861109e-01 5.35306516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.059999999999995 meters Centerline goodness [0,1] 0.999772489420758 Centerline is valid? [True, True] Translation: X:48.94, Y:-7.16, Z:0.54 [[ 9.50921926e-01 3.09045837e-01 -1.54324672e-02 4.89358714e+01] [-3.09003920e-01 9.51047141e-01 5.09039233e-03 -7.15731542e+00] [ 1.62501684e-02 -7.18728157e-05 9.99867955e-01 5.35441151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.089999999999996 meters Centerline goodness [0,1] 0.9996811660214074 Centerline is valid? [True, True] Translation: X:48.97, Y:-7.17, Z:0.54 [[ 9.50514793e-01 3.10301075e-01 -1.53255070e-02 4.89669094e+01] [-3.10259827e-01 9.50638333e-01 5.05966303e-03 -7.16681406e+00] [ 1.61390333e-02 -5.43954160e-05 9.99869756e-01 5.35593706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.12 meters Centerline goodness [0,1] 0.9998175140856315 Centerline is valid? [True, True] Translation: X:49.00, Y:-7.18, Z:0.54 [[ 9.49963761e-01 3.12004939e-01 -1.48919493e-02 4.89982202e+01] [-3.11966128e-01 9.50080479e-01 4.92115223e-03 -7.17675931e+00] [ 1.56839741e-02 -2.91325166e-05 9.99876998e-01 5.36830155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.15 meters Centerline goodness [0,1] 0.9997949232101353 Centerline is valid? [True, True] Translation: X:49.03, Y:-7.19, Z:0.54 [[ 9.49040899e-01 3.14824705e-01 -1.43797506e-02 4.90288167e+01] [-3.14788776e-01 9.49149833e-01 4.75624752e-03 -7.18571458e+00] [ 1.51459221e-02 1.27106675e-05 9.99885294e-01 5.36777044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.18 meters Centerline goodness [0,1] 0.9997959368764738 Centerline is valid? [True, True] Translation: X:49.06, Y:-7.20, Z:0.54 [[ 9.48416940e-01 3.16708596e-01 -1.41764946e-02 4.90606457e+01] [-3.16673823e-01 9.48522885e-01 4.69321518e-03 -7.19529000e+00] [ 1.49331111e-02 3.81999629e-05 9.99888494e-01 5.37010163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.21 meters Centerline goodness [0,1] 0.999886479736633 Centerline is valid? [True, True] Translation: X:49.09, Y:-7.20, Z:0.54 [[ 9.47181024e-01 3.20415054e-01 -1.35018773e-02 4.90916125e+01] [-3.20383832e-01 9.47277249e-01 4.47377061e-03 -7.20378889e+00] [ 1.42234846e-02 8.83125533e-05 9.99898837e-01 5.38209638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.239999999999995 meters Centerline goodness [0,1] 0.9998409271673674 Centerline is valid? [True, True] Translation: X:49.12, Y:-7.21, Z:0.54 [[ 9.46628707e-01 3.22052971e-01 -1.32655605e-02 4.91214971e+01] [-3.22022949e-01 9.46721645e-01 4.39863900e-03 -7.21269886e+00] [ 1.39753880e-02 1.07936953e-04 9.99902334e-01 5.37611291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.269999999999996 meters Centerline goodness [0,1] 0.9998635836573222 Centerline is valid? [True, True] Translation: X:49.15, Y:-7.22, Z:0.54 [[ 9.45993537e-01 3.23917365e-01 -1.31821387e-02 4.91519426e+01] [-3.23887868e-01 9.46085368e-01 4.37325561e-03 -7.22153139e+00] [ 1.38880020e-02 1.32463274e-04 9.99903548e-01 5.37965831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.3 meters Centerline goodness [0,1] 0.9997267759562841 Centerline is valid? [True, True] Translation: X:49.18, Y:-7.23, Z:0.54 [[ 9.45449608e-01 3.25489430e-01 -1.34784754e-02 4.91829090e+01] [-3.25458700e-01 9.45545666e-01 4.47522354e-03 -7.23085914e+00] [ 1.42011520e-02 1.55588759e-04 9.99899146e-01 5.37136483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.33 meters Centerline goodness [0,1] 0.9996823812332682 Centerline is valid? [True, True] Translation: X:49.21, Y:-7.24, Z:0.54 [[ 9.44750240e-01 3.27506603e-01 -1.36531906e-02 4.92132325e+01] [-3.27475235e-01 9.44848872e-01 4.53651513e-03 -7.23956788e+00] [ 1.43859404e-02 1.85208051e-04 9.99896500e-01 5.36000465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.36 meters Centerline goodness [0,1] 0.9998632509800346 Centerline is valid? [True, True] Translation: X:49.24, Y:-7.25, Z:0.54 [[ 9.44470269e-01 3.28278132e-01 -1.44699385e-02 4.92449446e+01] [-3.28242946e-01 9.44581085e-01 4.81071263e-03 -7.24986880e+00] [ 1.52472820e-02 2.06080197e-04 9.99883732e-01 5.37270187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.39 meters Centerline goodness [0,1] 0.9998182933200082 Centerline is valid? [True, True] Translation: X:49.28, Y:-7.26, Z:0.54 [[ 9.44192694e-01 3.29038744e-01 -1.52859854e-02 4.92754025e+01] [-3.28999503e-01 9.44316395e-01 5.08658590e-03 -7.25901851e+00] [ 1.61084905e-02 2.26364362e-04 9.99870224e-01 5.36236560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.42 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.31, Y:-7.27, Z:0.54 [[ 9.43821367e-01 3.30111574e-01 -1.50856401e-02 4.93071135e+01] [-3.30073427e-01 9.43941890e-01 5.02400333e-03 -7.26922325e+00] [ 1.58984493e-02 2.37607249e-04 9.99873583e-01 5.38770557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.449999999999996 meters Centerline goodness [0,1] 0.9998865286855483 Centerline is valid? [True, True] Translation: X:49.34, Y:-7.28, Z:0.54 [[ 9.43708786e-01 3.30390117e-01 -1.60030413e-02 4.93371499e+01] [-3.30347157e-01 9.43844429e-01 5.33377576e-03 -7.27869884e+00] [ 1.68666082e-02 2.53028147e-04 9.99857717e-01 5.35768941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.48 meters Centerline goodness [0,1] 0.9998180867271528 Centerline is valid? [True, True] Translation: X:49.37, Y:-7.29, Z:0.54 [[ 9.43658820e-01 3.30504742e-01 -1.65724849e-02 4.93675282e+01] [-3.30458623e-01 9.43804295e-01 5.52729148e-03 -7.29033477e+00] [ 1.74679785e-02 2.60643186e-04 9.99847389e-01 5.35782815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.51 meters Centerline goodness [0,1] 0.9997496586253982 Centerline is valid? [True, True] Translation: X:49.40, Y:-7.30, Z:0.54 [[ 9.43593703e-01 3.30662022e-01 -1.71333221e-02 4.93986719e+01] [-3.30612656e-01 9.43749202e-01 5.71979096e-03 -7.30172575e+00] [ 1.80608767e-02 2.67334402e-04 9.99836853e-01 5.35580016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.54 meters Centerline goodness [0,1] 0.9999315911889451 Centerline is valid? [True, True] Translation: X:49.43, Y:-7.31, Z:0.54 [[ 9.43609083e-01 3.30659706e-01 -1.63112806e-02 4.94282019e+01] [-3.30614883e-01 9.43750018e-01 5.44998860e-03 -7.31014222e+00] [ 1.71958630e-02 2.50093388e-04 9.99852109e-01 5.36962735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.57 meters Centerline goodness [0,1] 0.9998633350796073 Centerline is valid? [True, True] Translation: X:49.46, Y:-7.32, Z:0.54 [[ 9.43646527e-01 3.30566038e-01 -1.60413750e-02 4.94589847e+01] [-3.30522602e-01 9.43782833e-01 5.36403293e-03 -7.32133383e+00] [ 1.69127415e-02 2.40285969e-04 9.99856940e-01 5.36830153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.6 meters Centerline goodness [0,1] 0.9997949138638228 Centerline is valid? [True, True] Translation: X:49.49, Y:-7.33, Z:0.54 [[ 9.43799406e-01 3.30142537e-01 -1.57666118e-02 4.94887893e+01] [-3.30100444e-01 9.43931065e-01 5.27654060e-03 -7.33384616e+00] [ 1.66246052e-02 2.24569688e-04 9.99861776e-01 5.37457269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.629999999999995 meters Centerline goodness [0,1] 0.999703331811958 Centerline is valid? [True, True] Translation: X:49.52, Y:-7.34, Z:0.54 [[ 9.43872585e-01 3.29944654e-01 -1.55264005e-02 4.95190745e+01] [-3.29903739e-01 9.44000254e-01 5.20035968e-03 -7.34288279e+00] [ 1.63727569e-02 2.13740649e-04 9.99865935e-01 5.37298818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.66 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.55, Y:-7.35, Z:0.54 [[ 9.44065144e-01 3.29482342e-01 -1.35052069e-02 4.95479386e+01] [-3.29451292e-01 9.44161721e-01 4.52668409e-03 -7.35375577e+00] [ 1.42425619e-02 1.75823201e-04 9.99898554e-01 5.42169382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.69 meters Centerline goodness [0,1] 0.9999313249702408 Centerline is valid? [True, True] Translation: X:49.58, Y:-7.36, Z:0.54 [[ 9.44295836e-01 3.28818123e-01 -1.35652551e-02 4.95782733e+01] [-3.28786682e-01 9.44393253e-01 4.54998353e-03 -7.36482961e+00] [ 1.43070525e-02 1.63544722e-04 9.99897636e-01 5.41505950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.72 meters Centerline goodness [0,1] 0.9997719446281557 Centerline is valid? [True, True] Translation: X:49.61, Y:-7.38, Z:0.54 [[ 9.44632637e-01 3.27837192e-01 -1.38548341e-02 4.96079215e+01] [-3.27804237e-01 9.44734224e-01 4.65067844e-03 -7.37841021e+00] [ 1.46138013e-02 1.48490693e-04 9.99893202e-01 5.40838386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.64, Y:-7.39, Z:0.54 [[ 9.44624634e-01 3.27909247e-01 -1.26422238e-02 4.96393831e+01] [-3.27881774e-01 9.44709219e-01 4.24671366e-03 -7.38630523e+00] [ 1.33357620e-02 1.33604421e-04 9.99911066e-01 5.43857869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.78 meters Centerline goodness [0,1] 0.9998169168802636 Centerline is valid? [True, True] Translation: X:49.67, Y:-7.40, Z:0.54 [[ 9.44905435e-01 3.27087266e-01 -1.29475469e-02 4.96692454e+01] [-3.27058334e-01 9.44994130e-01 4.35207870e-03 -7.39929092e+00] [ 1.36588653e-02 1.22300302e-04 9.99906706e-01 5.42136405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.809999999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.70, Y:-7.41, Z:0.54 [[ 9.44723980e-01 3.27615321e-01 -1.28375512e-02 4.96999810e+01] [-3.27586880e-01 9.44811190e-01 4.31863807e-03 -7.40878908e+00] [ 1.35439141e-02 1.25492409e-04 9.99908269e-01 5.44723831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.839999999999996 meters Centerline goodness [0,1] 0.9999544014044367 Centerline is valid? [True, True] Translation: X:49.73, Y:-7.42, Z:0.54 [[ 9.44670883e-01 3.27722376e-01 -1.39630871e-02 4.97308409e+01] [-3.27688675e-01 9.44774061e-01 4.70169104e-03 -7.42011386e+00] [ 1.47328119e-02 1.33994897e-04 9.99891457e-01 5.43679708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.87 meters Centerline goodness [0,1] 0.9997721317078728 Centerline is valid? [True, True] Translation: X:49.76, Y:-7.43, Z:0.54 [[ 9.44627160e-01 3.27756589e-01 -1.59733525e-02 4.97615213e+01] [-3.27712399e-01 9.44762190e-01 5.38395326e-03 -7.43060341e+00] [ 1.68556457e-02 1.48837210e-04 9.99857922e-01 5.40400899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.9 meters Centerline goodness [0,1] 0.9999312510025895 Centerline is valid? [True, True] Translation: X:49.79, Y:-7.44, Z:0.54 [[ 9.44403576e-01 3.28413319e-01 -1.57028116e-02 4.97925771e+01] [-3.28370627e-01 9.44534101e-01 5.29743716e-03 -7.44094170e+00] [ 1.65715900e-02 1.53423507e-04 9.99862670e-01 5.42548784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.93 meters Centerline goodness [0,1] 0.9999543649888194 Centerline is valid? [True, True] Translation: X:49.82, Y:-7.45, Z:0.54 [[ 9.44274471e-01 3.28777918e-01 -1.58367935e-02 4.98240253e+01] [-3.28734462e-01 9.44407251e-01 5.34766477e-03 -7.45098136e+00] [ 1.67145767e-02 1.56436458e-04 9.99860289e-01 5.42816085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.96 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.85, Y:-7.46, Z:0.54 [[ 9.44271611e-01 3.28795420e-01 -1.56427986e-02 4.98548991e+01] [-3.28752943e-01 9.44401159e-01 5.28704969e-03 -7.46107302e+00] [ 1.65114349e-02 1.50205158e-04 9.99863666e-01 5.44396659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.989999999999995 meters Centerline goodness [0,1] 0.9999089957683033 Centerline is valid? [True, True] Translation: X:49.88, Y:-7.47, Z:0.54 [[ 9.44393972e-01 3.28447290e-01 -1.55693263e-02 4.98846938e+01] [-3.28405085e-01 9.44522291e-01 5.26703076e-03 -7.47112201e+00] [ 1.64355177e-02 1.38893820e-04 9.99864918e-01 5.43282895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.019999999999996 meters Centerline goodness [0,1] 0.9998399743959033 Centerline is valid? [True, True] Translation: X:49.92, Y:-7.48, Z:0.54 [[ 9.44377871e-01 3.28479949e-01 -1.58543419e-02 4.99154380e+01] [-3.28436107e-01 9.44510934e-01 5.36833693e-03 -7.48187203e+00] [ 1.67379903e-02 1.37399723e-04 9.99859901e-01 5.43170446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.05 meters Centerline goodness [0,1] 0.9999085776975293 Centerline is valid? [True, True] Translation: X:49.95, Y:-7.49, Z:0.54 [[ 9.44267941e-01 3.28824245e-01 -1.52535722e-02 4.99462859e+01] [-3.28783633e-01 9.44391126e-01 5.16958812e-03 -7.49149373e+00] [ 1.61052241e-02 1.33648540e-04 9.99870294e-01 5.44597201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.08 meters Centerline goodness [0,1] 0.9998862990335418 Centerline is valid? [True, True] Translation: X:49.98, Y:-7.50, Z:0.54 [[ 9.43883594e-01 3.29922651e-01 -1.53233776e-02 4.99773624e+01] [-3.29881735e-01 9.44007957e-01 5.19792251e-03 -7.50104262e+00] [ 1.61803028e-02 1.48668630e-04 9.99869079e-01 5.44899702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.11 meters Centerline goodness [0,1] 0.9998632260417617 Centerline is valid? [True, True] Translation: X:50.01, Y:-7.51, Z:0.54 [[ 9.43469279e-01 3.31121272e-01 -1.49807647e-02 5.00083678e+01] [-3.31082252e-01 9.43588192e-01 5.08580346e-03 -7.51057583e+00] [ 1.58196904e-02 1.61565983e-04 9.99874848e-01 5.44928391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.14 meters Centerline goodness [0,1] 0.999863871494691 Centerline is valid? [True, True] Translation: X:50.04, Y:-7.52, Z:0.54 [[ 9.42548169e-01 3.33717198e-01 -1.53551799e-02 5.00390949e+01] [-3.33676491e-01 9.42673214e-01 5.21633940e-03 -7.51680474e+00] [ 1.62156989e-02 2.07011391e-04 9.99868495e-01 5.44626181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.17 meters Centerline goodness [0,1] 0.9997504876831648 Centerline is valid? [True, True] Translation: X:50.07, Y:-7.53, Z:0.54 [[ 9.42005116e-01 3.35215049e-01 -1.60384387e-02 5.00701863e+01] [-3.35170782e-01 9.42141610e-01 5.45282591e-03 -7.52601000e+00] [ 1.69383498e-02 2.39026137e-04 9.99856507e-01 5.43749400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.199999999999996 meters Centerline goodness [0,1] 0.9998870209689081 Centerline is valid? [True, True] Translation: X:50.10, Y:-7.53, Z:0.55 [[ 9.41295417e-01 3.37196524e-01 -1.61691992e-02 5.01010394e+01] [-3.37151747e-01 9.41434241e-01 5.50178480e-03 -7.53439302e+00] [ 1.70774205e-02 2.72668954e-04 9.99854133e-01 5.45166586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.23 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.13, Y:-7.54, Z:0.55 [[ 9.39900272e-01 3.41021683e-01 -1.70789400e-02 5.01320833e+01] [-3.40972270e-01 9.40055362e-01 5.81608431e-03 -7.54102867e+00] [ 1.80385600e-02 3.56905730e-04 9.99837228e-01 5.47047012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.26 meters Centerline goodness [0,1] 0.9998191436451598 Centerline is valid? [True, True] Translation: X:50.16, Y:-7.55, Z:0.54 [[ 9.39383124e-01 3.42378907e-01 -1.83311094e-02 5.01628342e+01] [-3.42322142e-01 9.39561876e-01 6.24756168e-03 -7.55021991e+00] [ 1.93622449e-02 4.06290641e-04 9.99812452e-01 5.44660759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.29 meters Centerline goodness [0,1] 0.999818951275262 Centerline is valid? [True, True] Translation: X:50.19, Y:-7.56, Z:0.54 [[ 9.38854478e-01 3.43787144e-01 -1.90438455e-02 5.01938963e+01] [-3.43726060e-01 9.39047496e-01 6.49586129e-03 -7.55879827e+00] [ 2.01162690e-02 4.47197492e-04 9.99797547e-01 5.44944781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.32 meters Centerline goodness [0,1] 0.9998644037153382 Centerline is valid? [True, True] Translation: X:50.23, Y:-7.57, Z:0.55 [[ 9.38441901e-01 3.44928147e-01 -1.87449446e-02 5.02251764e+01] [-3.44869091e-01 9.38628980e-01 6.39903196e-03 -7.56748155e+00] [ 1.98017544e-02 4.59432279e-04 9.99803820e-01 5.45529322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.35 meters Centerline goodness [0,1] 0.9999773852868676 Centerline is valid? [True, True] Translation: X:50.26, Y:-7.58, Z:0.55 [[ 9.37863679e-01 3.46516262e-01 -1.83902137e-02 5.02563575e+01] [-3.46459628e-01 9.38043843e-01 6.28296008e-03 -7.57589089e+00] [ 1.94279746e-02 4.78906535e-04 9.99811144e-01 5.46909674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.379999999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.29, Y:-7.59, Z:0.55 [[ 9.37845089e-01 3.46580184e-01 -1.81318668e-02 5.02873084e+01] [-3.46525040e-01 9.38020233e-01 6.20000959e-03 -7.58699565e+00] [ 1.91568584e-02 4.68497312e-04 9.99816381e-01 5.47443049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.41 meters Centerline goodness [0,1] 0.9999545413219384 Centerline is valid? [True, True] Translation: X:50.32, Y:-7.60, Z:0.55 [[ 9.38108178e-01 3.45843473e-01 -1.85832770e-02 5.03171092e+01] [-3.45785293e-01 9.38292109e-01 6.36002683e-03 -7.59764903e+00] [ 1.96361159e-02 4.59430694e-04 9.99807087e-01 5.46581883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.44 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.35, Y:-7.61, Z:0.55 [[ 9.38652686e-01 3.44405755e-01 -1.77710640e-02 5.03461639e+01] [-3.44352202e-01 9.38820809e-01 6.08686701e-03 -7.61054018e+00] [ 1.87801967e-02 4.06050942e-04 9.99823554e-01 5.49213541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.47 meters Centerline goodness [0,1] 0.9998189635664178 Centerline is valid? [True, True] Translation: X:50.38, Y:-7.62, Z:0.55 [[ 9.39126392e-01 3.43099025e-01 -1.80188435e-02 5.03763218e+01] [-3.43043630e-01 9.39299161e-01 6.17681506e-03 -7.62258056e+00] [ 1.90443438e-02 3.80439429e-04 9.99818568e-01 5.47561695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.5 meters Centerline goodness [0,1] 0.9999547111704898 Centerline is valid? [True, True] Translation: X:50.41, Y:-7.63, Z:0.55 [[ 9.39356786e-01 3.42507294e-01 -1.72505571e-02 5.04058593e+01] [-3.42456338e-01 9.39515105e-01 5.91812497e-03 -7.63364119e+00] [ 1.82341599e-02 3.48331771e-04 9.99833683e-01 5.50356697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.53 meters Centerline goodness [0,1] 0.9997958026091889 Centerline is valid? [True, True] Translation: X:50.44, Y:-7.65, Z:0.55 [[ 9.40195802e-01 3.40169631e-01 -1.77897525e-02 5.04356852e+01] [-3.40114926e-01 9.40364040e-01 6.10812584e-03 -7.64564264e+00] [ 1.88066424e-02 3.07726073e-04 9.99823092e-01 5.48882670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.559999999999995 meters Centerline goodness [0,1] 0.9998416002896452 Centerline is valid? [True, True] Translation: X:50.47, Y:-7.66, Z:0.55 [[ 9.40441138e-01 3.39498987e-01 -1.76324391e-02 5.04664152e+01] [-3.39445038e-01 9.40606376e-01 6.05896417e-03 -7.65628825e+00] [ 1.86421968e-02 2.87144786e-04 9.99826178e-01 5.48730237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.589999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.50, Y:-7.67, Z:0.55 [[ 9.40488844e-01 3.39365824e-01 -1.76513737e-02 5.04974818e+01] [-3.39311639e-01 9.40654431e-01 6.07062906e-03 -7.66735782e+00] [ 1.86640069e-02 2.79957629e-04 9.99825773e-01 5.51161449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.62 meters Centerline goodness [0,1] 0.9999773139745917 Centerline is valid? [True, True] Translation: X:50.53, Y:-7.68, Z:0.55 [[ 9.40563963e-01 3.39123027e-01 -1.83031308e-02 5.05283840e+01] [-3.39064606e-01 9.40741991e-01 6.30065207e-03 -7.67830653e+00] [ 1.93552200e-02 2.79777572e-04 9.99812631e-01 5.49912694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.65 meters Centerline goodness [0,1] 0.9999317545895039 Centerline is valid? [True, True] Translation: X:50.56, Y:-7.69, Z:0.55 [[ 9.40556597e-01 3.39093011e-01 -1.92150535e-02 5.05590169e+01] [-3.39028492e-01 9.40752809e-01 6.62074095e-03 -7.68929599e+00] [ 2.03216625e-02 2.87269043e-04 9.99793452e-01 5.48592689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.68 meters Centerline goodness [0,1] 0.999841431645713 Centerline is valid? [True, True] Translation: X:50.59, Y:-7.70, Z:0.55 [[ 9.40771241e-01 3.38465522e-01 -1.97626675e-02 5.05893510e+01] [-3.38397003e-01 9.40978753e-01 6.81571974e-03 -7.70156625e+00] [ 2.09031364e-02 2.75594334e-04 9.99781468e-01 5.47162165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.71 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.62, Y:-7.71, Z:0.55 [[ 9.40611873e-01 3.38892890e-01 -2.00228329e-02 5.06204075e+01] [-3.38822517e-01 9.40824919e-01 6.91180138e-03 -7.71296407e+00] [ 2.11803405e-02 2.82864214e-04 9.99775631e-01 5.50139864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.739999999999995 meters Centerline goodness [0,1] 0.9998864720039962 Centerline is valid? [True, True] Translation: X:50.65, Y:-7.72, Z:0.55 [[ 9.40721097e-01 3.38583084e-01 -2.01323959e-02 5.06503589e+01] [-3.38511736e-01 9.40936460e-01 6.95577894e-03 -7.72399034e+00] [ 2.12984144e-02 2.71604303e-04 9.99773126e-01 5.48366798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.769999999999996 meters Centerline goodness [0,1] 0.9999320359756235 Centerline is valid? [True, True] Translation: X:50.68, Y:-7.74, Z:0.55 [[ 9.40595984e-01 3.38928961e-01 -2.01582491e-02 5.06813275e+01] [-3.38857379e-01 9.40811928e-01 6.97083244e-03 -7.73529429e+00] [ 2.13277382e-02 2.74034439e-04 9.99772500e-01 5.49481260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.8 meters Centerline goodness [0,1] 0.9999773062521276 Centerline is valid? [True, True] Translation: X:50.71, Y:-7.75, Z:0.55 [[ 9.40445488e-01 3.39363704e-01 -1.98635473e-02 5.07121166e+01] [-3.39294166e-01 9.40655198e-01 6.87513894e-03 -7.74686090e+00] [ 2.10179216e-02 2.73892307e-04 9.99779062e-01 5.51726827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.83 meters Centerline goodness [0,1] 0.9999093895118359 Centerline is valid? [True, True] Translation: X:50.74, Y:-7.76, Z:0.55 [[ 9.40441386e-01 3.39387468e-01 -1.96506079e-02 5.07418865e+01] [-3.39319293e-01 9.40646626e-01 6.80743868e-03 -7.75746535e+00] [ 2.07946374e-02 2.65833317e-04 9.99783733e-01 5.50982645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.86 meters Centerline goodness [0,1] 0.9999093895118359 Centerline is valid? [True, True] Translation: X:50.77, Y:-7.77, Z:0.55 [[ 9.40347628e-01 3.39647265e-01 -1.96487681e-02 5.07724689e+01] [-3.39579037e-01 9.40552850e-01 6.81274604e-03 -7.76815456e+00] [ 2.07946354e-02 2.65960148e-04 9.99783733e-01 5.51336986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.80, Y:-7.78, Z:0.56 [[ 9.40142821e-01 3.40288123e-01 -1.83158185e-02 5.08034159e+01] [-3.40228854e-01 9.40321183e-01 6.35605825e-03 -7.78015817e+00] [ 1.93856433e-02 2.55967403e-04 9.99812048e-01 5.55104286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.92 meters Centerline goodness [0,1] 0.9999092991088637 Centerline is valid? [True, True] Translation: X:50.83, Y:-7.79, Z:0.55 [[ 9.40255937e-01 3.40000489e-01 -1.78448804e-02 5.08324491e+01] [-3.39944081e-01 9.40425228e-01 6.19767744e-03 -7.79044649e+00] [ 1.88889891e-02 2.38858470e-04 9.99821559e-01 5.53647023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.949999999999996 meters Centerline goodness [0,1] 0.9998637756839596 Centerline is valid? [True, True] Translation: X:50.86, Y:-7.80, Z:0.55 [[ 9.40354110e-01 3.39766203e-01 -1.71194383e-02 5.08616625e+01] [-3.39714174e-01 9.40509903e-01 5.94990572e-03 -7.80089061e+00] [ 1.81225781e-02 2.20697541e-04 9.99835748e-01 5.53784986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.98 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.89, Y:-7.81, Z:0.56 [[ 9.40094456e-01 3.40502275e-01 -1.67515412e-02 5.08921644e+01] [-3.40452495e-01 9.40243665e-01 5.82656399e-03 -7.81312502e+00] [ 1.77344888e-02 2.25583502e-04 9.99842706e-01 5.57732464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.01 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.92, Y:-7.83, Z:0.56 [[ 9.40153504e-01 3.40312729e-01 -1.72810738e-02 5.09221701e+01] [-3.40259617e-01 9.40312287e-01 6.01634242e-03 -7.82572696e+00] [ 1.82970439e-02 2.23766145e-04 9.99832570e-01 5.58597532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.04 meters Centerline goodness [0,1] 0.9998863507216729 Centerline is valid? [True, True] Translation: X:50.95, Y:-7.84, Z:0.56 [[ 9.40220429e-01 3.40108830e-01 -1.76501569e-02 5.09520140e+01] [-3.40053299e-01 9.40386056e-01 6.14970236e-03 -7.83589812e+00] [ 1.86895295e-02 2.19918291e-04 9.99825311e-01 5.55680754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.07 meters Centerline goodness [0,1] 0.999795556767071 Centerline is valid? [True, True] Translation: X:50.98, Y:-7.85, Z:0.56 [[ 9.40147599e-01 3.40262978e-01 -1.85363893e-02 5.09825809e+01] [-3.40201665e-01 9.40330289e-01 6.46327942e-03 -7.84808023e+00] [ 1.96295430e-02 2.29673876e-04 9.99807296e-01 5.55002559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.1 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.01, Y:-7.86, Z:0.56 [[ 9.39700247e-01 3.41489266e-01 -1.86688666e-02 5.10125195e+01] [-3.41427204e-01 9.39885641e-01 6.51511650e-03 -7.85847636e+00] [ 1.97714420e-02 2.51802338e-04 9.99804494e-01 5.58793926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.129999999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.04, Y:-7.87, Z:0.56 [[ 9.39465098e-01 3.42126026e-01 -1.88444225e-02 5.10432529e+01] [-3.42062810e-01 9.39654039e-01 6.58183042e-03 -7.86859096e+00] [ 1.99590532e-02 2.62576142e-04 9.99800764e-01 5.58769822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.16 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.07, Y:-7.88, Z:0.56 [[ 9.39038428e-01 3.43300925e-01 -1.87431725e-02 5.10748786e+01] [-3.43238507e-01 9.39225424e-01 6.55217033e-03 -7.87849775e+00] [ 1.98534303e-02 2.80638826e-04 9.99802862e-01 5.58588864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.19 meters Centerline goodness [0,1] 0.9999315131038261 Centerline is valid? [True, True] Translation: X:51.11, Y:-7.89, Z:0.56 [[ 9.39018415e-01 3.43363098e-01 -1.86064448e-02 5.11050467e+01] [-3.43301505e-01 9.39202697e-01 6.50920964e-03 -7.88831740e+00] [ 1.97102456e-02 2.75352794e-04 9.99805696e-01 5.56886345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.22 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.13, Y:-7.90, Z:0.56 [[ 9.38616695e-01 3.44463081e-01 -1.85441722e-02 5.11347304e+01] [-3.44402033e-01 9.38799819e-01 6.49153610e-03 -7.89903829e+00] [ 1.96453601e-02 2.93586471e-04 9.99806968e-01 5.59765392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.25 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.17, Y:-7.91, Z:0.56 [[ 9.38470598e-01 3.44881590e-01 -1.81555801e-02 5.11657392e+01] [-3.44823055e-01 9.38646155e-01 6.36055818e-03 -7.91013226e+00] [ 1.92353049e-02 2.91265750e-04 9.99814942e-01 5.60674159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.28 meters Centerline goodness [0,1] 0.9999545970488082 Centerline is valid? [True, True] Translation: X:51.19, Y:-7.92, Z:0.56 [[ 9.38540129e-01 3.44724968e-01 -1.75248963e-02 5.11949347e+01] [-3.44670310e-01 9.38703692e-01 6.14457864e-03 -7.92010490e+00] [ 1.85688745e-02 2.73377809e-04 9.99827546e-01 5.60604146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.309999999999995 meters Centerline goodness [0,1] 0.9998180287969429 Centerline is valid? [True, True] Translation: X:51.23, Y:-7.93, Z:0.56 [[ 9.38650008e-01 3.44439754e-01 -1.72458402e-02 5.12255973e+01] [-3.44386694e-01 9.38808388e-01 6.05117395e-03 -7.93058148e+00] [ 1.82748043e-02 2.59303411e-04 9.99832968e-01 5.58374146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.339999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.26, Y:-7.94, Z:0.56 [[ 9.38474415e-01 3.44930228e-01 -1.69973391e-02 5.12565723e+01] [-3.44878680e-01 9.38628292e-01 5.96873552e-03 -7.94152526e+00] [ 1.80129807e-02 2.60514317e-04 9.99837719e-01 5.62537513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.37 meters Centerline goodness [0,1] 0.9997507138648416 Centerline is valid? [True, True] Translation: X:51.29, Y:-7.95, Z:0.56 [[ 9.38655107e-01 3.44401936e-01 -1.77171457e-02 5.12873233e+01] [-3.44345731e-01 9.38822263e-01 6.22706648e-03 -7.95306281e+00] [ 1.87778646e-02 2.55755741e-04 9.99823648e-01 5.58623818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.4 meters Centerline goodness [0,1] 0.9997953940937095 Centerline is valid? [True, True] Translation: X:51.32, Y:-7.96, Z:0.56 [[ 9.38587541e-01 3.44572925e-01 -1.79702014e-02 5.13176899e+01] [-3.44515030e-01 9.38759518e-01 6.32146227e-03 -7.96337259e+00] [ 1.90479023e-02 2.57758739e-04 9.99818539e-01 5.59054245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.43 meters Centerline goodness [0,1] 0.999840677348871 Centerline is valid? [True, True] Translation: X:51.35, Y:-7.98, Z:0.56 [[ 9.38419887e-01 3.45034154e-01 -1.78759065e-02 5.13484334e+01] [-3.44976846e-01 9.38590094e-01 6.29369472e-03 -7.97566987e+00] [ 1.89496884e-02 2.60645557e-04 9.99820405e-01 5.60754608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.46 meters Centerline goodness [0,1] 0.999863481228669 Centerline is valid? [True, True] Translation: X:51.38, Y:-7.99, Z:0.56 [[ 9.38251774e-01 3.45483543e-01 -1.80202474e-02 5.13796082e+01] [-3.45425278e-01 9.38424771e-01 6.35033856e-03 -7.98668746e+00] [ 1.91045840e-02 2.66432558e-04 9.99817455e-01 5.61307405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.489999999999995 meters Centerline goodness [0,1] 0.9998410066550072 Centerline is valid? [True, True] Translation: X:51.41, Y:-8.00, Z:0.56 [[ 9.38205505e-01 3.45601006e-01 -1.81761935e-02 5.14107592e+01] [-3.45541638e-01 9.38381518e-01 6.41113211e-03 -7.99758793e+00] [ 1.92718978e-02 2.65672237e-04 9.99814244e-01 5.61055959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.519999999999996 meters Centerline goodness [0,1] 0.9999772277002255 Centerline is valid? [True, True] Translation: X:51.44, Y:-8.01, Z:0.56 [[ 9.37962425e-01 3.46295323e-01 -1.74939442e-02 5.14415265e+01] [-3.46240347e-01 9.38125514e-01 6.17593208e-03 -8.00834358e+00] [ 1.85502118e-02 2.64317083e-04 9.99827895e-01 5.64188824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.55 meters Centerline goodness [0,1] 0.999840379440872 Centerline is valid? [True, True] Translation: X:51.47, Y:-8.02, Z:0.56 [[ 9.37883237e-01 3.46439761e-01 -1.88288706e-02 5.14722358e+01] [-3.46375980e-01 9.38072179e-01 6.65342750e-03 -8.01884080e+00] [ 1.99678515e-02 2.81730386e-04 9.99800583e-01 5.61121187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.58 meters Centerline goodness [0,1] 0.999840709978382 Centerline is valid? [True, True] Translation: X:51.50, Y:-8.03, Z:0.56 [[ 9.37679207e-01 3.46964563e-01 -1.93208912e-02 5.15035220e+01] [-3.46897388e-01 9.37878193e-01 6.83348863e-03 -8.02976074e+00] [ 2.04916209e-02 2.94746499e-04 9.99789981e-01 5.60647088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.61 meters Centerline goodness [0,1] 0.9997038252113093 Centerline is valid? [True, True] Translation: X:51.53, Y:-8.04, Z:0.56 [[ 9.37555330e-01 3.47267614e-01 -1.98798028e-02 5.15346579e+01] [-3.47196431e-01 9.37766022e-01 7.03752936e-03 -8.04043389e+00] [ 2.10865096e-02 3.04123398e-04 9.99777609e-01 5.58873163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.64 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.57, Y:-8.05, Z:0.56 [[ 9.37263103e-01 3.48087090e-01 -1.93197747e-02 5.15655415e+01] [-3.48019912e-01 9.37462150e-01 6.84524077e-03 -8.05076442e+00] [ 2.04942975e-02 3.07874706e-04 9.99789922e-01 5.63292685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.669999999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.60, Y:-8.06, Z:0.56 [[ 9.37212643e-01 3.48231628e-01 -1.91623433e-02 5.15951976e+01] [-3.48165454e-01 9.37408471e-01 6.79523525e-03 -8.06141050e+00] [ 2.03292588e-02 3.03085579e-04 9.99793293e-01 5.63258026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.699999999999996 meters Centerline goodness [0,1] 0.9999771308344958 Centerline is valid? [True, True] Translation: X:51.62, Y:-8.07, Z:0.56 [[ 9.37248819e-01 3.48159406e-01 -1.86997071e-02 5.16248080e+01] [-3.48096269e-01 9.37435302e-01 6.63645656e-03 -8.07328437e+00] [ 1.98403103e-02 2.89287210e-04 9.99803120e-01 5.64461776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.73 meters Centerline goodness [0,1] 0.9999316613134696 Centerline is valid? [True, True] Translation: X:51.66, Y:-8.09, Z:0.56 [[ 9.37254733e-01 3.48148090e-01 -1.86137982e-02 5.16557943e+01] [-3.48085421e-01 9.37439506e-01 6.61149929e-03 -8.08502843e+00] [ 1.97510906e-02 2.82532777e-04 9.99804888e-01 5.64114737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.76 meters Centerline goodness [0,1] 0.9999543764399936 Centerline is valid? [True, True] Translation: X:51.69, Y:-8.10, Z:0.57 [[ 9.37304148e-01 3.48073431e-01 -1.74877032e-02 5.16853815e+01] [-3.48018009e-01 9.37467236e-01 6.21662887e-03 -8.09627755e+00] [ 1.85579921e-02 2.59163602e-04 9.99827752e-01 5.66294101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.79 meters Centerline goodness [0,1] 0.9998401899456646 Centerline is valid? [True, True] Translation: X:51.72, Y:-8.11, Z:0.57 [[ 9.37329974e-01 3.47992562e-01 -1.77114978e-02 5.17157846e+01] [-3.47935597e-01 9.37497259e-01 6.30149258e-03 -8.10789650e+00] [ 1.87973532e-02 2.55882706e-04 9.99823281e-01 5.65082800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.82 meters Centerline goodness [0,1] 0.9998855651935092 Centerline is valid? [True, True] Translation: X:51.75, Y:-8.12, Z:0.57 [[ 9.37299109e-01 3.48077354e-01 -1.76786908e-02 5.17470185e+01] [-3.48020509e-01 9.37465782e-01 6.29550505e-03 -8.11921143e+00] [ 1.87644905e-02 2.51775705e-04 9.99823900e-01 5.66035165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.85 meters Centerline goodness [0,1] 0.9999085672487885 Centerline is valid? [True, True] Translation: X:51.78, Y:-8.13, Z:0.57 [[ 9.37293571e-01 3.48050608e-01 -1.84807047e-02 5.17774378e+01] [-3.47988362e-01 9.37475711e-01 6.58719542e-03 -8.13056642e+00] [ 1.96178892e-02 2.56934245e-04 9.99807518e-01 5.65625175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.879999999999995 meters Centerline goodness [0,1] 0.9998401096391046 Centerline is valid? [True, True] Translation: X:51.81, Y:-8.14, Z:0.56 [[ 9.37124265e-01 3.48473497e-01 -1.90875465e-02 5.18078812e+01] [-3.48407062e-01 9.37318595e-01 6.80955488e-03 -8.14005209e+00] [ 2.02640617e-02 2.68836882e-04 9.99794627e-01 5.64016906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.91 meters Centerline goodness [0,1] 0.9998399634202103 Centerline is valid? [True, True] Translation: X:51.84, Y:-8.15, Z:0.57 [[ 9.36929407e-01 3.48966903e-01 -1.96312605e-02 5.18381250e+01] [-3.48896608e-01 9.37135007e-01 7.00969785e-03 -8.15226689e+00] [ 2.08432940e-02 2.81688133e-04 9.99782715e-01 5.65107124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.94 meters Centerline goodness [0,1] 0.9997710937142333 Centerline is valid? [True, True] Translation: X:51.87, Y:-8.16, Z:0.56 [[ 9.36793911e-01 3.49322197e-01 -1.97780208e-02 5.18683684e+01] [-3.49250797e-01 9.37002626e-01 7.06826625e-03 -8.16317061e+00] [ 2.10011597e-02 2.85980743e-04 9.99779410e-01 5.64022330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.97 meters Centerline goodness [0,1] 0.9999315381104519 Centerline is valid? [True, True] Translation: X:51.90, Y:-8.17, Z:0.57 [[ 9.36743413e-01 3.49488982e-01 -1.92153776e-02 5.18988678e+01] [-3.49421506e-01 9.36940433e-01 6.87281050e-03 -8.17355637e+00] [ 2.04056358e-02 2.76206231e-04 9.99791745e-01 5.66302560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.0 meters Centerline goodness [0,1] 0.9998858864341793 Centerline is valid? [True, True] Translation: X:51.93, Y:-8.18, Z:0.57 [[ 9.36608232e-01 3.49840737e-01 -1.94030584e-02 5.19295630e+01] [-3.49771891e-01 9.36809148e-01 6.94583946e-03 -8.18463326e+00] [ 2.06069002e-02 2.81114017e-04 9.99787616e-01 5.66432050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.03 meters Centerline goodness [0,1] 0.9999086862230339 Centerline is valid? [True, True] Translation: X:51.96, Y:-8.20, Z:0.57 [[ 9.36525483e-01 3.50089044e-01 -1.89124545e-02 5.19602173e+01] [-3.50023569e-01 9.36716385e-01 6.77602796e-03 -8.19554067e+00] [ 2.00878192e-02 2.73881968e-04 9.99798182e-01 5.67345052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.059999999999995 meters Centerline goodness [0,1] 0.9998177095201203 Centerline is valid? [True, True] Translation: X:51.99, Y:-8.21, Z:0.57 [[ 9.36337261e-01 3.50614912e-01 -1.84856112e-02 5.19908732e+01] [-3.50552354e-01 9.36519679e-01 6.62862251e-03 -8.20546856e+00] [ 1.96362326e-02 2.73548273e-04 9.99807153e-01 5.66505455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.089999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.02, Y:-8.22, Z:0.57 [[ 9.36298837e-01 3.50747130e-01 -1.79147473e-02 5.20212891e+01] [-3.50688330e-01 9.36470171e-01 6.42757163e-03 -8.21715988e+00] [ 1.90310788e-02 2.64364990e-04 9.99818858e-01 5.71215779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.12 meters Centerline goodness [0,1] 0.999863222923838 Centerline is valid? [True, True] Translation: X:52.05, Y:-8.23, Z:0.57 [[ 9.36226577e-01 3.50923458e-01 -1.82351973e-02 5.20516403e+01] [-3.50862500e-01 9.36404108e-01 6.54615622e-03 -8.22874917e+00] [ 1.93727134e-02 2.69361463e-04 9.99812295e-01 5.68967809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.15 meters Centerline goodness [0,1] 0.9998861747899925 Centerline is valid? [True, True] Translation: X:52.08, Y:-8.24, Z:0.57 [[ 9.35960531e-01 3.51654722e-01 -1.78000200e-02 5.20818174e+01] [-3.51596667e-01 9.36129736e-01 6.39542365e-03 -8.23913990e+00] [ 1.89121090e-02 2.72563607e-04 9.99821113e-01 5.69888040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.18 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.11, Y:-8.25, Z:0.57 [[ 9.35760087e-01 3.52210802e-01 -1.73380959e-02 5.21127057e+01] [-3.52155720e-01 9.35920657e-01 6.23470001e-03 -8.24959969e+00] [ 1.84230108e-02 2.71526220e-04 9.99830245e-01 5.72947471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.21 meters Centerline goodness [0,1] 0.999863222923838 Centerline is valid? [True, True] Translation: X:52.14, Y:-8.26, Z:0.57 [[ 9.35717913e-01 3.52298887e-01 -1.78180065e-02 5.21436662e+01] [-3.52240620e-01 9.35887503e-01 6.41301254e-03 -8.26069763e+00] [ 1.89349467e-02 2.75454936e-04 9.99820680e-01 5.69952126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.239999999999995 meters Centerline goodness [0,1] 0.9999090185374729 Centerline is valid? [True, True] Translation: X:52.17, Y:-8.27, Z:0.57 [[ 9.35591464e-01 3.52636439e-01 -1.77807326e-02 5.21742165e+01] [-3.52578371e-01 9.35760368e-01 6.40521339e-03 -8.27147644e+00] [ 1.88972165e-02 2.76438746e-04 9.99821393e-01 5.71313612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.269999999999996 meters Centerline goodness [0,1] 0.9998183634547271 Centerline is valid? [True, True] Translation: X:52.21, Y:-8.28, Z:0.57 [[ 9.35648873e-01 3.52442567e-01 -1.85855631e-02 5.22053762e+01] [-3.52378965e-01 9.35833404e-01 6.70119675e-03 -8.28327311e+00] [ 1.97547778e-02 2.79194306e-04 9.99804816e-01 5.70420591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.3 meters Centerline goodness [0,1] 0.9997955149614887 Centerline is valid? [True, True] Translation: X:52.24, Y:-8.29, Z:0.57 [[ 9.35536871e-01 3.52705633e-01 -1.92223766e-02 5.22362801e+01] [-3.52637525e-01 9.35734286e-01 6.93703141e-03 -8.29437090e+00] [ 2.04337669e-02 2.88682645e-04 9.99791167e-01 5.69994529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.33 meters Centerline goodness [0,1] 0.9998408331249006 Centerline is valid? [True, True] Translation: X:52.27, Y:-8.31, Z:0.57 [[ 9.35526007e-01 3.52729931e-01 -1.93050594e-02 5.22673413e+01] [-3.52661116e-01 9.35725128e-01 6.97301007e-03 -8.30581615e+00] [ 2.05238186e-02 2.84711529e-04 9.99789324e-01 5.70713814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.36 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.30, Y:-8.32, Z:0.58 [[ 9.35583836e-01 3.52613604e-01 -1.86153475e-02 5.22974389e+01] [-3.52549487e-01 9.35768975e-01 6.72937683e-03 -8.31766815e+00] [ 1.97925345e-02 2.66935025e-04 9.99804073e-01 5.75103284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.39 meters Centerline goodness [0,1] 0.9998864591139269 Centerline is valid? [True, True] Translation: X:52.33, Y:-8.33, Z:0.57 [[ 9.35845658e-01 3.51891603e-01 -1.91103126e-02 5.23275006e+01] [-3.51823766e-01 9.36040723e-01 6.91390309e-03 -8.32873225e+00] [ 2.03209752e-02 2.53115959e-04 9.99793476e-01 5.72348982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.419999999999995 meters Centerline goodness [0,1] 0.9999318893883667 Centerline is valid? [True, True] Translation: X:52.36, Y:-8.34, Z:0.57 [[ 9.36164371e-01 3.51082911e-01 -1.83591776e-02 5.23573675e+01] [-3.51020046e-01 9.36344349e-01 6.64735547e-03 -8.34052272e+00] [ 1.95242851e-02 2.21422009e-04 9.99809358e-01 5.74172402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.449999999999996 meters Centerline goodness [0,1] 0.9998405430647623 Centerline is valid? [True, True] Translation: X:52.39, Y:-8.35, Z:0.57 [[ 9.36415645e-01 3.50435287e-01 -1.79122889e-02 5.23871226e+01] [-3.50375231e-01 9.36586926e-01 6.49051483e-03 -8.35248257e+00] [ 1.90509211e-02 1.98202748e-04 9.99818495e-01 5.74164355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.48 meters Centerline goodness [0,1] 0.9998408693082361 Centerline is valid? [True, True] Translation: X:52.42, Y:-8.36, Z:0.57 [[ 9.36535043e-01 3.50117193e-01 -1.78903270e-02 5.24169874e+01] [-3.50057142e-01 9.36705885e-01 6.48701219e-03 -8.36321818e+00] [ 1.90291891e-02 1.87322515e-04 9.99818911e-01 5.74263396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.51 meters Centerline goodness [0,1] 0.999794820353821 Centerline is valid? [True, True] Translation: X:52.45, Y:-8.37, Z:0.57 [[ 9.36704598e-01 3.49662115e-01 -1.79137363e-02 5.24473167e+01] [-3.49601740e-01 9.36875859e-01 6.49982972e-03 -8.37452942e+00] [ 1.90556913e-02 1.74253008e-04 9.99818409e-01 5.74581408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.54 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.48, Y:-8.39, Z:0.58 [[ 9.36405264e-01 3.50496624e-01 -1.72423188e-02 5.24778683e+01] [-3.50440738e-01 9.36563978e-01 6.26139250e-03 -8.38621314e+00] [ 1.83431316e-02 1.79210026e-04 9.99831735e-01 5.79550831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.57 meters Centerline goodness [0,1] 0.9998638251514945 Centerline is valid? [True, True] Translation: X:52.51, Y:-8.40, Z:0.58 [[ 9.36640718e-01 3.49853389e-01 -1.75148829e-02 5.25080760e+01] [-3.49795519e-01 9.36804451e-01 6.36523654e-03 -8.39623768e+00] [ 1.86349199e-02 1.64687841e-04 9.99826341e-01 5.76396594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.6 meters Centerline goodness [0,1] 0.9999317545895039 Centerline is valid? [True, True] Translation: X:52.54, Y:-8.41, Z:0.58 [[ 9.36561352e-01 3.50073982e-01 -1.73505487e-02 5.25392888e+01] [-3.50017149e-01 9.36722040e-01 6.30987949e-03 -8.40731046e+00] [ 1.84615660e-02 1.63400334e-04 9.99829557e-01 5.78705294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.629999999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.57, Y:-8.42, Z:0.58 [[ 9.36358168e-01 3.50629673e-01 -1.70942384e-02 5.25697083e+01] [-3.50574503e-01 9.36514177e-01 6.22201179e-03 -8.41691933e+00] [ 1.81906186e-02 1.66772579e-04 9.99834523e-01 5.79909859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.66 meters Centerline goodness [0,1] 0.9997956542469859 Centerline is valid? [True, True] Translation: X:52.60, Y:-8.43, Z:0.58 [[ 9.36523670e-01 3.50164873e-01 -1.75492648e-02 5.26007388e+01] [-3.50106542e-01 9.36688068e-01 6.39316846e-03 -8.42893640e+00] [ 1.86768499e-02 1.56758803e-04 9.99825560e-01 5.77019769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.69 meters Centerline goodness [0,1] 0.999863920892679 Centerline is valid? [True, True] Translation: X:52.63, Y:-8.44, Z:0.58 [[ 9.36360626e-01 3.50590116e-01 -1.77580838e-02 5.26304839e+01] [-3.50530358e-01 9.36528987e-01 6.47484356e-03 -8.43954428e+00] [ 1.89009764e-02 1.61958894e-04 9.99821347e-01 5.77750317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.72 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.66, Y:-8.45, Z:0.58 [[ 9.36064858e-01 3.51403099e-01 -1.72755523e-02 5.26614748e+01] [-3.51346586e-01 9.36224243e-01 6.30414954e-03 -8.45096582e+00] [ 1.83890886e-02 1.68613509e-04 9.99830892e-01 5.81920491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.69, Y:-8.46, Z:0.58 [[ 9.35965685e-01 3.51667249e-01 -1.72737711e-02 5.26918745e+01] [-3.51610692e-01 9.36125055e-01 6.30902748e-03 -8.46214605e+00] [ 1.83890882e-02 1.68609358e-04 9.99830892e-01 5.82274869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.78 meters Centerline goodness [0,1] 0.9998639733387744 Centerline is valid? [True, True] Translation: X:52.72, Y:-8.47, Z:0.58 [[ 9.36132629e-01 3.51209139e-01 -1.75454316e-02 5.27221719e+01] [-3.51150619e-01 9.36297023e-01 6.41302584e-03 -8.47278388e+00] [ 1.86800487e-02 1.57646442e-04 9.99825500e-01 5.79334137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.809999999999995 meters Centerline goodness [0,1] 0.9999546464692276 Centerline is valid? [True, True] Translation: X:52.75, Y:-8.48, Z:0.58 [[ 9.35804120e-01 3.52106001e-01 -1.70883661e-02 5.27527936e+01] [-3.52050564e-01 9.35960115e-01 6.25015492e-03 -8.48438295e+00] [ 1.81947461e-02 1.67048191e-04 9.99834448e-01 5.82151388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.839999999999996 meters Centerline goodness [0,1] 0.9998407715754515 Centerline is valid? [True, True] Translation: X:52.78, Y:-8.49, Z:0.58 [[ 9.35813664e-01 3.52062752e-01 -1.74529055e-02 5.27832533e+01] [-3.52004827e-01 9.35976384e-01 6.38830028e-03 -8.49483313e+00] [ 1.85845900e-02 1.65248301e-04 9.99827278e-01 5.80345205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.87 meters Centerline goodness [0,1] 0.9997961541074948 Centerline is valid? [True, True] Translation: X:52.81, Y:-8.50, Z:0.58 [[ 9.35242389e-01 3.53550957e-01 -1.79831755e-02 5.28141768e+01] [-3.53489651e-01 9.35415246e-01 6.58668579e-03 -8.50451201e+00] [ 1.91504656e-02 1.96718663e-04 9.99816594e-01 5.79392708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.9 meters Centerline goodness [0,1] 0.999705195364764 Centerline is valid? [True, True] Translation: X:52.84, Y:-8.51, Z:0.58 [[ 9.34837076e-01 3.54615612e-01 -1.80944684e-02 5.28445696e+01] [-3.54553643e-01 9.35012151e-01 6.63271127e-03 -8.51389329e+00] [ 1.92706108e-02 2.14955276e-04 9.99814281e-01 5.77959540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.93 meters Centerline goodness [0,1] 0.9998863352201687 Centerline is valid? [True, True] Translation: X:52.88, Y:-8.52, Z:0.58 [[ 9.33866285e-01 3.57172985e-01 -1.79226316e-02 5.28750660e+01] [-3.57112557e-01 9.34038217e-01 6.57494975e-03 -8.52420887e+00] [ 1.90888173e-02 2.60272922e-04 9.99817758e-01 5.81151471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.96 meters Centerline goodness [0,1] 0.999864050391988 Centerline is valid? [True, True] Translation: X:52.91, Y:-8.54, Z:0.58 [[ 9.33651678e-01 3.57724088e-01 -1.81113678e-02 5.29062764e+01] [-3.57662380e-01 9.33827288e-01 6.64966854e-03 -8.53503363e+00] [ 1.92916361e-02 2.69280733e-04 9.99813863e-01 5.80836186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.989999999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.94, Y:-8.55, Z:0.58 [[ 9.33138348e-01 3.59045435e-01 -1.84173718e-02 5.29361066e+01] [-3.58981789e-01 9.33320035e-01 6.76663885e-03 -8.54511351e+00] [ 1.96188329e-02 2.97290891e-04 9.99807488e-01 5.83892717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.019999999999996 meters Centerline goodness [0,1] 0.9998418579432496 Centerline is valid? [True, True] Translation: X:52.97, Y:-8.56, Z:0.58 [[ 9.33324516e-01 3.58542739e-01 -1.87736962e-02 5.29667403e+01] [-3.58476418e-01 9.33513268e-01 6.90191605e-03 -8.55649924e+00] [ 2.00001264e-02 2.88199925e-04 9.99799936e-01 5.80443072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.05 meters Centerline goodness [0,1] 0.999819110930222 Centerline is valid? [True, True] Translation: X:53.00, Y:-8.57, Z:0.58 [[ 9.33132988e-01 3.59013703e-01 -1.92870029e-02 5.29973921e+01] [-3.58943676e-01 9.33332240e-01 7.09694813e-03 -8.56753648e+00] [ 2.05490832e-02 3.00551301e-04 9.99788800e-01 5.80464309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.08 meters Centerline goodness [0,1] 0.9997739908692311 Centerline is valid? [True, True] Translation: X:53.03, Y:-8.58, Z:0.58 [[ 9.32730213e-01 3.60046531e-01 -1.95152739e-02 5.30277631e+01] [-3.59974938e-01 9.32934291e-01 7.18692193e-03 -8.57840433e+00] [ 2.07940945e-02 3.21550283e-04 9.99783728e-01 5.80839219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.11 meters Centerline goodness [0,1] 0.9996839158313013 Centerline is valid? [True, True] Translation: X:53.06, Y:-8.59, Z:0.58 [[ 9.32794159e-01 3.59871493e-01 -1.96866970e-02 5.30578279e+01] [-3.59798476e-01 9.33001827e-01 7.25585217e-03 -8.58854434e+00] [ 2.09788986e-02 3.15027048e-04 9.99779869e-01 5.79953952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.14 meters Centerline goodness [0,1] 0.9996835228428691 Centerline is valid? [True, True] Translation: X:53.09, Y:-8.60, Z:0.58 [[ 9.32892596e-01 3.59655869e-01 -1.89488981e-02 5.30876555e+01] [-3.59588068e-01 9.33084975e-01 6.98935545e-03 -8.60094938e+00] [ 2.01946948e-02 2.93479719e-04 9.99796023e-01 5.81393255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.169999999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.12, Y:-8.61, Z:0.59 [[ 9.32673287e-01 3.60277962e-01 -1.78977705e-02 5.31181460e+01] [-3.60217492e-01 9.32844954e-01 6.60679658e-03 -8.61280597e+00] [ 1.90761281e-02 2.85107328e-04 9.99817993e-01 5.87426191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.199999999999996 meters Centerline goodness [0,1] 0.9997058157954288 Centerline is valid? [True, True] Translation: X:53.15, Y:-8.63, Z:0.58 [[ 9.33957873e-01 3.56959214e-01 -1.74014375e-02 5.31462340e+01] [-3.56901395e-01 9.34119948e-01 6.42789696e-03 -8.62596565e+00] [ 1.85495269e-02 2.07212339e-04 9.99827921e-01 5.83893896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.23 meters Centerline goodness [0,1] 0.9998416002896452 Centerline is valid? [True, True] Translation: X:53.18, Y:-8.64, Z:0.59 [[ 9.34569515e-01 3.55382990e-01 -1.68152479e-02 5.31752036e+01] [-3.55328687e-01 9.34720762e-01 6.21461434e-03 -8.63843874e+00] [ 1.79261295e-02 1.66950852e-04 9.99839300e-01 5.86108067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.26 meters Centerline goodness [0,1] 0.9997496529279228 Centerline is valid? [True, True] Translation: X:53.20, Y:-8.65, Z:0.59 [[ 9.36144662e-01 3.51200761e-01 -1.70645310e-02 5.32033544e+01] [-3.51144058e-01 9.36300175e-01 6.31128287e-03 -8.65361246e+00] [ 1.81940507e-02 8.38348895e-05 9.99834471e-01 5.85702065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.29 meters Centerline goodness [0,1] 0.9997502951057841 Centerline is valid? [True, True] Translation: X:53.23, Y:-8.67, Z:0.59 [[ 9.36908632e-01 3.49151939e-01 -1.71796347e-02 5.32321635e+01] [-3.49094033e-01 9.37066125e-01 6.35878175e-03 -8.66640566e+00] [ 1.83186347e-02 3.97104699e-05 9.99832199e-01 5.85544178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.32 meters Centerline goodness [0,1] 0.9997729285406117 Centerline is valid? [True, True] Translation: X:53.26, Y:-8.68, Z:0.59 [[ 9.37665291e-01 3.47120037e-01 -1.70728334e-02 5.32623599e+01] [-3.47062418e-01 9.37820708e-01 6.32440924e-03 -8.68007793e+00] [ 1.82065859e-02 -4.84017853e-06 9.99834246e-01 5.86321276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.35 meters Centerline goodness [0,1] 0.9999091611027842 Centerline is valid? [True, True] Translation: X:53.29, Y:-8.69, Z:0.59 [[ 9.38862467e-01 3.43889865e-01 -1.66441665e-02 5.32919346e+01] [-3.43834504e-01 9.39009987e-01 6.17073812e-03 -8.69464063e+00] [ 1.77510929e-02 -7.06356753e-05 9.99842434e-01 5.88808184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.379999999999995 meters Centerline goodness [0,1] 0.9997505329523291 Centerline is valid? [True, True] Translation: X:53.32, Y:-8.71, Z:0.59 [[ 9.39409375e-01 3.42364457e-01 -1.72222297e-02 5.33203507e+01] [-3.42304834e-01 9.39567223e-01 6.39009584e-03 -8.70672348e+00] [ 1.83691843e-02 -1.07663441e-04 9.99831267e-01 5.86797844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.41 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.35, Y:-8.72, Z:0.59 [[ 9.39533402e-01 3.42016561e-01 -1.73683419e-02 5.33506831e+01] [-3.41955774e-01 9.39693917e-01 6.44907345e-03 -8.71908824e+00] [ 1.85266151e-02 -1.19915118e-04 9.99828360e-01 5.91017407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.44 meters Centerline goodness [0,1] 0.9997486805730083 Centerline is valid? [True, True] Translation: X:53.38, Y:-8.73, Z:0.59 [[ 9.40474326e-01 3.39415189e-01 -1.74748827e-02 5.33807182e+01] [-3.39353108e-01 9.40636645e-01 6.49383017e-03 -8.73116287e+00] [ 1.86416196e-02 -1.77124785e-04 9.99826214e-01 5.88509216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.47 meters Centerline goodness [0,1] 0.9998636425617018 Centerline is valid? [True, True] Translation: X:53.41, Y:-8.74, Z:0.59 [[ 9.40594343e-01 3.39105658e-01 -1.70186889e-02 5.34094884e+01] [-3.39046637e-01 9.40748276e-01 6.32917642e-03 -8.74399752e+00] [ 1.81565618e-02 -1.83058290e-04 9.99835139e-01 5.90000521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.5 meters Centerline goodness [0,1] 0.9998175140856315 Centerline is valid? [True, True] Translation: X:53.44, Y:-8.75, Z:0.59 [[ 9.40782164e-01 3.38605492e-01 -1.65903593e-02 5.34406861e+01] [-3.38549238e-01 9.40928416e-01 6.17493047e-03 -8.75478523e+00] [ 1.77012059e-02 -1.92610948e-04 9.99843303e-01 5.91085783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.53 meters Centerline goodness [0,1] 0.9997949839404087 Centerline is valid? [True, True] Translation: X:53.47, Y:-8.77, Z:0.59 [[ 9.40948720e-01 3.38173093e-01 -1.59519627e-02 5.34702714e+01] [-3.38120940e-01 9.41083907e-01 5.94217720e-03 -8.76645710e+00] [ 1.70216198e-02 -1.97591421e-04 9.99855102e-01 5.91985532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.559999999999995 meters Centerline goodness [0,1] 0.9998633257403189 Centerline is valid? [True, True] Translation: X:53.50, Y:-8.78, Z:0.59 [[ 9.41117350e-01 3.37770699e-01 -1.44599052e-02 5.35014082e+01] [-3.37727736e-01 9.41228409e-01 5.39049911e-03 -8.77687961e+00] [ 1.54308262e-02 -1.89581193e-04 9.99880920e-01 5.93938918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.589999999999996 meters Centerline goodness [0,1] 0.9998635712499148 Centerline is valid? [True, True] Translation: X:53.53, Y:-8.79, Z:0.59 [[ 9.41034815e-01 3.38004827e-01 -1.43601674e-02 5.35323161e+01] [-3.37962412e-01 9.41144357e-01 5.35785842e-03 -8.78800381e+00] [ 1.53259725e-02 -1.88734488e-04 9.99882533e-01 5.94234058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.62 meters Centerline goodness [0,1] 0.999795793342863 Centerline is valid? [True, True] Translation: X:53.56, Y:-8.80, Z:0.59 [[ 9.40973846e-01 3.38154434e-01 -1.48256242e-02 5.35632823e+01] [-3.38109168e-01 9.41090612e-01 5.53631663e-03 -8.79908576e+00] [ 1.58243858e-02 -1.96849687e-04 9.99874767e-01 5.93386553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.65 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.59, Y:-8.81, Z:0.60 [[ 9.40572461e-01 3.39244316e-01 -1.53863812e-02 5.35934884e+01] [-3.39195625e-01 9.40698282e-01 5.75060233e-03 -8.81001309e+00] [ 1.64248015e-02 -1.89864995e-04 9.99865086e-01 5.96316881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.68 meters Centerline goodness [0,1] 0.9998414208690136 Centerline is valid? [True, True] Translation: X:53.62, Y:-8.82, Z:0.59 [[ 9.40581115e-01 3.39180183e-01 -1.62471683e-02 5.36248370e+01] [-3.39125795e-01 9.40721405e-01 6.07735764e-03 -8.82070462e+00] [ 1.73453783e-02 -2.06413950e-04 9.99849536e-01 5.93215903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.71 meters Centerline goodness [0,1] 0.9997061084233847 Centerline is valid? [True, True] Translation: X:53.66, Y:-8.83, Z:0.59 [[ 9.40356662e-01 3.39798819e-01 -1.63128783e-02 5.36564765e+01] [-3.39743995e-01 9.40498125e-01 6.10699853e-03 -8.83010632e+00] [ 1.74173824e-02 -2.00554304e-04 9.99848286e-01 5.93117504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.739999999999995 meters Centerline goodness [0,1] 0.9998416791061655 Centerline is valid? [True, True] Translation: X:53.69, Y:-8.84, Z:0.60 [[ 9.40036512e-01 3.40690604e-01 -1.61638272e-02 5.36882723e+01] [-3.40636821e-01 9.40175450e-01 6.05628753e-03 -8.84016304e+00] [ 1.72601538e-02 -1.87136676e-04 9.99851015e-01 5.95331335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.769999999999996 meters Centerline goodness [0,1] 0.9997742612700061 Centerline is valid? [True, True] Translation: X:53.72, Y:-8.85, Z:0.59 [[ 9.39855052e-01 3.41158057e-01 -1.68422353e-02 5.37195043e+01] [-3.41099639e-01 9.40005927e-01 6.31607562e-03 -8.85050427e+00] [ 1.79865811e-02 -1.91315194e-04 9.99838210e-01 5.94472398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.8 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.75, Y:-8.86, Z:0.60 [[ 9.39146623e-01 3.43073043e-01 -1.74501305e-02 5.37496793e+01] [-3.43010559e-01 9.39308714e-01 6.54953599e-03 -8.85986656e+00] [ 1.86380288e-02 -1.65395606e-04 9.99826283e-01 5.97905775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.83 meters Centerline goodness [0,1] 0.9999096596427038 Centerline is valid? [True, True] Translation: X:53.78, Y:-8.87, Z:0.60 [[ 9.39106932e-01 3.43146865e-01 -1.81217768e-02 5.37809234e+01] [-3.43079384e-01 9.39281746e-01 6.80716910e-03 -8.87067181e+00] [ 1.93573129e-02 -1.75451659e-04 9.99812614e-01 5.95901593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.86 meters Centerline goodness [0,1] 0.999887168840547 Centerline is valid? [True, True] Translation: X:53.81, Y:-8.88, Z:0.60 [[ 9.38889990e-01 3.43722248e-01 -1.84554088e-02 5.38121270e+01] [-3.43652252e-01 9.39071343e-01 6.93851167e-03 -8.88123985e+00] [ 1.97158664e-02 -1.72256347e-04 9.99805609e-01 5.95318381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.89 meters Centerline goodness [0,1] 0.9997973338137273 Centerline is valid? [True, True] Translation: X:53.84, Y:-8.89, Z:0.59 [[ 9.38860149e-01 3.43724514e-01 -1.98765971e-02 5.38420669e+01] [-3.43643193e-01 9.39070510e-01 7.47888869e-03 -8.89101511e+00] [ 2.12362035e-02 -1.91173254e-04 9.99774468e-01 5.92766282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.919999999999995 meters Centerline goodness [0,1] 0.9997064601350283 Centerline is valid? [True, True] Translation: X:53.87, Y:-8.90, Z:0.59 [[ 9.38918293e-01 3.43564968e-01 -1.98885034e-02 5.38729813e+01] [-3.43483392e-01 9.39128890e-01 7.48913807e-03 -8.90090735e+00] [ 2.12508736e-02 -2.00318134e-04 9.99774155e-01 5.93263797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.949999999999996 meters Centerline goodness [0,1] 0.9998208727972951 Centerline is valid? [True, True] Translation: X:53.90, Y:-8.91, Z:0.59 [[ 9.38973476e-01 3.43464987e-01 -1.89898608e-02 5.39017115e+01] [-3.43390479e-01 9.39165461e-01 7.15651485e-03 -8.91430989e+00] [ 2.02926336e-02 -1.98840236e-04 9.99794064e-01 5.92201021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.98 meters Centerline goodness [0,1] 0.9998207684552481 Centerline is valid? [True, True] Translation: X:53.93, Y:-8.92, Z:0.60 [[ 9.39082441e-01 3.43206512e-01 -1.82608570e-02 5.39337228e+01] [-3.43137459e-01 9.39259948e-01 6.88732168e-03 -8.92262434e+00] [ 1.95154653e-02 -2.01778780e-04 9.99809535e-01 5.96378597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.01 meters Centerline goodness [0,1] 0.9998430000448572 Centerline is valid? [True, True] Translation: X:53.96, Y:-8.93, Z:0.60 [[ 9.39520528e-01 3.42052734e-01 -1.73523649e-02 5.39639429e+01] [-3.41990087e-01 9.39680732e-01 6.54994576e-03 -8.93387269e+00] [ 1.85461098e-02 -2.19471725e-04 9.99827982e-01 5.98141325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.04 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.99, Y:-8.94, Z:0.60 [[ 9.39272424e-01 3.42763157e-01 -1.67550401e-02 5.39945608e+01] [-3.42704776e-01 9.39421831e-01 6.32928168e-03 -8.94458846e+00] [ 1.79094950e-02 -2.02887484e-04 9.99839592e-01 6.02922479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.07 meters Centerline goodness [0,1] 0.9998431267087984 Centerline is valid? [True, True] Translation: X:54.03, Y:-8.95, Z:0.60 [[ 9.39599208e-01 3.41885766e-01 -1.63539381e-02 5.40254939e+01] [-3.41829932e-01 9.39741494e-01 6.18245680e-03 -8.95452666e+00] [ 1.74821682e-02 -2.18765968e-04 9.99847151e-01 6.00226070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.1 meters Centerline goodness [0,1] 0.9999106803921131 Centerline is valid? [True, True] Translation: X:54.06, Y:-8.96, Z:0.60 [[ 9.39228675e-01 3.42913624e-01 -1.61165129e-02 5.40566231e+01] [-3.42859468e-01 9.39366918e-01 6.09744888e-03 -8.96324372e+00] [ 1.72302173e-02 -2.01199788e-04 9.99851529e-01 6.01561475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.129999999999995 meters Centerline goodness [0,1] 0.9998664083895531 Centerline is valid? [True, True] Translation: X:54.09, Y:-8.97, Z:0.60 [[ 9.39072092e-01 3.43324332e-01 -1.64926826e-02 5.40865881e+01] [-3.43267596e-01 9.39216888e-01 6.24461318e-03 -8.97315072e+00] [ 1.76341336e-02 -2.02738471e-04 9.99844486e-01 6.00677703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.16 meters Centerline goodness [0,1] 0.9998445722406022 Centerline is valid? [True, True] Translation: X:54.12, Y:-8.98, Z:0.60 [[ 9.38921655e-01 3.43722707e-01 -1.67578549e-02 5.41179751e+01] [-3.43664102e-01 9.39071168e-01 6.35026904e-03 -8.98304558e+00] [ 1.79195501e-02 -2.03331953e-04 9.99839411e-01 6.00399689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.19 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.15, Y:-8.99, Z:0.60 [[ 9.38298810e-01 3.45397848e-01 -1.71950318e-02 5.41495093e+01] [-3.45336350e-01 9.38456336e-01 6.52004134e-03 -8.99183964e+00] [ 1.83887947e-02 -1.79677530e-04 9.99830896e-01 6.03333624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.22 meters Centerline goodness [0,1] 0.9998436837051428 Centerline is valid? [True, True] Translation: X:54.18, Y:-9.00, Z:0.60 [[ 9.38439148e-01 3.44952741e-01 -1.84274758e-02 5.41803555e+01] [-3.44881958e-01 9.38620032e-01 6.99078227e-03 -9.00210388e+00] [ 1.97078874e-02 -2.05119824e-04 9.99805760e-01 5.99410605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.25 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.21, Y:-9.01, Z:0.60 [[ 9.38053180e-01 3.46018375e-01 -1.80974010e-02 5.42106674e+01] [-3.45950206e-01 9.38227718e-01 6.87060368e-03 -9.01229874e+00] [ 1.93568384e-02 -1.84192018e-04 9.99812622e-01 6.02869906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.28 meters Centerline goodness [0,1] 0.9997775850181269 Centerline is valid? [True, True] Translation: X:54.24, Y:-9.02, Z:0.60 [[ 9.38160766e-01 3.45679761e-01 -1.89705218e-02 5.42417024e+01] [-3.45604673e-01 9.38352525e-01 7.20759308e-03 -9.02087285e+00] [ 2.02925561e-02 -2.05580076e-04 9.99794064e-01 5.99676884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.309999999999995 meters Centerline goodness [0,1] 0.9998449715412043 Centerline is valid? [True, True] Translation: X:54.27, Y:-9.03, Z:0.60 [[ 9.37963163e-01 3.46241516e-01 -1.84910148e-02 5.42713363e+01] [-3.46170186e-01 9.38145391e-01 7.03042771e-03 -9.03168739e+00] [ 1.97814862e-02 -1.93244185e-04 9.99804309e-01 6.00688454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.339999999999996 meters Centerline goodness [0,1] 0.9998002884722068 Centerline is valid? [True, True] Translation: X:54.30, Y:-9.04, Z:0.60 [[ 9.37903658e-01 3.46427869e-01 -1.80127774e-02 5.43021503e+01] [-3.46360117e-01 9.38076594e-01 6.85373383e-03 -9.04221021e+00] [ 1.92716893e-02 -1.89234357e-04 9.99814266e-01 6.01244351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.37 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.33, Y:-9.05, Z:0.61 [[ 9.37588049e-01 3.47371592e-01 -1.61748668e-02 5.43321603e+01] [-3.47317022e-01 9.37727547e-01 6.15905647e-03 -9.05288089e+00] [ 1.73070994e-02 -1.56851169e-04 9.99850209e-01 6.06754667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.4 meters Centerline goodness [0,1] 0.9999119175548313 Centerline is valid? [True, True] Translation: X:54.36, Y:-9.06, Z:0.61 [[ 9.37822289e-01 3.46728057e-01 -1.64015010e-02 5.43633073e+01] [-3.46671762e-01 9.37965684e-01 6.25027219e-03 -9.06375047e+00] [ 1.75511898e-02 -1.75707321e-04 9.99845951e-01 6.05586258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.43 meters Centerline goodness [0,1] 0.9998455325815919 Centerline is valid? [True, True] Translation: X:54.39, Y:-9.07, Z:0.61 [[ 9.37923338e-01 3.46429153e-01 -1.69308475e-02 5.43942004e+01] [-3.46369015e-01 9.38076119e-01 6.45760343e-03 -9.07495002e+00] [ 1.81195258e-02 -1.92415987e-04 9.99835809e-01 6.05233676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.46 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.43, Y:-9.09, Z:0.61 [[ 9.37615236e-01 3.47271637e-01 -1.67355515e-02 5.44259583e+01] [-3.47212916e-01 9.37764564e-01 6.38850886e-03 -9.08511247e+00] [ 1.79125551e-02 -1.79163612e-04 9.99839541e-01 6.07967204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.489999999999995 meters Centerline goodness [0,1] 0.9997579704723977 Centerline is valid? [True, True] Translation: X:54.46, Y:-9.10, Z:0.60 [[ 9.37878867e-01 3.46493237e-01 -1.80462574e-02 5.44565845e+01] [-3.46424700e-01 9.38052446e-01 6.89466314e-03 -9.09502671e+00] [ 1.93172901e-02 -2.14689544e-04 9.99813381e-01 6.03727112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.519999999999996 meters Centerline goodness [0,1] 0.9997142040583024 Centerline is valid? [True, True] Translation: X:54.49, Y:-9.10, Z:0.60 [[ 9.37600748e-01 3.47242464e-01 -1.80972111e-02 5.44878433e+01] [-3.47173573e-01 9.37775362e-01 6.91963518e-03 -9.10423146e+00] [ 1.93739099e-02 -2.04981689e-04 9.99812287e-01 6.03511618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.55 meters Centerline goodness [0,1] 0.9997805959015315 Centerline is valid? [True, True] Translation: X:54.52, Y:-9.11, Z:0.60 [[ 9.37419402e-01 3.47747455e-01 -1.77924900e-02 5.45194847e+01] [-3.47680846e-01 9.37588219e-01 6.80886026e-03 -9.11464975e+00] [ 1.90497928e-02 -1.96649741e-04 9.99818517e-01 6.03792940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.58 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.55, Y:-9.12, Z:0.61 [[ 9.36865520e-01 3.49270255e-01 -1.71255936e-02 5.45498836e+01] [-3.49208706e-01 9.37022018e-01 6.55881059e-03 -9.12464099e+00] [ 1.83378557e-02 -1.64317122e-04 9.99831834e-01 6.07818284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.61 meters Centerline goodness [0,1] 0.9998031883487503 Centerline is valid? [True, True] Translation: X:54.58, Y:-9.13, Z:0.60 [[ 9.37008592e-01 3.48780029e-01 -1.91674086e-02 5.45804855e+01] [-3.48702705e-01 9.37204594e-01 7.34659269e-03 -9.13431894e+00] [ 2.05261283e-02 -2.00093240e-04 9.99789297e-01 6.03671092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.64 meters Centerline goodness [0,1] 0.9998689298119143 Centerline is valid? [True, True] Translation: X:54.61, Y:-9.14, Z:0.60 [[ 9.36702399e-01 3.49555220e-01 -1.99941006e-02 5.46123989e+01] [-3.49471124e-01 9.36915743e-01 7.66969013e-03 -9.14383356e+00] [ 2.14137679e-02 -1.96856328e-04 9.99770680e-01 6.03978146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.669999999999995 meters Centerline goodness [0,1] 0.9998689298119143 Centerline is valid? [True, True] Translation: X:54.64, Y:-9.16, Z:0.60 [[ 9.36603025e-01 3.49821521e-01 -1.99919181e-02 5.46426248e+01] [-3.49737364e-01 9.36816345e-01 7.67537612e-03 -9.15550726e+00] [ 2.14137674e-02 -1.96859761e-04 9.99770680e-01 6.04332537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.699999999999996 meters Centerline goodness [0,1] 0.9998475310927665 Centerline is valid? [True, True] Translation: X:54.67, Y:-9.17, Z:0.60 [[ 9.36437671e-01 3.50243275e-01 -2.03503529e-02 5.46737697e+01] [-3.50156027e-01 9.36658748e-01 7.81967822e-03 -9.16653646e+00] [ 2.18001258e-02 -1.96842536e-04 9.99762330e-01 6.04209858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.73 meters Centerline goodness [0,1] 0.9999345992021103 Centerline is valid? [True, True] Translation: X:54.71, Y:-9.18, Z:0.61 [[ 9.36200236e-01 3.50898844e-01 -1.99779702e-02 5.47050161e+01] [-3.50814771e-01 9.36413353e-01 7.68303072e-03 -9.17765161e+00] [ 2.14036046e-02 -1.84288131e-04 9.99770900e-01 6.06315552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.76 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.74, Y:-9.19, Z:0.61 [[ 9.35770076e-01 3.52090866e-01 -1.91412509e-02 5.47359519e+01] [-3.52013820e-01 9.35965810e-01 7.36699865e-03 -9.18699333e+00] [ 2.05094094e-02 -1.55832044e-04 9.99789648e-01 6.09704569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.79 meters Centerline goodness [0,1] 0.999760729123616 Centerline is valid? [True, True] Translation: X:54.77, Y:-9.20, Z:0.61 [[ 9.35995534e-01 3.51480973e-01 -1.93257651e-02 5.47659475e+01] [-3.51402186e-01 9.36195009e-01 7.44376997e-03 -9.19694865e+00] [ 2.07090283e-02 -1.76219348e-04 9.99785530e-01 6.06134095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.82 meters Centerline goodness [0,1] 0.9998913610290283 Centerline is valid? [True, True] Translation: X:54.80, Y:-9.21, Z:0.61 [[ 9.35720646e-01 3.52276220e-01 -1.81200895e-02 5.47953107e+01] [-3.52207009e-01 9.35896063e-01 6.98436580e-03 -9.20688795e+00] [ 1.94189464e-02 -1.53392739e-04 9.99811423e-01 6.08596073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.85 meters Centerline goodness [0,1] 0.9998049668443636 Centerline is valid? [True, True] Translation: X:54.83, Y:-9.22, Z:0.61 [[ 9.35275259e-01 3.53452846e-01 -1.82009821e-02 5.48274589e+01] [-3.53383137e-01 9.35452333e-01 7.02074972e-03 -9.21616106e+00] [ 1.95076551e-02 -1.34413361e-04 9.99809699e-01 6.07929244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.879999999999995 meters Centerline goodness [0,1] 0.9997397188964081 Centerline is valid? [True, True] Translation: X:54.86, Y:-9.23, Z:0.61 [[ 9.34868950e-01 3.54499389e-01 -1.87144428e-02 5.48574593e+01] [-3.54425783e-01 9.35056238e-01 7.22464594e-03 -9.22628390e+00] [ 2.00601891e-02 -1.21216105e-04 9.99798767e-01 6.07140453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.91 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.89, Y:-9.24, Z:0.61 [[ 9.34029237e-01 3.56749905e-01 -1.78574864e-02 5.48877626e+01] [-3.56683201e-01 9.34199925e-01 6.89885064e-03 -9.23614031e+00] [ 1.91436268e-02 -7.42627639e-05 9.99816741e-01 6.11734152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.94 meters Centerline goodness [0,1] 0.999870429956594 Centerline is valid? [True, True] Translation: X:54.92, Y:-9.24, Z:0.61 [[ 9.33144974e-01 3.58942138e-01 -2.00249558e-02 5.49189553e+01] [-3.58858632e-01 9.33359813e-01 7.74222179e-03 -9.24367639e+00] [ 2.14694986e-02 -3.84871120e-05 9.99769503e-01 6.07603715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.97 meters Centerline goodness [0,1] 0.999935015704538 Centerline is valid? [True, True] Translation: X:54.95, Y:-9.25, Z:0.61 [[ 9.32339523e-01 3.61013098e-01 -2.03114791e-02 5.49505353e+01] [-3.60927540e-01 9.32560745e-01 7.85923520e-03 -9.25350497e+00] [ 2.17789749e-02 3.49659338e-06 9.99762810e-01 6.08126615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.0 meters Centerline goodness [0,1] 0.9996981978097784 Centerline is valid? [True, True] Translation: X:54.98, Y:-9.26, Z:0.60 [[ 9.31816428e-01 3.62276571e-01 -2.17676601e-02 5.49808744e+01] [-3.62178495e-01 9.32070644e-01 8.42926908e-03 -9.26255479e+00] [ 2.33427236e-02 2.92469444e-05 9.99727521e-01 6.04434694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.03 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.01, Y:-9.27, Z:0.61 [[ 9.29766244e-01 3.67552006e-01 -2.09822653e-02 5.50132871e+01] [-3.67462085e-01 9.30002957e-01 8.13115841e-03 -9.27076191e+00] [ 2.25021924e-02 1.50110331e-04 9.99746782e-01 6.09371480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.059999999999995 meters Centerline goodness [0,1] 0.9998921972359371 Centerline is valid? [True, True] Translation: X:55.04, Y:-9.28, Z:0.61 [[ 9.29170429e-01 3.69017745e-01 -2.16383597e-02 5.50443448e+01] [-3.68922357e-01 9.29422331e-01 8.39194368e-03 -9.28055215e+00] [ 2.32079509e-02 1.85328777e-04 9.99730642e-01 6.07383297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.089999999999996 meters Centerline goodness [0,1] 0.9997627930045501 Centerline is valid? [True, True] Translation: X:55.08, Y:-9.29, Z:0.61 [[ 9.27641145e-01 3.72805523e-01 -2.23147278e-02 5.50752845e+01] [-3.72705020e-01 9.27909458e-01 8.66063058e-03 -9.28879001e+00] [ 2.39347779e-02 2.82853775e-04 9.99713482e-01 6.06813594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.12 meters Centerline goodness [0,1] 0.9998921879379865 Centerline is valid? [True, True] Translation: X:55.11, Y:-9.30, Z:0.61 [[ 9.26791822e-01 3.74939448e-01 -2.18478751e-02 5.51056941e+01] [-3.74843554e-01 9.27049246e-01 8.48559984e-03 -9.29840840e+00] [ 2.34356423e-02 3.25150620e-04 9.99725295e-01 6.08451399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.15 meters Centerline goodness [0,1] 0.9997848351837507 Centerline is valid? [True, True] Translation: X:55.14, Y:-9.31, Z:0.61 [[ 9.26167836e-01 3.76460338e-01 -2.21529527e-02 5.51361638e+01] [-3.76362031e-01 9.26432665e-01 8.61043155e-03 -9.30821494e+00] [ 2.37647050e-02 3.62825503e-04 9.99717514e-01 6.07317197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.18 meters Centerline goodness [0,1] 0.9997193012760995 Centerline is valid? [True, True] Translation: X:55.17, Y:-9.32, Z:0.61 [[ 9.25487358e-01 3.78145181e-01 -2.18945746e-02 5.51661992e+01] [-3.78049479e-01 9.25746221e-01 8.51621334e-03 -9.31834600e+00] [ 2.34891848e-02 3.95584751e-04 9.99724013e-01 6.07913370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.21 meters Centerline goodness [0,1] 0.9997850433137723 Centerline is valid? [True, True] Translation: X:55.20, Y:-9.33, Z:0.61 [[ 9.24477694e-01 3.80593987e-01 -2.21181155e-02 5.51963107e+01] [-3.80496870e-01 9.24742131e-01 8.60950443e-03 -9.32835422e+00] [ 2.37302788e-02 4.56578900e-04 9.99718293e-01 6.08572957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.239999999999995 meters Centerline goodness [0,1] 0.9998061514603257 Centerline is valid? [True, True] Translation: X:55.23, Y:-9.34, Z:0.61 [[ 9.24070250e-01 3.81605321e-01 -2.17152750e-02 5.52267401e+01] [-3.81511833e-01 9.24325246e-01 8.45936747e-03 -9.34068671e+00] [ 2.33001166e-02 4.67584571e-04 9.99728406e-01 6.09524717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.269999999999996 meters Centerline goodness [0,1] 0.9998275044201992 Centerline is valid? [True, True] Translation: X:55.26, Y:-9.35, Z:0.61 [[ 9.23710915e-01 3.82475152e-01 -2.17003110e-02 5.52562460e+01] [-3.82381876e-01 9.23965651e-01 8.46025150e-03 -9.35296491e+00] [ 2.32861780e-02 4.82978980e-04 9.99728724e-01 6.10808823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.3 meters Centerline goodness [0,1] 0.9997847657174834 Centerline is valid? [True, True] Translation: X:55.28, Y:-9.36, Z:0.61 [[ 9.23465066e-01 3.83044911e-01 -2.21103806e-02 5.52847783e+01] [-3.82948092e-01 9.23729585e-01 8.62633208e-03 -9.36440654e+00] [ 2.37282853e-02 5.01011740e-04 9.99718319e-01 6.10387640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.33 meters Centerline goodness [0,1] 0.9997202195200688 Centerline is valid? [True, True] Translation: X:55.32, Y:-9.38, Z:0.61 [[ 9.23358829e-01 3.83291694e-01 -2.22699208e-02 5.53151626e+01] [-3.83193383e-01 9.23627210e-01 8.69532541e-03 -9.37728127e+00] [ 2.39019508e-02 5.04780804e-04 9.99714180e-01 6.10500413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.36 meters Centerline goodness [0,1] 0.9997200146453877 Centerline is valid? [True, True] Translation: X:55.34, Y:-9.39, Z:0.61 [[ 9.23166894e-01 3.83757327e-01 -2.22080898e-02 5.53445349e+01] [-3.83659528e-01 9.23433839e-01 8.67824689e-03 -9.38861736e+00] [ 2.38380424e-02 5.08875006e-04 9.99715704e-01 6.10630580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.39 meters Centerline goodness [0,1] 0.9997613882863341 Centerline is valid? [True, True] Translation: X:55.37, Y:-9.40, Z:0.61 [[ 9.23029022e-01 3.84066742e-01 -2.25867814e-02 5.53745701e+01] [-3.83965495e-01 9.23305187e-01 8.83350075e-03 -9.40215593e+00] [ 2.42471463e-02 5.18967124e-04 9.99705860e-01 6.11218719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.419999999999995 meters Centerline goodness [0,1] 0.9997394532861454 Centerline is valid? [True, True] Translation: X:55.40, Y:-9.42, Z:0.61 [[ 9.22973523e-01 3.84172170e-01 -2.30568795e-02 5.54047599e+01] [-3.84066506e-01 9.23261321e-01 9.02505188e-03 -9.41557152e+00] [ 2.47546988e-02 5.25491218e-04 9.99693417e-01 6.11648785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.449999999999996 meters Centerline goodness [0,1] 0.999762516461927 Centerline is valid? [True, True] Translation: X:55.43, Y:-9.43, Z:0.61 [[ 9.22956017e-01 3.84222225e-01 -2.29231908e-02 5.54339142e+01] [-3.84117618e-01 9.23240497e-01 8.98002647e-03 -9.42777660e+00] [ 2.46139438e-02 5.17031978e-04 9.99696897e-01 6.11309567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.48 meters Centerline goodness [0,1] 0.9998485471342954 Centerline is valid? [True, True] Translation: X:55.46, Y:-9.44, Z:0.61 [[ 9.23459462e-01 3.82975756e-01 -2.34987602e-02 5.54613645e+01] [-3.82865257e-01 9.23758264e-01 9.21221113e-03 -9.44242989e+00] [ 2.52352275e-02 4.89755336e-04 9.99681421e-01 6.11701148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.51 meters Centerline goodness [0,1] 0.9997401359954957 Centerline is valid? [True, True] Translation: X:55.49, Y:-9.46, Z:0.61 [[ 9.23950269e-01 3.81747358e-01 -2.41837634e-02 5.54903417e+01] [-3.81629726e-01 9.24266596e-01 9.48750621e-03 -9.45693060e+00] [ 2.59740751e-02 4.63259073e-04 9.99662509e-01 6.11351591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.54 meters Centerline goodness [0,1] 0.9997168927894772 Centerline is valid? [True, True] Translation: X:55.52, Y:-9.47, Z:0.61 [[ 9.24587299e-01 3.80192405e-01 -2.43323269e-02 5.55186197e+01] [-3.80072610e-01 9.24907326e-01 9.55245795e-03 -9.47059525e+00] [ 2.61369194e-02 4.15969703e-04 9.99658286e-01 6.10779397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.57 meters Centerline goodness [0,1] 0.9998046069342827 Centerline is valid? [True, True] Translation: X:55.55, Y:-9.49, Z:0.61 [[ 9.26158021e-01 3.76428011e-01 -2.30927013e-02 5.55462302e+01] [-3.76318845e-01 9.26445826e-01 9.06964502e-03 -9.48961635e+00] [ 2.48082052e-02 2.90294209e-04 9.99692187e-01 6.13086915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.6 meters Centerline goodness [0,1] 0.999825795353091 Centerline is valid? [True, True] Translation: X:55.57, Y:-9.51, Z:0.61 [[ 9.26919878e-01 3.74582133e-01 -2.25336694e-02 5.55741708e+01] [-3.74477534e-01 9.27193708e-01 8.85459715e-03 -9.50506854e+00] [ 2.42098504e-02 2.30850830e-04 9.99706872e-01 6.14636865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.629999999999995 meters Centerline goodness [0,1] 0.999803669204424 Centerline is valid? [True, True] Translation: X:55.60, Y:-9.52, Z:0.62 [[ 9.27653963e-01 3.72806854e-01 -2.17525568e-02 5.56028612e+01] [-3.72708752e-01 9.27908950e-01 8.55373743e-03 -9.52048687e+00] [ 2.33732841e-02 1.72459877e-04 9.99726793e-01 6.15752446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.66 meters Centerline goodness [0,1] 0.9998033560566335 Centerline is valid? [True, True] Translation: X:55.63, Y:-9.54, Z:0.62 [[ 9.28335570e-01 3.71150708e-01 -2.09814520e-02 5.56312980e+01] [-3.71058882e-01 9.28572635e-01 8.25640112e-03 -9.53567141e+00] [ 2.25471713e-02 1.20643301e-04 9.99745773e-01 6.17030599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.69 meters Centerline goodness [0,1] 0.9998029772329247 Centerline is valid? [True, True] Translation: X:55.66, Y:-9.55, Z:0.62 [[ 9.29703955e-01 3.67755945e-01 -2.01524277e-02 5.56591107e+01] [-3.67670312e-01 9.29922343e-01 7.93586006e-03 -9.55308124e+00] [ 2.16586525e-02 3.14489057e-05 9.99765423e-01 6.18620066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.72 meters Centerline goodness [0,1] 0.9998681173755358 Centerline is valid? [True, True] Translation: X:55.69, Y:-9.57, Z:0.62 [[ 9.30031908e-01 3.66967258e-01 -1.93825248e-02 5.56881514e+01] [-3.66887758e-01 9.30233858e-01 7.63816813e-03 -9.56765250e+00] [ 2.08332385e-02 7.47101459e-06 9.99782965e-01 6.20343386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.75 meters Centerline goodness [0,1] 0.9999559684734269 Centerline is valid? [True, True] Translation: X:55.72, Y:-9.58, Z:0.62 [[ 9.30333028e-01 3.66240476e-01 -1.86646715e-02 5.57173080e+01] [-3.66166497e-01 9.30520238e-01 7.36094618e-03 -9.58216006e+00] [ 2.00637310e-02 -1.37539607e-05 9.99798703e-01 6.23109368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.78 meters Centerline goodness [0,1] 0.9998458557209549 Centerline is valid? [True, True] Translation: X:55.74, Y:-9.60, Z:0.62 [[ 9.31049228e-01 3.64392098e-01 -1.91241589e-02 5.57444350e+01] [-3.64313939e-01 9.31245615e-01 7.54707380e-03 -9.59802820e+00] [ 2.05593831e-02 -5.94995843e-05 9.99788632e-01 6.21748368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.809999999999995 meters Centerline goodness [0,1] 0.9998237846648604 Centerline is valid? [True, True] Translation: X:55.77, Y:-9.61, Z:0.62 [[ 9.31243424e-01 3.63884791e-01 -1.93273020e-02 5.57745873e+01] [-3.63804757e-01 9.31443961e-01 7.63186781e-03 -9.61204581e+00] [ 2.07794194e-02 -7.57622881e-05 9.99784082e-01 6.21376841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.839999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.80, Y:-9.63, Z:0.62 [[ 9.31136771e-01 3.64189055e-01 -1.87255143e-02 5.58042248e+01] [-3.64113869e-01 9.31325038e-01 7.40022751e-03 -9.62574144e+00] [ 2.01346221e-02 -7.24044963e-05 9.99797275e-01 6.24503645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.87 meters Centerline goodness [0,1] 0.9998893633969863 Centerline is valid? [True, True] Translation: X:55.83, Y:-9.64, Z:0.62 [[ 9.31406796e-01 3.63443187e-01 -1.97593251e-02 5.58332953e+01] [-3.63359169e-01 9.31616359e-01 7.81501530e-03 -9.63862035e+00] [ 2.12484246e-02 -9.92264014e-05 9.99774222e-01 6.21315553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.9 meters Centerline goodness [0,1] 0.9998000932897981 Centerline is valid? [True, True] Translation: X:55.86, Y:-9.65, Z:0.62 [[ 9.31850963e-01 3.62224497e-01 -2.11470076e-02 5.58616425e+01] [-3.62127806e-01 9.32090872e-01 8.37008154e-03 -9.65382858e+00] [ 2.27427813e-02 -1.41749083e-04 9.99741339e-01 6.18874241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.93 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.89, Y:-9.67, Z:0.62 [[ 9.31894334e-01 3.62153411e-01 -2.04415550e-02 5.58901954e+01] [-3.62062918e-01 9.32118493e-01 8.09677971e-03 -9.66820145e+00] [ 2.19862279e-02 -1.44214094e-04 9.99758263e-01 6.22095183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.96 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.92, Y:-9.68, Z:0.62 [[ 9.32212833e-01 3.61348155e-01 -2.01679155e-02 5.59187389e+01] [-3.61259750e-01 9.32430953e-01 7.99437963e-03 -9.68224441e+00] [ 2.16939430e-02 -1.66607167e-04 9.99764645e-01 6.22643116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.989999999999995 meters Centerline goodness [0,1] 0.9997534516765286 Centerline is valid? [True, True] Translation: X:55.95, Y:-9.70, Z:0.62 [[ 9.33102550e-01 3.59061209e-01 -1.98665553e-02 5.59471090e+01] [-3.58974785e-01 9.33313987e-01 7.88067006e-03 -9.69699920e+00] [ 2.13713769e-02 -2.21880906e-04 9.99771581e-01 6.21353701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.019999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.98, Y:-9.71, Z:0.63 [[ 9.33148723e-01 3.59021972e-01 -1.83489765e-02 5.59751355e+01] [-3.58948144e-01 9.33329084e-01 7.28356365e-03 -9.71154094e+00] [ 1.97405929e-02 -2.10317043e-04 9.99805113e-01 6.25928414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.05 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.00, Y:-9.73, Z:0.63 [[ 9.33236319e-01 3.58837104e-01 -1.74901332e-02 5.60040493e+01] [-3.58769905e-01 9.33400176e-01 6.94738669e-03 -9.72515998e+00] [ 1.88182736e-02 -2.08620139e-04 9.99822899e-01 6.27149918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.08 meters Centerline goodness [0,1] 0.9999327987097353 Centerline is valid? [True, True] Translation: X:56.03, Y:-9.74, Z:0.63 [[ 9.33675721e-01 3.57733291e-01 -1.66295332e-02 5.60324144e+01] [-3.57672283e-01 9.33823775e-01 6.61028147e-03 -9.73914803e+00] [ 1.78937712e-02 -2.23936219e-04 9.99839869e-01 6.26209772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.11 meters Centerline goodness [0,1] 0.999954987396471 Centerline is valid? [True, True] Translation: X:56.06, Y:-9.75, Z:0.63 [[ 9.33603584e-01 3.57940929e-01 -1.62061160e-02 5.60626455e+01] [-3.57882934e-01 9.33744207e-01 6.44686767e-03 -9.75081290e+00] [ 1.74399647e-02 -2.18926413e-04 9.99847888e-01 6.27521819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.14 meters Centerline goodness [0,1] 0.9998648861665953 Centerline is valid? [True, True] Translation: X:56.09, Y:-9.76, Z:0.63 [[ 9.33684748e-01 3.57723293e-01 -1.63351455e-02 5.60913069e+01] [-3.57664244e-01 9.33827603e-01 6.50347902e-03 -9.76406660e+00] [ 1.75806557e-02 -2.29701700e-04 9.99845422e-01 6.25603769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.169999999999995 meters Centerline goodness [0,1] 0.9998424239695654 Centerline is valid? [True, True] Translation: X:56.12, Y:-9.78, Z:0.62 [[ 9.33744063e-01 3.57511187e-01 -1.75435254e-02 5.61203196e+01] [-3.57442938e-01 9.33908821e-01 6.99003534e-03 -9.77760482e+00] [ 1.88830690e-02 -2.56094733e-04 9.99821666e-01 6.24765977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.199999999999996 meters Centerline goodness [0,1] 0.9997296383913484 Centerline is valid? [True, True] Translation: X:56.15, Y:-9.79, Z:0.62 [[ 9.33727964e-01 3.57483879e-01 -1.89041137e-02 5.61496290e+01] [-3.57404512e-01 9.33919267e-01 7.53777332e-03 -9.79041055e+00] [ 2.03495484e-02 -2.81814229e-04 9.99792887e-01 6.23404167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.23 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.18, Y:-9.80, Z:0.63 [[ 9.33506678e-01 3.58070676e-01 -1.87262844e-02 5.61797780e+01] [-3.57992799e-01 9.33694445e-01 7.47252910e-03 -9.80393338e+00] [ 2.01603213e-02 -2.71780845e-04 9.99796723e-01 6.27254845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.26 meters Centerline goodness [0,1] 0.999909338168631 Centerline is valid? [True, True] Translation: X:56.21, Y:-9.82, Z:0.63 [[ 9.33916099e-01 3.56989549e-01 -1.89521033e-02 5.62086405e+01] [-3.56909440e-01 9.34108328e-01 7.56850115e-03 -9.81717273e+00] [ 2.04051934e-02 -3.04160478e-04 9.99791746e-01 6.25961168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.29 meters Centerline goodness [0,1] 0.9998642595357676 Centerline is valid? [True, True] Translation: X:56.24, Y:-9.83, Z:0.63 [[ 9.33997578e-01 3.56787517e-01 -1.87400885e-02 5.62388375e+01] [-3.56709036e-01 9.34185512e-01 7.48951126e-03 -9.83027317e+00] [ 2.01788833e-02 -3.10426501e-04 9.99796337e-01 6.25832436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.32 meters Centerline goodness [0,1] 0.9999094735889196 Centerline is valid? [True, True] Translation: X:56.27, Y:-9.84, Z:0.63 [[ 9.33954625e-01 3.56919766e-01 -1.83586237e-02 5.62691414e+01] [-3.56844356e-01 9.34134994e-01 7.34296383e-03 -9.84343708e+00] [ 1.97702818e-02 -3.06823784e-04 9.99804502e-01 6.27120108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.35 meters Centerline goodness [0,1] 0.9999095575101182 Centerline is valid? [True, True] Translation: X:56.30, Y:-9.86, Z:0.63 [[ 9.33945148e-01 3.56954808e-01 -1.81583437e-02 5.62990602e+01] [-3.56880927e-01 9.34121603e-01 7.26871209e-03 -9.85607861e+00] [ 1.95567029e-02 -3.08211853e-04 9.99808702e-01 6.27718112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.379999999999995 meters Centerline goodness [0,1] 0.9998868701495577 Centerline is valid? [True, True] Translation: X:56.33, Y:-9.87, Z:0.63 [[ 9.33924416e-01 3.57046068e-01 -1.74152483e-02 5.63288782e+01] [-3.56978022e-01 9.34086728e-01 6.97680556e-03 -9.86889258e+00] [ 1.87583933e-02 -2.98948178e-04 9.99824001e-01 6.28389681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.41 meters Centerline goodness [0,1] 0.9998865312606376 Centerline is valid? [True, True] Translation: X:56.36, Y:-9.88, Z:0.63 [[ 9.33925123e-01 3.57070443e-01 -1.68690374e-02 5.63587817e+01] [-3.57006504e-01 9.34077413e-01 6.76342358e-03 -9.88177173e+00] [ 1.81720055e-02 -2.94175128e-04 9.99834832e-01 6.28663284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.44 meters Centerline goodness [0,1] 0.999864155044376 Centerline is valid? [True, True] Translation: X:56.39, Y:-9.89, Z:0.63 [[ 9.33922512e-01 3.57101337e-01 -1.63516334e-02 5.63884065e+01] [-3.57041175e-01 9.34065603e-01 6.56109467e-03 -9.89462303e+00] [ 1.76164740e-02 -2.89347622e-04 9.99844776e-01 6.28928413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.47 meters Centerline goodness [0,1] 0.9998185941043084 Centerline is valid? [True, True] Translation: X:56.42, Y:-9.91, Z:0.63 [[ 9.33983363e-01 3.56968371e-01 -1.57689666e-02 5.64187737e+01] [-3.56912319e-01 9.34116428e-01 6.33214182e-03 -9.90798340e+00] [ 1.69904251e-02 -2.85976661e-04 9.99855611e-01 6.28892479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.45, Y:-9.92, Z:0.63 [[ 9.33829771e-01 3.57378784e-01 -1.55680305e-02 5.64473248e+01] [-3.57324139e-01 9.33959489e-01 6.25562931e-03 -9.92124593e+00] [ 1.67755390e-02 -2.78859767e-04 9.99859242e-01 6.32980982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.53 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.48, Y:-9.94, Z:0.63 [[ 9.33457195e-01 3.58322840e-01 -1.61989965e-02 5.64771787e+01] [-3.58263753e-01 9.33597700e-01 6.51284729e-03 -9.93545311e+00] [ 1.74570479e-02 -2.75950874e-04 9.99847576e-01 6.32940446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.559999999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.51, Y:-9.95, Z:0.63 [[ 9.33356637e-01 3.58584773e-01 -1.61971681e-02 5.65072017e+01] [-3.58525646e-01 9.33497126e-01 6.51739195e-03 -9.94760873e+00] [ 1.74570474e-02 -2.75950867e-04 9.99847576e-01 6.33294850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.589999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.54, Y:-9.96, Z:0.63 [[ 9.32963190e-01 3.59575466e-01 -1.68869731e-02 5.65373746e+01] [-3.59511255e-01 9.33115968e-01 6.80059484e-03 -9.96048391e+00] [ 1.82028313e-02 -2.73647770e-04 9.99834277e-01 6.32966898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.62 meters Centerline goodness [0,1] 0.9998175765038537 Centerline is valid? [True, True] Translation: X:56.57, Y:-9.97, Z:0.63 [[ 9.32606243e-01 3.60442870e-01 -1.80701960e-02 5.65677970e+01] [-3.60369389e-01 9.32781249e-01 7.28319250e-03 -9.97310114e+00] [ 1.94807148e-02 -2.80405310e-04 9.99810194e-01 6.28920378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.65 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.60, Y:-9.99, Z:0.63 [[ 9.31437120e-01 3.63421195e-01 -1.87063059e-02 5.65967935e+01] [-3.63342935e-01 9.31624914e-01 7.54521558e-03 -9.98503873e+00] [ 2.01693519e-02 -2.31089770e-04 9.99796551e-01 6.31209480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.68 meters Centerline goodness [0,1] 0.999749424816055 Centerline is valid? [True, True] Translation: X:56.63, Y:-10.00, Z:0.63 [[ 9.30970579e-01 3.64561493e-01 -1.97154615e-02 5.66276429e+01] [-3.64474691e-01 9.31179289e-01 7.95810233e-03 -9.99726166e+00] [ 2.12598471e-02 -2.22972378e-04 9.99773959e-01 6.26873012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.71 meters Centerline goodness [0,1] 0.9998400329075162 Centerline is valid? [True, True] Translation: X:56.66, Y:-10.01, Z:0.63 [[ 9.30208894e-01 3.66482484e-01 -2.00500058e-02 5.66561574e+01] [-3.66393031e-01 9.30424932e-01 8.09896893e-03 -1.00083908e+01] [ 2.16231555e-02 -1.87550528e-04 9.99766175e-01 6.27268165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.739999999999995 meters Centerline goodness [0,1] 0.999839904857744 Centerline is valid? [True, True] Translation: X:56.69, Y:-10.02, Z:0.63 [[ 9.29410860e-01 3.68488837e-01 -2.02837583e-02 5.66863204e+01] [-3.68397642e-01 9.29632161e-01 8.19891092e-03 -1.00198621e+01] [ 2.18776412e-02 -1.47668122e-04 9.99760645e-01 6.27913662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.769999999999996 meters Centerline goodness [0,1] 0.9997704579364168 Centerline is valid? [True, True] Translation: X:56.72, Y:-10.03, Z:0.63 [[ 9.27866118e-01 3.72360610e-01 -2.02988450e-02 5.67163019e+01] [-3.72270078e-01 9.28088127e-01 8.21077837e-03 -1.00310685e+01] [ 2.18964875e-02 -6.18504415e-05 9.99760241e-01 6.28885492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.8 meters Centerline goodness [0,1] 0.9999082779179087 Centerline is valid? [True, True] Translation: X:56.75, Y:-10.04, Z:0.63 [[ 9.27011706e-01 3.74531753e-01 -1.93716939e-02 5.67450366e+01] [-3.74449688e-01 9.27214089e-01 7.83996855e-03 -1.00421529e+01] [ 2.08980247e-02 -1.40178786e-05 9.99781612e-01 6.31959052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.83 meters Centerline goodness [0,1] 0.9997941351388444 Centerline is valid? [True, True] Translation: X:56.78, Y:-10.05, Z:0.63 [[ 9.26319814e-01 3.76274050e-01 -1.86933529e-02 5.67759015e+01] [-3.76197901e-01 9.26508413e-01 7.56973744e-03 -1.00535921e+01] [ 2.01678444e-02 2.04023258e-05 9.99796608e-01 6.31581148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.86 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.81, Y:-10.06, Z:0.64 [[ 9.24484005e-01 3.80861294e-01 -1.65528858e-02 5.68076185e+01] [-3.80802231e-01 9.24632178e-01 6.70795599e-03 -1.00635535e+01] [ 1.78601316e-02 1.01977822e-04 9.99840490e-01 6.37331359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.89 meters Centerline goodness [0,1] 0.9997495047024799 Centerline is valid? [True, True] Translation: X:56.84, Y:-10.07, Z:0.63 [[ 9.23725062e-01 3.82724660e-01 -1.59324890e-02 5.68382639e+01] [-3.82670133e-01 9.23862445e-01 6.46154857e-03 -1.00737548e+01] [ 1.71924222e-02 1.28193329e-04 9.99852191e-01 6.33056091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.919999999999995 meters Centerline goodness [0,1] 0.9997710046028074 Centerline is valid? [True, True] Translation: X:56.87, Y:-10.09, Z:0.63 [[ 9.22861984e-01 3.84812290e-01 -1.56608067e-02 5.68686667e+01] [-3.84759830e-01 9.22994841e-01 6.35589802e-03 -1.00851759e+01] [ 1.69006715e-02 1.60032685e-04 9.99857161e-01 6.34205656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.949999999999996 meters Centerline goodness [0,1] 0.9997713344919053 Centerline is valid? [True, True] Translation: X:56.90, Y:-10.10, Z:0.64 [[ 9.21597584e-01 3.87785803e-01 -1.67350924e-02 5.68979027e+01] [-3.87726302e-01 9.21749489e-01 6.79667764e-03 -1.00976436e+01] [ 1.80612179e-02 2.24833775e-04 9.99836858e-01 6.35330471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.98 meters Centerline goodness [0,1] 0.9998858577787924 Centerline is valid? [True, True] Translation: X:56.93, Y:-10.11, Z:0.64 [[ 9.21118389e-01 3.88900789e-01 -1.72362654e-02 5.69275550e+01] [-3.88837773e-01 9.21279607e-01 7.00516247e-03 -1.01076849e+01] [ 1.86037330e-02 2.49527090e-04 9.99826904e-01 6.35432334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.01 meters Centerline goodness [0,1] 0.9997952358200806 Centerline is valid? [True, True] Translation: X:56.96, Y:-10.12, Z:0.63 [[ 9.20376847e-01 3.90578309e-01 -1.88426183e-02 5.69572046e+01] [-3.90503243e-01 9.20569656e-01 7.66330917e-03 -1.01185234e+01] [ 2.03390650e-02 3.04971208e-04 9.99793093e-01 6.33095085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.04 meters Centerline goodness [0,1] 0.9998179211143228 Centerline is valid? [True, True] Translation: X:56.99, Y:-10.13, Z:0.63 [[ 9.19851041e-01 3.91780620e-01 -1.95450259e-02 5.69874706e+01] [-3.91700007e-01 9.20058602e-01 7.95447285e-03 -1.01298699e+01] [ 2.10989775e-02 3.38856652e-04 9.99777334e-01 6.32801929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.07 meters Centerline goodness [0,1] 0.9998400767631537 Centerline is valid? [True, True] Translation: X:57.02, Y:-10.14, Z:0.63 [[ 9.19517094e-01 3.92532921e-01 -2.01549080e-02 5.70170435e+01] [-3.92447250e-01 9.19737884e-01 8.20859110e-03 -1.01420455e+01] [ 2.17593747e-02 3.61798408e-04 9.99763171e-01 6.33382682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.1 meters Centerline goodness [0,1] 0.9997725877242853 Centerline is valid? [True, True] Translation: X:57.05, Y:-10.15, Z:0.63 [[ 9.19268214e-01 3.93108529e-01 -2.02887759e-02 5.70462113e+01] [-3.93021722e-01 9.19492004e-01 8.26922678e-03 -1.01539491e+01] [ 2.19060708e-02 3.72292304e-04 9.99759964e-01 6.32957226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.129999999999995 meters Centerline goodness [0,1] 0.9997951099576561 Centerline is valid? [True, True] Translation: X:57.08, Y:-10.17, Z:0.63 [[ 9.19211989e-01 3.93237535e-01 -2.03361724e-02 5.70763834e+01] [-3.93150211e-01 9.19436841e-01 8.29502135e-03 -1.01666219e+01] [ 2.19597398e-02 3.70287396e-04 9.99758787e-01 6.33772233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.16 meters Centerline goodness [0,1] 0.9997489616139486 Centerline is valid? [True, True] Translation: X:57.11, Y:-10.18, Z:0.63 [[ 9.19280899e-01 3.93085534e-01 -2.01591633e-02 5.71063053e+01] [-3.92999594e-01 9.19501840e-01 8.22711994e-03 -1.01790404e+01] [ 2.17703496e-02 3.59508796e-04 9.99762933e-01 6.33975740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.19 meters Centerline goodness [0,1] 0.9996801169857881 Centerline is valid? [True, True] Translation: X:57.14, Y:-10.19, Z:0.63 [[ 9.19528671e-01 3.92527198e-01 -1.97337865e-02 5.71354005e+01] [-3.92444638e-01 9.19740336e-01 8.05729876e-03 -1.01922068e+01] [ 2.13126683e-02 3.35501460e-04 9.99772803e-01 6.34461035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.22 meters Centerline goodness [0,1] 0.9998857795545403 Centerline is valid? [True, True] Translation: X:57.16, Y:-10.21, Z:0.64 [[ 9.20142833e-01 3.91188537e-01 -1.75697162e-02 5.71634776e+01] [-3.91122763e-01 9.20310522e-01 7.17825383e-03 -1.02061322e+01] [ 1.89776453e-02 2.66897127e-04 9.99819873e-01 6.38952910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.25 meters Centerline goodness [0,1] 0.9997948343857569 Centerline is valid? [True, True] Translation: X:57.19, Y:-10.22, Z:0.64 [[ 9.20550552e-01 3.90236737e-01 -1.73772971e-02 5.71920961e+01] [-3.90172137e-01 9.20714522e-01 7.10434198e-03 -1.02200505e+01] [ 1.87719051e-02 2.40231227e-04 9.99823763e-01 6.39355071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.28 meters Centerline goodness [0,1] 0.9998172305864613 Centerline is valid? [True, True] Translation: X:57.22, Y:-10.23, Z:0.64 [[ 9.20921895e-01 3.89401223e-01 -1.64179993e-02 5.72204620e+01] [-3.89343349e-01 9.21068209e-01 6.71653203e-03 -1.02318702e+01] [ 1.77375230e-02 2.06837420e-04 9.99842656e-01 6.39855775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.309999999999995 meters Centerline goodness [0,1] 0.9997258834547822 Centerline is valid? [True, True] Translation: X:57.25, Y:-10.25, Z:0.64 [[ 9.21272830e-01 3.88575365e-01 -1.62959394e-02 5.72496968e+01] [-3.88518141e-01 9.21416926e-01 6.67103775e-03 -1.02462599e+01] [ 1.76075553e-02 1.85422248e-04 9.99844958e-01 6.40977872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.339999999999996 meters Centerline goodness [0,1] 0.9999314520735748 Centerline is valid? [True, True] Translation: X:57.28, Y:-10.26, Z:0.64 [[ 9.21599424e-01 3.87846490e-01 -1.51526357e-02 5.72782090e+01] [-3.87796848e-01 9.21723970e-01 6.20711030e-03 -1.02584792e+01] [ 1.63739534e-02 1.55675083e-04 9.99865926e-01 6.44400098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.37 meters Centerline goodness [0,1] 0.9998855678125143 Centerline is valid? [True, True] Translation: X:57.31, Y:-10.27, Z:0.64 [[ 9.21653718e-01 3.87694539e-01 -1.57279614e-02 5.73088257e+01] [-3.87640954e-01 9.21787894e-01 6.44746762e-03 -1.02710880e+01] [ 1.69974924e-02 1.54469447e-04 9.99855520e-01 6.43488282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.4 meters Centerline goodness [0,1] 0.9998627159363918 Centerline is valid? [True, True] Translation: X:57.34, Y:-10.28, Z:0.64 [[ 9.21569680e-01 3.87827349e-01 -1.72994732e-02 5.73399351e+01] [-3.87762430e-01 9.21732022e-01 7.09777155e-03 -1.02824593e+01] [ 1.86981883e-02 1.66994699e-04 9.99825160e-01 6.41745908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.43 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.37, Y:-10.29, Z:0.64 [[ 9.21336844e-01 3.88329878e-01 -1.83936135e-02 5.73690365e+01] [-3.88256489e-01 9.21520413e-01 7.55161180e-03 -1.02924954e+01] [ 1.98826068e-02 1.83861620e-04 9.99802305e-01 6.42897204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.46 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.40, Y:-10.30, Z:0.64 [[ 9.21171173e-01 3.88666839e-01 -1.95386352e-02 5.73986753e+01] [-3.88584008e-01 9.21378342e-01 8.02617631e-03 -1.03046211e+01] [ 2.11219838e-02 1.98918919e-04 9.99776886e-01 6.42545787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.489999999999995 meters Centerline goodness [0,1] 0.999862775592352 Centerline is valid? [True, True] Translation: X:57.43, Y:-10.32, Z:0.64 [[ 9.21100085e-01 3.88769435e-01 -2.08076928e-02 5.74277751e+01] [-3.88675385e-01 9.21335055e-01 8.55348089e-03 -1.03155910e+01] [ 2.24961887e-02 2.08826047e-04 9.99746907e-01 6.38378615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.519999999999996 meters Centerline goodness [0,1] 0.9997494419388638 Centerline is valid? [True, True] Translation: X:57.46, Y:-10.33, Z:0.64 [[ 9.21139880e-01 3.88648000e-01 -2.13085263e-02 5.74571538e+01] [-3.88549219e-01 9.21386287e-01 8.76440184e-03 -1.03272648e+01] [ 2.30396511e-02 2.06171171e-04 9.99734531e-01 6.37140468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.55 meters Centerline goodness [0,1] 0.9998170257536252 Centerline is valid? [True, True] Translation: X:57.49, Y:-10.34, Z:0.64 [[ 9.21064959e-01 3.88846868e-01 -2.09154426e-02 5.74871849e+01] [-3.88751624e-01 9.21302379e-01 8.60823524e-03 -1.03395524e+01] [ 2.26167323e-02 2.02168436e-04 9.99744189e-01 6.38742597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.58 meters Centerline goodness [0,1] 0.9998174641202912 Centerline is valid? [True, True] Translation: X:57.52, Y:-10.35, Z:0.64 [[ 9.21028775e-01 3.88959547e-01 -2.04075014e-02 5.75173442e+01] [-3.88868755e-01 9.21254815e-01 8.40581503e-03 -1.03521778e+01] [ 2.20700309e-02 1.93842133e-04 9.99756408e-01 6.40624412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.61 meters Centerline goodness [0,1] 0.9998863455549747 Centerline is valid? [True, True] Translation: X:57.55, Y:-10.36, Z:0.64 [[ 9.21073215e-01 3.88900742e-01 -1.95024353e-02 5.75464980e+01] [-3.88817691e-01 9.21279643e-01 8.03877602e-03 -1.03629101e+01] [ 2.10934826e-02 1.78590606e-04 9.99777492e-01 6.42827407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.64 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.58, Y:-10.37, Z:0.65 [[ 9.20999327e-01 3.89121378e-01 -1.85685836e-02 5.75766405e+01] [-3.89046035e-01 9.21186476e-01 7.65889466e-03 -1.03749294e+01] [ 2.00853678e-02 1.70197011e-04 9.99798254e-01 6.45978879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.669999999999995 meters Centerline goodness [0,1] 0.9999315349856224 Centerline is valid? [True, True] Translation: X:57.61, Y:-10.39, Z:0.64 [[ 9.20921146e-01 3.89285586e-01 -1.89993314e-02 5.76067338e+01] [-3.89206623e-01 9.21117095e-01 7.84230898e-03 -1.03868666e+01] [ 2.05535068e-02 1.72517450e-04 9.99788739e-01 6.43996125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.699999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.64, Y:-10.40, Z:0.65 [[ 9.20718160e-01 3.89750708e-01 -1.92991244e-02 5.76366775e+01] [-3.89669205e-01 9.20920384e-01 7.97228170e-03 -1.03994975e+01] [ 2.08801595e-02 1.80049939e-04 9.99781969e-01 6.45654207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.73 meters Centerline goodness [0,1] 0.99979466587575 Centerline is valid? [True, True] Translation: X:57.67, Y:-10.41, Z:0.64 [[ 9.20729108e-01 3.89662983e-01 -2.05102151e-02 5.76650581e+01] [-3.89570798e-01 9.20957505e-01 8.47751096e-03 -1.04111628e+01] [ 2.21924087e-02 1.84689738e-04 9.99753701e-01 6.41932192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.76 meters Centerline goodness [0,1] 0.999886154056331 Centerline is valid? [True, True] Translation: X:57.70, Y:-10.42, Z:0.64 [[ 9.20461475e-01 3.90328552e-01 -1.98568425e-02 5.76950552e+01] [-3.90242204e-01 9.20675613e-01 8.21198449e-03 -1.04235725e+01] [ 2.14870827e-02 1.90162625e-04 9.99769108e-01 6.43555811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.79 meters Centerline goodness [0,1] 0.9997952823965608 Centerline is valid? [True, True] Translation: X:57.73, Y:-10.44, Z:0.64 [[ 9.20002895e-01 3.91404864e-01 -1.99224942e-02 5.77260635e+01] [-3.91318053e-01 9.20218555e-01 8.24577600e-03 -1.04353026e+01] [ 2.15604856e-02 2.09893848e-04 9.99767524e-01 6.42844558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.82 meters Centerline goodness [0,1] 0.9999771689497717 Centerline is valid? [True, True] Translation: X:57.76, Y:-10.45, Z:0.65 [[ 9.19583791e-01 3.92432245e-01 -1.90416460e-02 5.77572105e+01] [-3.92353034e-01 9.19780890e-01 7.88738528e-03 -1.04471698e+01] [ 2.06094064e-02 2.17935923e-04 9.99787580e-01 6.46436934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.85 meters Centerline goodness [0,1] 0.9997276626648208 Centerline is valid? [True, True] Translation: X:57.79, Y:-10.46, Z:0.64 [[ 9.19342138e-01 3.92986775e-01 -1.92724461e-02 5.77866359e+01] [-3.92905624e-01 9.19544095e-01 7.98920060e-03 -1.04583638e+01] [ 2.08615142e-02 2.27443701e-04 9.99782349e-01 6.42717328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.879999999999995 meters Centerline goodness [0,1] 0.9997271859227936 Centerline is valid? [True, True] Translation: X:57.82, Y:-10.47, Z:0.64 [[ 9.19015129e-01 3.93765117e-01 -1.89796212e-02 5.78174314e+01] [-3.93686457e-01 9.19211062e-01 7.87376456e-03 -1.04706857e+01] [ 2.05466916e-02 2.35911103e-04 9.99788867e-01 6.43249760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.91 meters Centerline goodness [0,1] 0.9998185735344143 Centerline is valid? [True, True] Translation: X:57.85, Y:-10.48, Z:0.65 [[ 9.18594974e-01 3.94789859e-01 -1.80066917e-02 5.78478827e+01] [-3.94719142e-01 9.18771413e-01 7.47588521e-03 -1.04838110e+01] [ 1.94954372e-02 2.40275315e-04 9.99809917e-01 6.45291156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.94 meters Centerline goodness [0,1] 0.9997051485597641 Centerline is valid? [True, True] Translation: X:57.88, Y:-10.50, Z:0.65 [[ 9.18471607e-01 3.95103913e-01 -1.74013062e-02 5.78772890e+01] [-3.95037825e-01 9.18636404e-01 7.23005495e-03 -1.04955658e+01] [ 1.88420964e-02 2.33573971e-04 9.99822445e-01 6.45183599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.97 meters Centerline goodness [0,1] 0.9997281808503409 Centerline is valid? [True, True] Translation: X:57.91, Y:-10.51, Z:0.65 [[ 9.18245736e-01 3.95657179e-01 -1.67381536e-02 5.79074551e+01] [-3.95596030e-01 9.18398249e-01 6.95972811e-03 -1.05076802e+01] [ 1.81259573e-02 2.30806446e-04 9.99835685e-01 6.46232448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.0 meters Centerline goodness [0,1] 0.9997515752388265 Centerline is valid? [True, True] Translation: X:57.94, Y:-10.52, Z:0.65 [[ 9.17852642e-01 3.96585199e-01 -1.63311987e-02 5.79380088e+01] [-3.96527040e-01 9.17997888e-01 6.79586137e-03 -1.05195297e+01] [ 1.76871440e-02 2.38162568e-04 9.99843542e-01 6.46868785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.03 meters Centerline goodness [0,1] 0.9998409669211196 Centerline is valid? [True, True] Translation: X:57.97, Y:-10.53, Z:0.65 [[ 9.17586419e-01 3.97221640e-01 -1.58155562e-02 5.79688424e+01] [-3.97167102e-01 9.17722677e-01 6.58645581e-03 -1.05319740e+01] [ 1.71305773e-02 2.37776209e-04 9.99853233e-01 6.48344061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.059999999999995 meters Centerline goodness [0,1] 0.999841392123986 Centerline is valid? [True, True] Translation: X:58.00, Y:-10.54, Z:0.65 [[ 9.16986674e-01 3.98549839e-01 -1.71308496e-02 5.79985753e+01] [-3.98485980e-01 9.17146634e-01 7.13970961e-03 -1.05426161e+01] [ 1.85570312e-02 2.79384831e-04 9.99827764e-01 6.47679657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.089999999999996 meters Centerline goodness [0,1] 0.9997963893036514 Centerline is valid? [True, True] Translation: X:58.03, Y:-10.56, Z:0.65 [[ 9.16714161e-01 3.99117990e-01 -1.84384509e-02 5.80276195e+01] [-3.99044019e-01 9.16899523e-01 7.68998655e-03 -1.05561843e+01] [ 1.99754188e-02 3.08233965e-04 9.99800424e-01 6.47122169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.12 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.06, Y:-10.57, Z:0.65 [[ 9.16119423e-01 4.00460404e-01 -1.88856531e-02 5.80569373e+01] [-4.00382972e-01 9.16314001e-01 7.88205081e-03 -1.05689817e+01] [ 2.04616376e-02 3.40594060e-04 9.99790581e-01 6.50773728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.15 meters Centerline goodness [0,1] 0.9997502780993893 Centerline is valid? [True, True] Translation: X:58.09, Y:-10.58, Z:0.65 [[ 9.16145815e-01 4.00337635e-01 -2.01648845e-02 5.80858456e+01] [-4.00249195e-01 9.16367640e-01 8.42203068e-03 -1.05814154e+01] [ 2.18501035e-02 3.55170626e-04 9.99761195e-01 6.45997904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.18 meters Centerline goodness [0,1] 0.999840488560751 Centerline is valid? [True, True] Translation: X:58.12, Y:-10.60, Z:0.65 [[ 9.15838967e-01 4.01029020e-01 -2.03644629e-02 5.81159524e+01] [-4.00938849e-01 9.16065275e-01 8.51179500e-03 -1.05950972e+01] [ 2.20686542e-02 3.69470800e-04 9.99756389e-01 6.47563328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.21 meters Centerline goodness [0,1] 0.9998638035138694 Centerline is valid? [True, True] Translation: X:58.15, Y:-10.61, Z:0.65 [[ 9.15592813e-01 4.01593363e-01 -2.03118768e-02 5.81456008e+01] [-4.01503652e-01 9.15818011e-01 8.49636024e-03 -1.06064065e+01] [ 2.20140645e-02 3.76086342e-04 9.99757590e-01 6.47571843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.239999999999995 meters Centerline goodness [0,1] 0.9998411906166341 Centerline is valid? [True, True] Translation: X:58.18, Y:-10.62, Z:0.65 [[ 9.15397570e-01 4.02035582e-01 -2.03636627e-02 5.81761757e+01] [-4.01945379e-01 9.15623965e-01 8.52450786e-03 -1.06193814e+01] [ 2.20726131e-02 3.81766359e-04 9.99756297e-01 6.47591463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.269999999999996 meters Centerline goodness [0,1] 0.9998637385597166 Centerline is valid? [True, True] Translation: X:58.21, Y:-10.63, Z:0.65 [[ 9.14925641e-01 4.03113491e-01 -2.02628936e-02 5.82052613e+01] [-4.03024306e-01 9.15149907e-01 8.48857543e-03 -1.06337701e+01] [ 2.19654444e-02 4.00023293e-04 9.99758650e-01 6.49189331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.3 meters Centerline goodness [0,1] 0.9998401023345059 Centerline is valid? [True, True] Translation: X:58.24, Y:-10.65, Z:0.65 [[ 9.14715186e-01 4.03577937e-01 -2.05177093e-02 5.82352720e+01] [-4.03486466e-01 9.14945179e-01 8.60183301e-03 -1.06475377e+01] [ 2.22440892e-02 4.10390729e-04 9.99752485e-01 6.49652863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.33 meters Centerline goodness [0,1] 0.999954511338049 Centerline is valid? [True, True] Translation: X:58.26, Y:-10.66, Z:0.65 [[ 9.14893148e-01 4.03180684e-01 -2.03927339e-02 5.82632661e+01] [-4.03090113e-01 9.15120310e-01 8.55450623e-03 -1.06603496e+01] [ 2.21108167e-02 3.93650274e-04 9.99755449e-01 6.51782781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.36 meters Centerline goodness [0,1] 0.9998402482997855 Centerline is valid? [True, True] Translation: X:58.29, Y:-10.67, Z:0.65 [[ 9.15702463e-01 4.01324179e-01 -2.06858018e-02 5.82916321e+01] [-4.01230405e-01 9.15936014e-01 8.68219931e-03 -1.06749507e+01] [ 2.24312473e-02 3.49461337e-04 9.99748327e-01 6.49988510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.39 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.32, Y:-10.69, Z:0.65 [[ 9.15674062e-01 4.01417942e-01 -2.01158438e-02 5.83205810e+01] [-4.01329161e-01 9.15894930e-01 8.44877668e-03 -1.06888784e+01] [ 2.18154899e-02 3.36749058e-04 9.99761957e-01 6.53969914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.419999999999995 meters Centerline goodness [0,1] 0.999885915075182 Centerline is valid? [True, True] Translation: X:58.35, Y:-10.70, Z:0.65 [[ 9.16078191e-01 4.00503190e-01 -1.99485114e-02 5.83494088e+01] [-4.00415541e-01 9.16295313e-01 8.38415256e-03 -1.07011361e+01] [ 2.16366074e-02 3.07154685e-04 9.99765854e-01 6.51483392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.449999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.38, Y:-10.71, Z:0.65 [[ 9.16294429e-01 4.00037984e-01 -1.93424626e-02 5.83773502e+01] [-3.99955369e-01 9.16498517e-01 8.13456771e-03 -1.07141604e+01] [ 2.09814743e-02 2.82462679e-04 9.99779825e-01 6.53957434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.48 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.41, Y:-10.73, Z:0.65 [[ 9.16184240e-01 4.00290378e-01 -1.93404321e-02 5.84071751e+01] [-4.00207717e-01 9.16388309e-01 8.13939336e-03 -1.07268044e+01] [ 2.09814667e-02 2.83006245e-04 9.99779825e-01 6.54311585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.51 meters Centerline goodness [0,1] 0.9998401132911537 Centerline is valid? [True, True] Translation: X:58.44, Y:-10.74, Z:0.65 [[ 9.16535010e-01 3.99457645e-01 -1.99290232e-02 5.84372128e+01] [-3.99369536e-01 9.16751613e-01 8.39370333e-03 -1.07409264e+01] [ 2.16228931e-02 2.65921790e-04 9.99766163e-01 6.51621688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.54 meters Centerline goodness [0,1] 0.9998626247824892 Centerline is valid? [True, True] Translation: X:58.47, Y:-10.76, Z:0.65 [[ 9.16481913e-01 3.99559749e-01 -2.03201910e-02 5.84674447e+01] [-3.99468022e-01 9.16707116e-01 8.56525707e-03 -1.07550401e+01] [ 2.20499956e-02 2.67363310e-04 9.99756834e-01 6.52762943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.57 meters Centerline goodness [0,1] 0.999794163388528 Centerline is valid? [True, True] Translation: X:58.50, Y:-10.77, Z:0.65 [[ 9.16481325e-01 3.99537394e-01 -2.07810626e-02 5.84976082e+01] [-3.99441292e-01 9.16716859e-01 8.76662178e-03 -1.07690365e+01] [ 2.25529436e-02 2.66369357e-04 9.99745615e-01 6.52891372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.599999999999994 meters Centerline goodness [0,1] 0.9997711251487686 Centerline is valid? [True, True] Translation: X:58.53, Y:-10.78, Z:0.65 [[ 9.16321985e-01 3.99913970e-01 -2.05629708e-02 5.85275587e+01] [-3.99819820e-01 9.16552642e-01 8.68133377e-03 -1.07809696e+01] [ 2.23188319e-02 2.66586301e-04 9.99750868e-01 6.53241463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.629999999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.56, Y:-10.79, Z:0.66 [[ 9.15706982e-01 4.01354344e-01 -1.98850274e-02 5.85582132e+01] [-4.01266503e-01 9.15922818e-01 8.40150719e-03 -1.07937208e+01] [ 2.15851317e-02 2.85876595e-04 9.99766973e-01 6.58470866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.66 meters Centerline goodness [0,1] 0.9997264707893597 Centerline is valid? [True, True] Translation: X:58.59, Y:-10.80, Z:0.66 [[ 9.15471496e-01 4.01901367e-01 -1.96782055e-02 5.85880655e+01] [-4.01815334e-01 9.15682918e-01 8.32049092e-03 -1.08043173e+01] [ 2.13630133e-02 2.89832430e-04 9.99771743e-01 6.55020728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.69 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.62, Y:-10.82, Z:0.66 [[ 9.14784204e-01 4.03540601e-01 -1.80233848e-02 5.86184623e+01] [-4.03468640e-01 9.14961691e-01 7.62631950e-03 -1.08160155e+01] [ 1.95682362e-02 2.95433938e-04 9.99808480e-01 6.59895709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.72 meters Centerline goodness [0,1] 0.999749510406704 Centerline is valid? [True, True] Translation: X:58.65, Y:-10.83, Z:0.66 [[ 9.14812615e-01 4.03443086e-01 -1.87498048e-02 5.86491514e+01] [-4.03365057e-01 9.15004692e-01 7.94006036e-03 -1.08280151e+01] [ 2.03595218e-02 2.99348690e-04 9.99792679e-01 6.55939877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.75 meters Centerline goodness [0,1] 0.9998170466759668 Centerline is valid? [True, True] Translation: X:58.68, Y:-10.84, Z:0.66 [[ 9.14557262e-01 4.04006927e-01 -1.90634840e-02 5.86790435e+01] [-4.03926259e-01 9.14755872e-01 8.07906839e-03 -1.08397408e+01] [ 2.07024335e-02 3.11471116e-04 9.99785633e-01 6.56206185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.78 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.71, Y:-10.85, Z:0.66 [[ 9.14135450e-01 4.04975979e-01 -1.87306230e-02 5.87093859e+01] [-4.04898188e-01 9.14327268e-01 7.94386511e-03 -1.08525013e+01] [ 2.03429939e-02 3.22226610e-04 9.99793008e-01 6.59654562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.809999999999995 meters Centerline goodness [0,1] 0.9999314144624037 Centerline is valid? [True, True] Translation: X:58.74, Y:-10.87, Z:0.66 [[ 9.14117679e-01 4.05010489e-01 -1.88513077e-02 5.87397327e+01] [-4.04931572e-01 9.14311983e-01 8.00128683e-03 -1.08663613e+01] [ 2.04765816e-02 3.19371900e-04 9.99790282e-01 6.59045554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.839999999999996 meters Centerline goodness [0,1] 0.9998635278062095 Centerline is valid? [True, True] Translation: X:58.77, Y:-10.88, Z:0.66 [[ 9.13963093e-01 4.05335310e-01 -1.93584974e-02 5.87694264e+01] [-4.05252027e-01 9.14168025e-01 8.22294004e-03 -1.08776193e+01] [ 2.10299673e-02 3.29606606e-04 9.99778791e-01 6.57420773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.87 meters Centerline goodness [0,1] 0.9997730779704094 Centerline is valid? [True, True] Translation: X:58.80, Y:-10.89, Z:0.66 [[ 9.13510535e-01 4.06337615e-01 -1.97039124e-02 5.87991595e+01] [-4.06251438e-01 9.13722944e-01 8.37566517e-03 -1.08890449e+01] [ 2.14072646e-02 3.53484370e-04 9.99770776e-01 6.57592571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.9 meters Centerline goodness [0,1] 0.9997496928048059 Centerline is valid? [True, True] Translation: X:58.83, Y:-10.90, Z:0.66 [[ 9.12912787e-01 4.07682798e-01 -1.96208997e-02 5.88288885e+01] [-4.07597534e-01 9.13123537e-01 8.34608858e-03 -1.09004616e+01] [ 2.13188621e-02 3.78179365e-04 9.99772656e-01 6.57872158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.93 meters Centerline goodness [0,1] 0.9998639980053041 Centerline is valid? [True, True] Translation: X:58.86, Y:-10.91, Z:0.66 [[ 9.12293327e-01 4.09086265e-01 -1.92175286e-02 5.88584234e+01] [-4.09004670e-01 9.12495627e-01 8.17986427e-03 -1.09093629e+01] [ 2.08821810e-02 3.97623366e-04 9.99781864e-01 6.58299424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.96 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.89, Y:-10.92, Z:0.66 [[ 9.10827010e-01 4.12310028e-01 -1.98645110e-02 5.88880488e+01] [-4.12223491e-01 9.11043472e-01 8.46079905e-03 -1.09208156e+01] [ 2.15859054e-02 4.82293778e-04 9.99766881e-01 6.61557975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.989999999999995 meters Centerline goodness [0,1] 0.999863496758048 Centerline is valid? [True, True] Translation: X:58.92, Y:-10.93, Z:0.66 [[ 9.10511346e-01 4.12973494e-01 -2.05421826e-02 5.89177609e+01] [-4.12880987e-01 9.10742902e-01 8.75540812e-03 -1.09321896e+01] [ 2.23243984e-02 5.09578170e-04 9.99750650e-01 6.58579034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.019999999999996 meters Centerline goodness [0,1] 0.999954539255353 Centerline is valid? [True, True] Translation: X:58.95, Y:-10.94, Z:0.66 [[ 9.09848852e-01 4.14446557e-01 -2.02266446e-02 5.89474005e+01] [-4.14357135e-01 9.10073495e-01 8.62540128e-03 -1.09431043e+01] [ 2.19825011e-02 5.33243070e-04 9.99758213e-01 6.60451491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.05 meters Centerline goodness [0,1] 0.9997049745824256 Centerline is valid? [True, True] Translation: X:58.98, Y:-10.96, Z:0.66 [[ 9.09616077e-01 4.14920093e-01 -2.09740073e-02 5.89767697e+01] [-4.14823955e-01 9.09857683e-01 8.94898079e-03 -1.09554899e+01] [ 2.27964736e-02 5.60383856e-04 9.99739970e-01 6.57615464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.08 meters Centerline goodness [0,1] 0.9997509396368247 Centerline is valid? [True, True] Translation: X:59.01, Y:-10.97, Z:0.66 [[ 9.09268237e-01 4.15734721e-01 -1.98975978e-02 5.90072239e+01] [-4.15648264e-01 9.09485758e-01 8.49564788e-03 -1.09662839e+01] [ 2.16285176e-02 5.45579219e-04 9.99765927e-01 6.59208240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.11 meters Centerline goodness [0,1] 0.999795835034708 Centerline is valid? [True, True] Translation: X:59.04, Y:-10.98, Z:0.66 [[ 9.09158909e-01 4.16009226e-01 -1.91416337e-02 5.90377955e+01] [-4.15929148e-01 9.09360241e-01 8.17898342e-03 -1.09791652e+01] [ 2.08091732e-02 5.25567752e-04 9.99783328e-01 6.60465403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.14 meters Centerline goodness [0,1] 0.9997278973265913 Centerline is valid? [True, True] Translation: X:59.07, Y:-10.99, Z:0.66 [[ 9.09300228e-01 4.15771391e-01 -1.75284508e-02 5.90678879e+01] [-4.15704101e-01 9.09469037e-01 7.49479879e-03 -1.09889458e+01] [ 1.90577062e-02 4.71626641e-04 9.99818274e-01 6.60752878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.169999999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.10, Y:-11.00, Z:0.67 [[ 9.08884962e-01 4.16746244e-01 -1.58332943e-02 5.90970946e+01] [-4.16691413e-01 9.09022758e-01 6.77438728e-03 -1.10036603e+01] [ 1.72160253e-02 4.40459049e-04 9.99851696e-01 6.66740830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.199999999999996 meters Centerline goodness [0,1] 0.9998869545557314 Centerline is valid? [True, True] Translation: X:59.13, Y:-11.02, Z:0.67 [[ 9.09261640e-01 4.15937809e-01 -1.54599106e-02 5.91271720e+01] [-4.15885352e-01 9.09392968e-01 6.61849519e-03 -1.10164587e+01] [ 1.68120164e-02 4.11606568e-04 9.99858583e-01 6.65003379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.23 meters Centerline goodness [0,1] 0.9997740368319964 Centerline is valid? [True, True] Translation: X:59.16, Y:-11.03, Z:0.66 [[ 9.09367116e-01 4.15715797e-01 -1.52257823e-02 5.91567012e+01] [-4.15664845e-01 9.09494484e-01 6.52071824e-03 -1.10263111e+01] [ 1.65585306e-02 3.99095698e-04 9.99862818e-01 6.62970837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.26 meters Centerline goodness [0,1] 0.9998644435407347 Centerline is valid? [True, True] Translation: X:59.19, Y:-11.04, Z:0.66 [[ 9.09182270e-01 4.16125039e-01 -1.50847960e-02 5.91863600e+01] [-4.16075011e-01 9.09307315e-01 6.46473528e-03 -1.10404919e+01] [ 1.64068536e-02 3.98783958e-04 9.99865319e-01 6.64515125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.29 meters Centerline goodness [0,1] 0.999661598159094 Centerline is valid? [True, True] Translation: X:59.22, Y:-11.05, Z:0.66 [[ 9.09207821e-01 4.16068150e-01 -1.51140003e-02 5.92163036e+01] [-4.16017837e-01 9.09333349e-01 6.48222313e-03 -1.10524488e+01] [ 1.64407111e-02 3.94005737e-04 9.99864765e-01 6.62449478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.32 meters Centerline goodness [0,1] 0.9997962279529966 Centerline is valid? [True, True] Translation: X:59.25, Y:-11.07, Z:0.66 [[ 9.09476537e-01 4.15474341e-01 -1.52807147e-02 5.92458121e+01] [-4.15422751e-01 9.09604818e-01 6.55844220e-03 -1.10658180e+01] [ 1.66242762e-02 3.83207241e-04 9.99861734e-01 6.63013646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.349999999999994 meters Centerline goodness [0,1] 0.9997737965979009 Centerline is valid? [True, True] Translation: X:59.28, Y:-11.08, Z:0.66 [[ 9.09879261e-01 4.14575841e-01 -1.57035855e-02 5.92755157e+01] [-4.14521160e-01 9.10014688e-01 6.74356507e-03 -1.10793256e+01] [ 1.70862126e-02 3.73638474e-04 9.99853950e-01 6.62094325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.379999999999995 meters Centerline goodness [0,1] 0.9997743631399626 Centerline is valid? [True, True] Translation: X:59.30, Y:-11.09, Z:0.66 [[ 9.10228364e-01 4.13819172e-01 -1.54278496e-02 5.93046329e+01] [-4.13766253e-01 9.10359033e-01 6.62709933e-03 -1.10902332e+01] [ 1.67873030e-02 3.51349747e-04 9.99859022e-01 6.61765614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.41 meters Centerline goodness [0,1] 0.9998417936084618 Centerline is valid? [True, True] Translation: X:59.33, Y:-11.11, Z:0.66 [[ 9.10807939e-01 4.12555226e-01 -1.50693249e-02 5.93330394e+01] [-4.12504514e-01 9.10932536e-01 6.47622212e-03 -1.11063470e+01] [ 1.63989376e-02 3.17570029e-04 9.99865478e-01 6.63539762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.44 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.36, Y:-11.12, Z:0.67 [[ 9.12305005e-01 4.09261912e-01 -1.42921441e-02 5.93602627e+01] [-4.09215836e-01 9.12416916e-01 6.14574962e-03 -1.11214530e+01] [ 1.55556153e-02 2.41773573e-04 9.99878975e-01 6.66494873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.47 meters Centerline goodness [0,1] 0.999863496758048 Centerline is valid? [True, True] Translation: X:59.39, Y:-11.14, Z:0.66 [[ 9.13413639e-01 4.06791597e-01 -1.40043279e-02 5.93885230e+01] [-4.06747025e-01 9.13520968e-01 6.02480100e-03 -1.11362849e+01] [ 1.52440856e-02 1.93083293e-04 9.99883784e-01 6.64283135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.5 meters Centerline goodness [0,1] 0.9998186722273851 Centerline is valid? [True, True] Translation: X:59.42, Y:-11.15, Z:0.66 [[ 9.14396896e-01 4.04586817e-01 -1.37048865e-02 5.94167252e+01] [-4.04543825e-01 9.14499582e-01 5.89990609e-03 -1.11506007e+01] [ 1.49201372e-02 1.49371379e-04 9.99888677e-01 6.64178086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.53 meters Centerline goodness [0,1] 0.999863757124367 Centerline is valid? [True, True] Translation: X:59.44, Y:-11.17, Z:0.67 [[ 9.16363043e-01 4.00132336e-01 -1.31486620e-02 5.94437919e+01] [-4.00092251e-01 9.16457369e-01 5.66415163e-03 -1.11682901e+01] [ 1.43165984e-02 7.02585706e-05 9.99897510e-01 6.65030012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.559999999999995 meters Centerline goodness [0,1] 0.9998863636363636 Centerline is valid? [True, True] Translation: X:59.47, Y:-11.18, Z:0.67 [[ 9.17312034e-01 3.97962440e-01 -1.28268891e-02 5.94721555e+01] [-3.97924028e-01 9.17401709e-01 5.52922809e-03 -1.11831021e+01] [ 1.39678350e-02 3.20998960e-05 9.99902445e-01 6.65720597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.589999999999996 meters Centerline goodness [0,1] 0.9998177759555373 Centerline is valid? [True, True] Translation: X:59.50, Y:-11.20, Z:0.67 [[ 9.18133632e-01 3.96074490e-01 -1.24752997e-02 5.95018639e+01] [-3.96037930e-01 9.18218383e-01 5.38138104e-03 -1.11983877e+01] [ 1.35864772e-02 -1.35063760e-07 9.99907700e-01 6.65039288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.62 meters Centerline goodness [0,1] 0.9999087466350322 Centerline is valid? [True, True] Translation: X:59.53, Y:-11.21, Z:0.67 [[ 9.19217140e-01 3.93588175e-01 -1.13224573e-02 5.95306122e+01] [-3.93557828e-01 9.19286869e-01 4.88759338e-03 -1.12143835e+01] [ 1.23322853e-02 -3.67178891e-05 9.99923954e-01 6.67165374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.65 meters Centerline goodness [0,1] 0.9998178755179165 Centerline is valid? [True, True] Translation: X:59.56, Y:-11.23, Z:0.67 [[ 9.19714277e-01 3.92428962e-01 -1.11874160e-02 5.95597681e+01] [-3.92399204e-01 9.19782315e-01 4.83298904e-03 -1.12285750e+01] [ 1.21865923e-02 -5.50358897e-05 9.99925739e-01 6.66373259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.68 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.59, Y:-11.24, Z:0.67 [[ 9.19928244e-01 3.91915585e-01 -1.15844609e-02 5.95889303e+01] [-3.91883589e-01 9.20001179e-01 5.00828589e-03 -1.12430324e+01] [ 1.26205430e-02 -6.75035197e-05 9.99920355e-01 6.69990648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.71 meters Centerline goodness [0,1] 0.9998859723140778 Centerline is valid? [True, True] Translation: X:59.62, Y:-11.26, Z:0.67 [[ 9.20142052e-01 3.91411739e-01 -1.16385295e-02 5.96187789e+01] [-3.91379354e-01 9.20215651e-01 5.03554891e-03 -1.12566077e+01] [ 1.26809299e-02 -7.83401643e-05 9.99919591e-01 6.67581767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.739999999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.65, Y:-11.27, Z:0.67 [[ 9.19969485e-01 3.91817930e-01 -1.16127637e-02 5.96492450e+01] [-3.91785672e-01 9.20042773e-01 5.02826896e-03 -1.12700502e+01] [ 1.26544052e-02 -7.61395934e-05 9.99919927e-01 6.70019671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.769999999999996 meters Centerline goodness [0,1] 0.9999087403892223 Centerline is valid? [True, True] Translation: X:59.68, Y:-11.28, Z:0.67 [[ 9.20332632e-01 3.90955360e-01 -1.19059790e-02 5.96785234e+01] [-3.90921327e-01 9.20409636e-01 5.15929135e-03 -1.12836950e+01] [ 1.29754304e-02 -9.39630936e-05 9.99915811e-01 6.67702063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.8 meters Centerline goodness [0,1] 0.9998396995511587 Centerline is valid? [True, True] Translation: X:59.71, Y:-11.30, Z:0.67 [[ 9.20405169e-01 3.90766881e-01 -1.24727357e-02 5.97088570e+01] [-3.90729458e-01 9.20489671e-01 5.40901150e-03 -1.12975251e+01] [ 1.35946869e-02 -1.05016886e-04 9.99907582e-01 6.66768994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.83 meters Centerline goodness [0,1] 0.9998397068926036 Centerline is valid? [True, True] Translation: X:59.74, Y:-11.31, Z:0.67 [[ 9.20429385e-01 3.90703544e-01 -1.26683789e-02 5.97374810e+01] [-3.90664873e-01 9.20516555e-01 5.49806864e-03 -1.13109511e+01] [ 1.38095674e-02 -1.11493308e-04 9.99904637e-01 6.67065509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.86 meters Centerline goodness [0,1] 0.9998397986039592 Centerline is valid? [True, True] Translation: X:59.77, Y:-11.32, Z:0.67 [[ 9.20502797e-01 3.90527520e-01 -1.27615396e-02 5.97660194e+01] [-3.90488206e-01 9.20591246e-01 5.54247829e-03 -1.13244590e+01] [ 1.39126519e-02 -1.18636068e-04 9.99903207e-01 6.67553177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.89 meters Centerline goodness [0,1] 0.9998855285148469 Centerline is valid? [True, True] Translation: X:59.79, Y:-11.34, Z:0.67 [[ 9.20378792e-01 3.90828124e-01 -1.25002974e-02 5.97943665e+01] [-3.90790379e-01 9.20463668e-01 5.43279487e-03 -1.13380445e+01] [ 1.36293586e-02 -1.15233209e-04 9.99907109e-01 6.69392028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.919999999999995 meters Centerline goodness [0,1] 0.9998854813220036 Centerline is valid? [True, True] Translation: X:59.82, Y:-11.35, Z:0.67 [[ 9.20180524e-01 3.91303423e-01 -1.22243380e-02 5.98238656e+01] [-3.91267320e-01 9.20261712e-01 5.31651369e-03 -1.13507988e+01] [ 1.33299602e-02 -1.09168392e-04 9.99911146e-01 6.69766586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.949999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.85, Y:-11.36, Z:0.67 [[ 9.19177663e-01 3.93649570e-01 -1.23466681e-02 5.98527875e+01] [-3.93612906e-01 9.19260578e-01 5.37313939e-03 -1.13613057e+01] [ 1.34649392e-02 -7.90618057e-05 9.99909340e-01 6.71332375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.98 meters Centerline goodness [0,1] 0.9999313673903594 Centerline is valid? [True, True] Translation: X:59.88, Y:-11.37, Z:0.67 [[ 9.18779830e-01 3.94567181e-01 -1.26635159e-02 5.98837320e+01] [-3.94528664e-01 9.18867093e-01 5.51350379e-03 -1.13734158e+01] [ 1.38115357e-02 -6.95760689e-05 9.99904614e-01 6.69414972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.01 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.91, Y:-11.39, Z:0.67 [[ 9.17878687e-01 3.96647736e-01 -1.30111099e-02 5.99140978e+01] [-3.96607223e-01 9.17970899e-01 5.66908260e-03 -1.13850989e+01] [ 1.41924491e-02 -4.32299133e-05 9.99899281e-01 6.70725797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.04 meters Centerline goodness [0,1] 0.999839967078942 Centerline is valid? [True, True] Translation: X:59.94, Y:-11.40, Z:0.67 [[ 9.17417774e-01 3.97689129e-01 -1.37107758e-02 5.99441488e+01] [-3.97644189e-01 9.17520221e-01 5.97854452e-03 -1.13971716e+01] [ 1.49575162e-02 -3.28126623e-05 9.99888130e-01 6.67462587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.97, Y:-11.41, Z:0.67 [[ 9.15546159e-01 4.01988915e-01 -1.34217544e-02 5.99747388e+01] [-4.01946251e-01 9.15644533e-01 5.85664118e-03 -1.14080204e+01] [ 1.46438609e-02 3.27985287e-05 9.99892772e-01 6.71459688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.099999999999994 meters Centerline goodness [0,1] 0.9997718769960763 Centerline is valid? [True, True] Translation: X:60.00, Y:-11.42, Z:0.67 [[ 9.15061708e-01 4.03088418e-01 -1.34832012e-02 6.00045169e+01] [-4.03045418e-01 9.15161038e-01 5.88779697e-03 -1.14192034e+01] [ 1.47126032e-02 4.66449113e-05 9.99891763e-01 6.67807600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.129999999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.04, Y:-11.43, Z:0.67 [[ 9.13110408e-01 4.07509993e-01 -1.28447575e-02 6.00350912e+01] [-4.07471353e-01 9.13200741e-01 5.61272058e-03 -1.14290773e+01] [ 1.40170818e-02 1.08837121e-04 9.99901750e-01 6.72438006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.16 meters Centerline goodness [0,1] 0.9998861514640922 Centerline is valid? [True, True] Translation: X:60.06, Y:-11.44, Z:0.67 [[ 9.12599025e-01 4.08640108e-01 -1.32771124e-02 6.00649563e+01] [-4.08598892e-01 9.12695593e-01 5.80512658e-03 -1.14396051e+01] [ 1.44901695e-02 1.27260557e-04 9.99895004e-01 6.69868379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.19 meters Centerline goodness [0,1] 0.9998409452397182 Centerline is valid? [True, True] Translation: X:60.09, Y:-11.45, Z:0.67 [[ 9.11857162e-01 4.10278580e-01 -1.37114222e-02 6.00945601e+01] [-4.10234768e-01 9.11960231e-01 5.99775518e-03 -1.14522933e+01] [ 1.49650222e-02 1.55806068e-04 9.99888006e-01 6.69749052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.22 meters Centerline goodness [0,1] 0.9998862136452596 Centerline is valid? [True, True] Translation: X:60.12, Y:-11.46, Z:0.67 [[ 9.11049885e-01 4.12058379e-01 -1.39999828e-02 6.01241139e+01] [-4.12012852e-01 9.11157428e-01 6.12795324e-03 -1.14610665e+01] [ 1.52812628e-02 1.85301744e-04 9.99883218e-01 6.69220510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.25 meters Centerline goodness [0,1] 0.9998864410629117 Centerline is valid? [True, True] Translation: X:60.15, Y:-11.47, Z:0.67 [[ 9.10041427e-01 4.14247447e-01 -1.49550757e-02 6.01526991e+01] [-4.14195726e-01 9.10164270e-01 6.54997771e-03 -1.14749294e+01] [ 1.63248871e-02 2.33577373e-04 9.99866713e-01 6.69153184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.28 meters Centerline goodness [0,1] 0.999977307797041 Centerline is valid? [True, True] Translation: X:60.18, Y:-11.49, Z:0.67 [[ 9.09567679e-01 4.15267723e-01 -1.54711144e-02 6.01815871e+01] [-4.15212451e-01 9.09699210e-01 6.77996019e-03 -1.14866503e+01] [ 1.68895592e-02 2.56966660e-04 9.99857328e-01 6.70914842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.309999999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.21, Y:-11.50, Z:0.67 [[ 9.09176397e-01 4.16112033e-01 -1.57814527e-02 6.02114133e+01] [-4.16054587e-01 9.09313313e-01 6.91959140e-03 -1.14998336e+01] [ 1.72296103e-02 2.74816606e-04 9.99851521e-01 6.71844450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.339999999999996 meters Centerline goodness [0,1] 0.9998411473698543 Centerline is valid? [True, True] Translation: X:60.24, Y:-11.51, Z:0.67 [[ 9.09369538e-01 4.15715643e-01 -1.50846779e-02 6.02404613e+01] [-4.15663035e-01 9.09494607e-01 6.61818589e-03 -1.15107434e+01] [ 1.64707166e-02 2.51766366e-04 9.99864317e-01 6.69160245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.37 meters Centerline goodness [0,1] 0.9998411473698543 Centerline is valid? [True, True] Translation: X:60.27, Y:-11.52, Z:0.67 [[ 9.09257264e-01 4.15961197e-01 -1.50834575e-02 6.02700916e+01] [-4.15908577e-01 9.09382328e-01 6.62096627e-03 -1.15238481e+01] [ 1.64706948e-02 2.53177680e-04 9.99864317e-01 6.69514005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.4 meters Centerline goodness [0,1] 0.9998413130214001 Centerline is valid? [True, True] Translation: X:60.30, Y:-11.54, Z:0.67 [[ 9.09271958e-01 4.15957042e-01 -1.42914826e-02 6.02993999e+01] [-4.15909732e-01 9.09384233e-01 6.27781091e-03 -1.15382663e+01] [ 1.56077486e-02 2.35729268e-04 9.99878164e-01 6.71555710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.43 meters Centerline goodness [0,1] 0.9999095370558835 Centerline is valid? [True, True] Translation: X:60.33, Y:-11.55, Z:0.67 [[ 9.09235773e-01 4.16077200e-01 -1.30411541e-02 6.03287471e+01] [-4.16037763e-01 9.09329268e-01 5.73257490e-03 -1.15509640e+01] [ 1.42438968e-02 2.13350379e-04 9.99898528e-01 6.73939742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.46 meters Centerline goodness [0,1] 0.9999093340586609 Centerline is valid? [True, True] Translation: X:60.36, Y:-11.56, Z:0.68 [[ 9.09590625e-01 4.15342510e-01 -1.16402208e-02 6.03569215e+01] [-4.15310989e-01 9.09665086e-01 5.11996657e-03 -1.15636984e+01] [ 1.27152422e-02 1.77238038e-04 9.99919142e-01 6.76269520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.489999999999995 meters Centerline goodness [0,1] 0.9998637509367123 Centerline is valid? [True, True] Translation: X:60.39, Y:-11.58, Z:0.68 [[ 9.09771189e-01 4.14957791e-01 -1.12434909e-02 6.03860289e+01] [-4.14928317e-01 9.09840648e-01 4.94836638e-03 -1.15771734e+01] [ 1.22831482e-02 1.63361605e-04 9.99924546e-01 6.76313987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.519999999999996 meters Centerline goodness [0,1] 0.9998184335353261 Centerline is valid? [True, True] Translation: X:60.41, Y:-11.59, Z:0.68 [[ 9.10054156e-01 4.14328325e-01 -1.15530407e-02 6.04143677e+01] [-4.14297113e-01 9.10127472e-01 5.08793422e-03 -1.15900103e+01] [ 1.26228150e-02 1.56095750e-04 9.99920317e-01 6.76184346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.55 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.44, Y:-11.61, Z:0.68 [[ 9.10151971e-01 4.14112004e-01 -1.16033372e-02 6.04434669e+01] [-4.14080462e-01 9.10225920e-01 5.11326919e-03 -1.16051744e+01] [ 1.26791244e-02 1.50863183e-04 9.99919605e-01 6.79437664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.58 meters Centerline goodness [0,1] 0.999818012238677 Centerline is valid? [True, True] Translation: X:60.47, Y:-11.62, Z:0.68 [[ 9.10652814e-01 4.13003373e-01 -1.18180337e-02 6.04724047e+01] [-4.12970508e-01 9.10729486e-01 5.21187911e-03 -1.16181338e+01] [ 1.29155554e-02 1.34287008e-04 9.99916582e-01 6.75629130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.61 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.50, Y:-11.63, Z:0.68 [[ 9.10611440e-01 4.13090916e-01 -1.19457699e-02 6.05026913e+01] [-4.13057296e-01 9.10689781e-01 5.27188419e-03 -1.16319789e+01] [ 1.30566580e-02 1.33649345e-04 9.99914749e-01 6.78897458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.64 meters Centerline goodness [0,1] 0.9998865904554527 Centerline is valid? [True, True] Translation: X:60.53, Y:-11.64, Z:0.68 [[ 9.10884364e-01 4.12477155e-01 -1.23398145e-02 6.05326667e+01] [-4.12441166e-01 9.10967936e-01 5.45009996e-03 -1.16447216e+01] [ 1.34892171e-02 1.25036647e-04 9.99909009e-01 6.76084940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.669999999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.56, Y:-11.66, Z:0.68 [[ 9.10596399e-01 4.13104774e-01 -1.25954226e-02 6.05627657e+01] [-4.13067278e-01 9.10683495e-01 5.56733153e-03 -1.16580223e+01] [ 1.37703347e-02 1.33164878e-04 9.99905176e-01 6.78636357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.699999999999996 meters Centerline goodness [0,1] 0.9998634004189054 Centerline is valid? [True, True] Translation: X:60.59, Y:-11.67, Z:0.68 [[ 9.10809081e-01 4.12608682e-01 -1.34496407e-02 6.05932388e+01] [-4.12565804e-01 9.10908370e-01 5.94968298e-03 -1.16711442e+01] [ 1.47062811e-02 1.29836530e-04 9.99891848e-01 6.75480728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.73 meters Centerline goodness [0,1] 0.9998638900231387 Centerline is valid? [True, True] Translation: X:60.62, Y:-11.68, Z:0.67 [[ 9.10757448e-01 4.12675231e-01 -1.48332165e-02 6.06238338e+01] [-4.12622999e-01 9.10878221e-01 6.56708972e-03 -1.16844731e+01] [ 1.62213292e-02 1.39500424e-04 9.99868416e-01 6.74606478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.76 meters Centerline goodness [0,1] 0.9998410499784283 Centerline is valid? [True, True] Translation: X:60.65, Y:-11.70, Z:0.67 [[ 9.10603956e-01 4.13010173e-01 -1.49342880e-02 6.06528968e+01] [-4.12957191e-01 9.10726401e-01 6.61678003e-03 -1.16971038e+01] [ 1.63338478e-02 1.41955531e-04 9.99866584e-01 6.74011893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.79 meters Centerline goodness [0,1] 0.9998640288258889 Centerline is valid? [True, True] Translation: X:60.68, Y:-11.71, Z:0.67 [[ 9.10449048e-01 4.13353614e-01 -1.48768447e-02 6.06823999e+01] [-4.13301009e-01 9.10570573e-01 6.59596837e-03 -1.17095463e+01] [ 1.62728844e-02 1.43321791e-04 9.99867578e-01 6.74408682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.82 meters Centerline goodness [0,1] 0.9999545165105067 Centerline is valid? [True, True] Translation: X:60.71, Y:-11.72, Z:0.68 [[ 9.09720313e-01 4.14965293e-01 -1.45862485e-02 6.07118596e+01] [-4.14914860e-01 9.09837227e-01 6.47150046e-03 -1.17231320e+01] [ 1.59565599e-02 1.64795824e-04 9.99872672e-01 6.78483941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.849999999999994 meters Centerline goodness [0,1] 0.999908796570751 Centerline is valid? [True, True] Translation: X:60.74, Y:-11.74, Z:0.68 [[ 9.09650541e-01 4.15132155e-01 -1.41840600e-02 6.07414297e+01] [-4.15084421e-01 9.09761105e-01 6.29717772e-03 -1.17354857e+01] [ 1.55182670e-02 1.59351197e-04 9.99879572e-01 6.76913066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.879999999999995 meters Centerline goodness [0,1] 0.9997951006283581 Centerline is valid? [True, True] Translation: X:60.77, Y:-11.75, Z:0.68 [[ 9.09187455e-01 4.16160542e-01 -1.37322519e-02 6.07713075e+01] [-4.16115856e-01 9.09291139e-01 6.10073197e-03 -1.17474359e+01] [ 1.50254989e-02 1.67498787e-04 9.99887097e-01 6.75448483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.91 meters Centerline goodness [0,1] 0.9998173557681331 Centerline is valid? [True, True] Translation: X:60.80, Y:-11.76, Z:0.68 [[ 9.08816436e-01 4.16987032e-01 -1.32099050e-02 6.08012809e+01] [-4.16945711e-01 9.08912419e-01 5.87264601e-03 -1.17605437e+01] [ 1.44554639e-02 1.70656004e-04 9.99895500e-01 6.77374832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.94 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.83, Y:-11.77, Z:0.68 [[ 9.08295284e-01 4.18123755e-01 -1.31226385e-02 6.08302357e+01] [-4.18083039e-01 9.08390055e-01 5.83787545e-03 -1.17731182e+01] [ 1.43614287e-02 1.83837824e-04 9.99896852e-01 6.80838801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.97 meters Centerline goodness [0,1] 0.9999772660104121 Centerline is valid? [True, True] Translation: X:60.86, Y:-11.78, Z:0.68 [[ 9.07442084e-01 4.19976659e-01 -1.29796094e-02 6.08592003e+01] [-4.19936967e-01 9.07534883e-01 5.77759570e-03 -1.17843898e+01] [ 1.42059036e-02 2.07784322e-04 9.99899069e-01 6.80499814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.0 meters Centerline goodness [0,1] 0.9997489100413157 Centerline is valid? [True, True] Translation: X:60.89, Y:-11.80, Z:0.68 [[ 9.07083770e-01 4.20725743e-01 -1.37434448e-02 6.08899403e+01] [-4.20681269e-01 9.07187851e-01 6.12152582e-03 -1.17970369e+01] [ 1.50433696e-02 2.28873062e-04 9.99886816e-01 6.76372961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.03 meters Centerline goodness [0,1] 0.9999773191199819 Centerline is valid? [True, True] Translation: X:60.92, Y:-11.81, Z:0.68 [[ 9.06095121e-01 4.22860274e-01 -1.34469283e-02 6.09195110e+01] [-4.22817874e-01 9.06194860e-01 5.99348417e-03 -1.18090900e+01] [ 1.47199436e-02 2.54934853e-04 9.99891623e-01 6.81139330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.059999999999995 meters Centerline goodness [0,1] 0.9998633039436812 Centerline is valid? [True, True] Translation: X:60.95, Y:-11.82, Z:0.68 [[ 9.05724872e-01 4.23651933e-01 -1.34720335e-02 6.09496019e+01] [-4.23609405e-01 9.05825021e-01 6.00851850e-03 -1.18213594e+01] [ 1.47488255e-02 2.64815444e-04 9.99891195e-01 6.78574036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.089999999999996 meters Centerline goodness [0,1] 0.9997275637387336 Centerline is valid? [True, True] Translation: X:60.98, Y:-11.83, Z:0.68 [[ 9.04987831e-01 4.25170099e-01 -1.50801716e-02 6.09786355e+01] [-4.25116957e-01 9.05113409e-01 6.72973570e-03 -1.18317656e+01] [ 1.65105479e-02 3.20507743e-04 9.99863640e-01 6.75478618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.12 meters Centerline goodness [0,1] 0.9997728563316297 Centerline is valid? [True, True] Translation: X:61.01, Y:-11.84, Z:0.68 [[ 9.04673170e-01 4.25836581e-01 -1.51546062e-02 6.10087587e+01] [-4.25782963e-01 9.04800031e-01 6.76550045e-03 -1.18446609e+01] [ 1.65928857e-02 3.32006397e-04 9.99862273e-01 6.75949669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.15 meters Centerline goodness [0,1] 0.9997730676712204 Centerline is valid? [True, True] Translation: X:61.04, Y:-11.86, Z:0.68 [[ 9.04499314e-01 4.26195120e-01 -1.54502276e-02 6.10389534e+01] [-4.26139361e-01 9.04631197e-01 6.90227145e-03 -1.18580906e+01] [ 1.69184723e-02 3.40850341e-04 9.99856814e-01 6.76516734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.18 meters Centerline goodness [0,1] 0.9997277059223962 Centerline is valid? [True, True] Translation: X:61.07, Y:-11.87, Z:0.68 [[ 9.04890196e-01 4.25373723e-01 -1.51963656e-02 6.10672288e+01] [-4.25319595e-01 9.05017732e-01 6.79314411e-03 -1.18711616e+01] [ 1.66426054e-02 3.16262570e-04 9.99861452e-01 6.76522566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.21 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.10, Y:-11.88, Z:0.68 [[ 9.04814882e-01 4.25561866e-01 -1.43919014e-02 6.10965562e+01] [-4.25513285e-01 9.04929284e-01 6.43709688e-03 -1.18842580e+01] [ 1.57630360e-02 2.99564169e-04 9.99875711e-01 6.81553614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.239999999999995 meters Centerline goodness [0,1] 0.999841528570135 Centerline is valid? [True, True] Translation: X:61.13, Y:-11.90, Z:0.68 [[ 9.05216732e-01 4.24709137e-01 -1.43114625e-02 6.11253216e+01] [-4.24660929e-01 9.05329813e-01 6.40504866e-03 -1.18976699e+01] [ 1.56768764e-02 2.79561752e-04 9.99877071e-01 6.78114959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.269999999999996 meters Centerline goodness [0,1] 0.9999544522887724 Centerline is valid? [True, True] Translation: X:61.15, Y:-11.91, Z:0.68 [[ 9.05467986e-01 4.24208482e-01 -1.32245974e-02 6.11542294e+01] [-4.24167218e-01 9.05564522e-01 5.92187353e-03 -1.19114722e+01] [ 1.44878352e-02 2.47373786e-04 9.99895015e-01 6.81665442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.3 meters Centerline goodness [0,1] 0.9998182685536449 Centerline is valid? [True, True] Translation: X:61.18, Y:-11.93, Z:0.68 [[ 9.05709455e-01 4.23684608e-01 -1.34809608e-02 6.11839174e+01] [-4.23641627e-01 9.05809745e-01 6.03962570e-03 -1.19251460e+01] [ 1.47700821e-02 2.40950068e-04 9.99890887e-01 6.79180699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.33 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.21, Y:-11.94, Z:0.68 [[ 9.05477252e-01 4.24185237e-01 -1.33353334e-02 6.12117719e+01] [-4.24143204e-01 9.05575411e-01 5.97642817e-03 -1.19425181e+01] [ 1.46112626e-02 2.44571258e-04 9.99893220e-01 6.84049647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.36 meters Centerline goodness [0,1] 0.999886257649173 Centerline is valid? [True, True] Translation: X:61.24, Y:-11.95, Z:0.68 [[ 9.05415161e-01 4.24275082e-01 -1.46301014e-02 6.12427062e+01] [-4.24224420e-01 9.05533315e-01 6.56181352e-03 -1.19513569e+01] [ 1.60320582e-02 2.65280848e-04 9.99871443e-01 6.79302342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.39 meters Centerline goodness [0,1] 0.9998169336384439 Centerline is valid? [True, True] Translation: X:61.27, Y:-11.97, Z:0.68 [[ 9.05269166e-01 4.24552298e-01 -1.55911034e-02 6.12705038e+01] [-4.24494713e-01 9.05403372e-01 6.99804535e-03 -1.19691444e+01] [ 1.70872738e-02 2.83226276e-04 9.99853962e-01 6.79326725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.419999999999995 meters Centerline goodness [0,1] 0.9998174974335576 Centerline is valid? [True, True] Translation: X:61.30, Y:-11.98, Z:0.68 [[ 9.05191909e-01 4.24712127e-01 -1.57231160e-02 6.13008370e+01] [-4.24653495e-01 9.05328409e-01 7.06263355e-03 -1.19829966e+01] [ 1.72341698e-02 2.83837420e-04 9.99851440e-01 6.78883299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.449999999999996 meters Centerline goodness [0,1] 0.9999315709039484 Centerline is valid? [True, True] Translation: X:61.33, Y:-12.00, Z:0.68 [[ 9.04882408e-01 4.25343527e-01 -1.64533240e-02 6.13307479e+01] [-4.25279322e-01 9.05031928e-01 7.39640642e-03 -1.19964500e+01] [ 1.80367971e-02 3.04380427e-04 9.99837277e-01 6.80627657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.48 meters Centerline goodness [0,1] 0.9997255762897914 Centerline is valid? [True, True] Translation: X:61.36, Y:-12.01, Z:0.68 [[ 9.04646636e-01 4.25813377e-01 -1.72462072e-02 6.13606997e+01] [-4.25742807e-01 9.04810955e-01 7.75877234e-03 -1.20088733e+01] [ 1.89083463e-02 3.23501382e-04 9.99821169e-01 6.77304883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.51 meters Centerline goodness [0,1] 0.9998403758009714 Centerline is valid? [True, True] Translation: X:61.39, Y:-12.02, Z:0.68 [[ 9.04448890e-01 4.26207901e-01 -1.78614488e-02 6.13901076e+01] [-4.26132170e-01 9.04625177e-01 8.04133653e-03 -1.20210791e+01] [ 1.95851975e-02 3.38360045e-04 9.99808134e-01 6.77208480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.54 meters Centerline goodness [0,1] 0.9997488813806958 Centerline is valid? [True, True] Translation: X:61.42, Y:-12.04, Z:0.68 [[ 9.04515601e-01 4.26057527e-01 -1.80696224e-02 6.14192008e+01] [-4.25979873e-01 9.04696011e-01 8.14100124e-03 -1.20370230e+01] [ 1.98160502e-02 3.33632840e-04 9.99803587e-01 6.77156975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.57 meters Centerline goodness [0,1] 0.9999772064186725 Centerline is valid? [True, True] Translation: X:61.45, Y:-12.05, Z:0.68 [[ 9.04573576e-01 4.25942620e-01 -1.78754041e-02 6.14477733e+01] [-4.25866510e-01 9.04750120e-01 8.05822729e-03 -1.20503624e+01] [ 1.96051165e-02 3.23276491e-04 9.99807749e-01 6.81106192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.599999999999994 meters Centerline goodness [0,1] 0.9999543253859505 Centerline is valid? [True, True] Translation: X:61.48, Y:-12.06, Z:0.68 [[ 9.05007032e-01 4.25021943e-01 -1.78499469e-02 6.14757335e+01] [-4.24945796e-01 9.05182997e-01 8.05059469e-03 -1.20643724e+01] [ 1.95791478e-02 2.99415093e-04 9.99808265e-01 6.80639161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.629999999999995 meters Centerline goodness [0,1] 0.9998629072796235 Centerline is valid? [True, True] Translation: X:61.50, Y:-12.08, Z:0.68 [[ 9.05287561e-01 4.24410854e-01 -1.81620070e-02 6.15040628e+01] [-4.24331795e-01 9.05469682e-01 8.19652360e-03 -1.20793651e+01] [ 1.99238403e-02 2.86506197e-04 9.99801460e-01 6.79509611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.66 meters Centerline goodness [0,1] 0.9998396407953817 Centerline is valid? [True, True] Translation: X:61.53, Y:-12.09, Z:0.68 [[ 9.05466181e-01 4.24043463e-01 -1.78363782e-02 6.15320710e+01] [-4.23967040e-01 9.05641800e-01 8.05480190e-03 -1.20940955e+01] [ 1.95689558e-02 2.68685770e-04 9.99808474e-01 6.80342067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.69 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.56, Y:-12.11, Z:0.68 [[ 9.05635717e-01 4.23706594e-01 -1.72241068e-02 6.15606521e+01] [-4.23635171e-01 9.05799459e-01 7.78337333e-03 -1.21080632e+01] [ 1.88994533e-02 2.47836551e-04 9.99821359e-01 6.84485257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.72 meters Centerline goodness [0,1] 0.9999314364072678 Centerline is valid? [True, True] Translation: X:61.59, Y:-12.12, Z:0.68 [[ 9.05981904e-01 4.22994175e-01 -1.65141689e-02 6.15892329e+01] [-4.22928313e-01 9.06132374e-01 7.46739162e-03 -1.21227041e+01] [ 1.81226863e-02 2.18987936e-04 9.99835747e-01 6.83403645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.62, Y:-12.14, Z:0.69 [[ 9.06029838e-01 4.22909088e-01 -1.60572709e-02 6.16185197e+01] [-4.22846719e-01 9.06172092e-01 7.26580242e-03 -1.21367622e+01] [ 1.76234246e-02 2.06730516e-04 9.99844674e-01 6.86090355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.78 meters Centerline goodness [0,1] 0.9998167197415748 Centerline is valid? [True, True] Translation: X:61.65, Y:-12.15, Z:0.68 [[ 9.06123993e-01 4.22701489e-01 -1.62098822e-02 6.16478972e+01] [-4.22637810e-01 9.06268951e-01 7.33965886e-03 -1.21500972e+01] [ 1.77929976e-02 2.00268104e-04 9.99841672e-01 6.83104082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.809999999999995 meters Centerline goodness [0,1] 0.999771475582166 Centerline is valid? [True, True] Translation: X:61.68, Y:-12.16, Z:0.68 [[ 9.06253221e-01 4.22450786e-01 -1.55059103e-02 6.16772753e+01] [-4.22392418e-01 9.06385845e-01 7.02460028e-03 -1.21634144e+01] [ 1.70218855e-02 1.83512313e-04 9.99855100e-01 6.83624255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.839999999999996 meters Centerline goodness [0,1] 0.9999543410268703 Centerline is valid? [True, True] Translation: X:61.71, Y:-12.18, Z:0.69 [[ 9.06223445e-01 4.22542114e-01 -1.47387271e-02 6.17070053e+01] [-4.22489320e-01 9.06343275e-01 6.68149245e-03 -1.21769378e+01] [ 1.61815581e-02 1.72029685e-04 9.99869055e-01 6.87088798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.87 meters Centerline goodness [0,1] 0.999885672474505 Centerline is valid? [True, True] Translation: X:61.74, Y:-12.19, Z:0.69 [[ 9.06727683e-01 4.21452815e-01 -1.49142210e-02 6.17362387e+01] [-4.21398544e-01 9.06850320e-01 6.76499951e-03 -1.21915490e+01] [ 1.63760941e-02 1.50818661e-04 9.99865891e-01 6.86075522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.9 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.77, Y:-12.21, Z:0.69 [[ 9.06873165e-01 4.21145275e-01 -1.47553676e-02 6.17654136e+01] [-4.21092079e-01 9.06993185e-01 6.69502722e-03 -1.22052024e+01] [ 1.62025970e-02 1.41827917e-04 9.99868719e-01 6.89129027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.93 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.79, Y:-12.22, Z:0.69 [[ 9.07012771e-01 4.20849776e-01 -1.46047769e-02 6.17948056e+01] [-4.20797563e-01 9.07130337e-01 6.63040958e-03 -1.22199915e+01] [ 1.60388426e-02 1.31788361e-04 9.99871361e-01 6.90100294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.96 meters Centerline goodness [0,1] 0.9998168917372396 Centerline is valid? [True, True] Translation: X:61.82, Y:-12.23, Z:0.69 [[ 9.07220850e-01 4.20395628e-01 -1.47595869e-02 6.18244727e+01] [-4.20342169e-01 9.07340896e-01 6.70519283e-03 -1.22330734e+01] [ 1.62108105e-02 1.20986024e-04 9.99868589e-01 6.86250192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.989999999999995 meters Centerline goodness [0,1] 0.9998854314651024 Centerline is valid? [True, True] Translation: X:61.85, Y:-12.25, Z:0.69 [[ 9.07090546e-01 4.20687623e-01 -1.44452225e-02 6.18545572e+01] [-4.20636397e-01 9.07205550e-01 6.56599679e-03 -1.22472484e+01] [ 1.58670196e-02 1.20232746e-04 9.99874104e-01 6.88229281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.019999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.88, Y:-12.26, Z:0.69 [[ 9.06895924e-01 4.21120355e-01 -1.40509325e-02 6.18845523e+01] [-4.21071867e-01 9.07004758e-01 6.39146628e-03 -1.22603510e+01] [ 1.54358392e-02 1.20057680e-04 9.99880853e-01 6.91353790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.05 meters Centerline goodness [0,1] 0.9999771203697349 Centerline is valid? [True, True] Translation: X:61.91, Y:-12.27, Z:0.69 [[ 9.06873536e-01 4.21179102e-01 -1.37314733e-02 6.19136273e+01] [-4.21132738e-01 9.06977481e-01 6.25028294e-03 -1.22726694e+01] [ 1.50866256e-02 1.14556762e-04 9.99886184e-01 6.90397163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.08 meters Centerline goodness [0,1] 0.9999771595632908 Centerline is valid? [True, True] Translation: X:61.94, Y:-12.29, Z:0.69 [[ 9.06715812e-01 4.21542878e-01 -1.29629352e-02 6.19432927e+01] [-4.21501553e-01 9.06808463e-01 5.90350689e-03 -1.22856754e+01] [ 1.42434807e-02 1.11094283e-04 9.99898550e-01 6.91091895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.11 meters Centerline goodness [0,1] 0.9997714024459938 Centerline is valid? [True, True] Translation: X:61.97, Y:-12.30, Z:0.69 [[ 9.06698552e-01 4.21559956e-01 -1.35992270e-02 6.19725267e+01] [-4.21514410e-01 9.06800524e-01 6.19767791e-03 -1.22992131e+01] [ 1.49444790e-02 1.12844569e-04 9.99888319e-01 6.88174894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.14 meters Centerline goodness [0,1] 0.9999314223014676 Centerline is valid? [True, True] Translation: X:62.00, Y:-12.31, Z:0.69 [[ 9.06628681e-01 4.21732707e-01 -1.28824916e-02 6.20016727e+01] [-4.21691811e-01 9.06720195e-01 5.87399413e-03 -1.23125034e+01] [ 1.41580707e-02 1.06909655e-04 9.99899764e-01 6.91509224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.169999999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.03, Y:-12.33, Z:0.69 [[ 9.06478562e-01 4.22076951e-01 -1.21516897e-02 6.20319788e+01] [-4.22040545e-01 9.06560002e-01 5.54449553e-03 -1.23261692e+01] [ 1.33564396e-02 1.02539400e-04 9.99910794e-01 6.94136352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.199999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.06, Y:-12.34, Z:0.69 [[ 9.06304174e-01 4.22454936e-01 -1.20237737e-02 6.20618255e+01] [-4.22419271e-01 9.06383924e-01 5.49021208e-03 -1.23392527e+01] [ 1.32175224e-02 1.03271609e-04 9.99912639e-01 6.93947664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.23 meters Centerline goodness [0,1] 0.9998400036570593 Centerline is valid? [True, True] Translation: X:62.09, Y:-12.35, Z:0.69 [[ 9.05987297e-01 4.23099846e-01 -1.31733424e-02 6.20922922e+01] [-4.23057034e-01 9.06083057e-01 6.01995767e-03 -1.23516432e+01] [ 1.44831855e-02 1.19069995e-04 9.99895106e-01 6.89450888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.26 meters Centerline goodness [0,1] 0.9999086194686222 Centerline is valid? [True, True] Translation: X:62.12, Y:-12.36, Z:0.69 [[ 9.05714282e-01 4.23696923e-01 -1.27497406e-02 6.21222602e+01] [-4.23656820e-01 9.05804009e-01 5.83063188e-03 -1.23647987e+01] [ 1.40191869e-02 1.20627975e-04 9.99901719e-01 6.91056287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.29 meters Centerline goodness [0,1] 0.9999086194686222 Centerline is valid? [True, True] Translation: X:62.15, Y:-12.38, Z:0.69 [[ 9.05594957e-01 4.23951955e-01 -1.27480962e-02 6.21516808e+01] [-4.23911826e-01 9.05684672e-01 5.83422518e-03 -1.23783449e+01] [ 1.40191865e-02 1.20623841e-04 9.99901719e-01 6.91410655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.32 meters Centerline goodness [0,1] 0.9998853973274657 Centerline is valid? [True, True] Translation: X:62.18, Y:-12.39, Z:0.69 [[ 9.05379197e-01 4.24403109e-01 -1.30579308e-02 6.21814475e+01] [-4.24360988e-01 9.05473348e-01 5.98055228e-03 -1.23919850e+01] [ 1.43617733e-02 1.26608784e-04 9.99896856e-01 6.91252861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.349999999999994 meters Centerline goodness [0,1] 0.9998857116734097 Centerline is valid? [True, True] Translation: X:62.21, Y:-12.41, Z:0.69 [[ 9.05207196e-01 4.24742659e-01 -1.39142130e-02 6.22114549e+01] [-4.24694796e-01 9.05314120e-01 6.37770070e-03 -1.24055677e+01] [ 1.53056151e-02 1.36153297e-04 9.99882853e-01 6.91138568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.379999999999995 meters Centerline goodness [0,1] 0.9999315818281336 Centerline is valid? [True, True] Translation: X:62.24, Y:-12.42, Z:0.69 [[ 9.04987218e-01 4.25214717e-01 -1.38050950e-02 6.22412385e+01] [-4.25167585e-01 9.05092496e-01 6.33240092e-03 -1.24190914e+01] [ 1.51875180e-02 1.38737031e-04 9.99884653e-01 6.92513206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.41 meters Centerline goodness [0,1] 0.9998396922090413 Centerline is valid? [True, True] Translation: X:62.27, Y:-12.43, Z:0.69 [[ 9.04780443e-01 4.25634326e-01 -1.44142814e-02 6.22705399e+01] [-4.25582916e-01 9.04895242e-01 6.61686184e-03 -1.24318034e+01] [ 1.58597782e-02 1.47664725e-04 9.99874215e-01 6.90080899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.44 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.30, Y:-12.45, Z:0.69 [[ 9.04222313e-01 4.26827514e-01 -1.41520625e-02 6.23007028e+01] [-4.26778032e-01 9.04333040e-01 6.50108688e-03 -1.24452823e+01] [ 1.55730205e-02 1.61361567e-04 9.99878720e-01 6.93335019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.47 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.33, Y:-12.46, Z:0.69 [[ 9.04022977e-01 4.27247434e-01 -1.42157559e-02 6.23305796e+01] [-4.27197481e-01 9.04134726e-01 6.53526263e-03 -1.24591134e+01] [ 1.56451328e-02 1.64907528e-04 9.99877594e-01 6.93397847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.5 meters Centerline goodness [0,1] 0.9998631698973774 Centerline is valid? [True, True] Translation: X:62.36, Y:-12.47, Z:0.69 [[ 9.03682422e-01 4.27952457e-01 -1.46551875e-02 6.23603678e+01] [-4.27899376e-01 9.03801230e-01 6.74244612e-03 -1.24730483e+01] [ 1.61308229e-02 1.77915557e-04 9.99869874e-01 6.90806273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.53 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.39, Y:-12.49, Z:0.69 [[ 9.03207848e-01 4.28992544e-01 -1.34529048e-02 6.23901039e+01] [-4.28947874e-01 9.03308013e-01 6.19318699e-03 -1.24858506e+01] [ 1.48089478e-02 1.76859825e-04 9.99890326e-01 6.94872632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.559999999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.42, Y:-12.50, Z:0.70 [[ 9.02932509e-01 4.29593889e-01 -1.27269400e-02 6.24198417e+01] [-4.29553928e-01 9.03022182e-01 5.86194800e-03 -1.25000273e+01] [ 1.40109661e-02 1.73963641e-04 9.99901826e-01 6.95444559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.589999999999996 meters Centerline goodness [0,1] 0.9997948016415868 Centerline is valid? [True, True] Translation: X:62.45, Y:-12.51, Z:0.69 [[ 9.02998226e-01 4.29434278e-01 -1.34314653e-02 6.24490377e+01] [-4.29389683e-01 9.03098095e-01 6.19115080e-03 -1.25136920e+01] [ 1.47886231e-02 1.76734462e-04 9.99890627e-01 6.91866732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.62 meters Centerline goodness [0,1] 0.9997490131654003 Centerline is valid? [True, True] Translation: X:62.48, Y:-12.53, Z:0.69 [[ 9.03146075e-01 4.29111125e-01 -1.38134080e-02 6.24784406e+01] [-4.29063850e-01 9.03251689e-01 6.37179812e-03 -1.25282211e+01] [ 1.52111936e-02 1.72169573e-04 9.99884288e-01 6.91305596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.65 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.51, Y:-12.54, Z:0.70 [[ 9.03087286e-01 4.29268356e-01 -1.27291672e-02 6.25077951e+01] [-4.29228169e-01 9.03176978e-01 5.87580123e-03 -1.25422530e+01] [ 1.40189863e-02 1.57355730e-04 9.99901717e-01 6.95588979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.68 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.54, Y:-12.56, Z:0.70 [[ 9.03057921e-01 4.29314950e-01 -1.32312032e-02 6.25361745e+01] [-4.29271467e-01 9.03154831e-01 6.11220328e-03 -1.25560095e+01] [ 1.45738853e-02 1.60104409e-04 9.99893782e-01 6.95912385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.71 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.56, Y:-12.57, Z:0.70 [[ 9.03099877e-01 4.29222918e-01 -1.33528277e-02 6.25649341e+01] [-4.29178564e-01 9.03198573e-01 6.17235627e-03 -1.25702960e+01] [ 1.47095717e-02 1.56493223e-04 9.99891796e-01 6.96443833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.739999999999995 meters Centerline goodness [0,1] 0.9998166483314999 Centerline is valid? [True, True] Translation: X:62.59, Y:-12.58, Z:0.69 [[ 9.03134971e-01 4.29122904e-01 -1.41688827e-02 6.25946949e+01] [-4.29072893e-01 9.03246095e-01 6.55328913e-03 -1.25846806e+01] [ 1.56101545e-02 1.60978909e-04 9.99878141e-01 6.93157975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.769999999999996 meters Centerline goodness [0,1] 0.9998403248249276 Centerline is valid? [True, True] Translation: X:62.62, Y:-12.60, Z:0.69 [[ 9.02954028e-01 4.29504657e-01 -1.41341391e-02 6.26246719e+01] [-4.29454862e-01 9.03064628e-01 6.54204943e-03 -1.25982738e+01] [ 1.55738817e-02 1.62804853e-04 9.99878706e-01 6.93871464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.8 meters Centerline goodness [0,1] 0.999863363089816 Centerline is valid? [True, True] Translation: X:62.66, Y:-12.61, Z:0.69 [[ 9.02787874e-01 4.29860652e-01 -1.39238520e-02 6.26554124e+01] [-4.29812298e-01 9.02895229e-01 6.44942247e-03 -1.26113168e+01] [ 1.53441325e-02 1.62182409e-04 9.99882259e-01 6.93840561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.83 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.69, Y:-12.62, Z:0.70 [[ 9.02480618e-01 4.30526600e-01 -1.32506942e-02 6.26853128e+01] [-4.30482817e-01 9.02577875e-01 6.14196837e-03 -1.26248186e+01] [ 1.46040641e-02 1.61188737e-04 9.99893342e-01 6.97134733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.86 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.71, Y:-12.64, Z:0.70 [[ 9.02534742e-01 4.30410326e-01 -1.33412951e-02 6.27140091e+01] [-4.30365864e-01 9.02633329e-01 6.18841225e-03 -1.26382075e+01] [ 1.47058541e-02 1.56380931e-04 9.99891851e-01 6.97306829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.89 meters Centerline goodness [0,1] 0.9997947735668354 Centerline is valid? [True, True] Translation: X:62.74, Y:-12.65, Z:0.69 [[ 9.02979161e-01 4.29427686e-01 -1.48491504e-02 6.27425429e+01] [-4.29372398e-01 9.03101235e-01 6.89233002e-03 -1.26530018e+01] [ 1.63700434e-02 1.52184928e-04 9.99865990e-01 6.93144795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.919999999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.77, Y:-12.67, Z:0.70 [[ 9.02765402e-01 4.29893902e-01 -1.43479107e-02 6.27721192e+01] [-4.29842287e-01 9.02879400e-01 6.66317533e-03 -1.26671557e+01] [ 1.58188914e-02 1.52054579e-04 9.99874862e-01 6.96999397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.949999999999996 meters Centerline goodness [0,1] 0.999771475582166 Centerline is valid? [True, True] Translation: X:62.80, Y:-12.68, Z:0.69 [[ 9.03088518e-01 4.29156810e-01 -1.59862751e-02 6.28005941e+01] [-4.29092520e-01 9.03229987e-01 7.42966827e-03 -1.26812975e+01] [ 1.76277758e-02 1.49942958e-04 9.99844607e-01 6.91527982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.98 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.83, Y:-12.69, Z:0.70 [[ 9.02763164e-01 4.29853490e-01 -1.56411965e-02 6.28299747e+01] [-4.29791964e-01 9.02898639e-01 7.27423146e-03 -1.26942727e+01] [ 1.72492688e-02 1.55552361e-04 9.99851208e-01 6.95669207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.01 meters Centerline goodness [0,1] 0.9999771658218021 Centerline is valid? [True, True] Translation: X:62.86, Y:-12.71, Z:0.70 [[ 9.02783999e-01 4.29792509e-01 -1.61074774e-02 6.28590027e+01] [-4.29727153e-01 9.02927669e-01 7.49657257e-03 -1.27095581e+01] [ 1.77658578e-02 1.54034661e-04 9.99842163e-01 6.96093281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.04 meters Centerline goodness [0,1] 0.999931608343782 Centerline is valid? [True, True] Translation: X:62.89, Y:-12.72, Z:0.69 [[ 9.02895358e-01 4.29538058e-01 -1.66441871e-02 6.28880469e+01] [-4.29468140e-01 9.03048744e-01 7.75128572e-03 -1.27228190e+01] [ 1.83599844e-02 1.49548172e-04 9.99831430e-01 6.94576027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.07 meters Centerline goodness [0,1] 0.9998175640236254 Centerline is valid? [True, True] Translation: X:62.92, Y:-12.74, Z:0.69 [[ 9.03146332e-01 4.28963983e-01 -1.77933726e-02 6.29171505e+01] [-4.28883868e-01 9.03321582e-01 8.29137883e-03 -1.27377817e+01] [ 1.96298404e-02 1.42962098e-04 9.99807306e-01 6.93386659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.099999999999994 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.95, Y:-12.75, Z:0.70 [[ 9.02929703e-01 4.29451747e-01 -1.70043703e-02 6.29467324e+01] [-4.29378560e-01 9.03089795e-01 7.92936814e-03 -1.27517530e+01] [ 1.87617543e-02 1.41650016e-04 9.99823973e-01 6.98130702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.129999999999995 meters Centerline goodness [0,1] 0.9998632042133102 Centerline is valid? [True, True] Translation: X:62.98, Y:-12.76, Z:0.69 [[ 9.03367835e-01 4.28503556e-01 -1.76424535e-02 6.29757479e+01] [-4.28424476e-01 9.03540086e-01 8.23290468e-03 -1.27647111e+01] [ 1.94684929e-02 1.21117615e-04 9.99810464e-01 6.93329076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.16 meters Centerline goodness [0,1] 0.9998396922090413 Centerline is valid? [True, True] Translation: X:63.00, Y:-12.78, Z:0.70 [[ 9.03341072e-01 4.28573529e-01 -1.73100407e-02 6.30045595e+01] [-4.28497307e-01 9.03506899e-01 8.08340221e-03 -1.27798046e+01] [ 1.91040734e-02 1.15236600e-04 9.99817494e-01 6.95407219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.19 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.03, Y:-12.79, Z:0.70 [[ 9.03008631e-01 4.29320824e-01 -1.60948064e-02 6.30344034e+01] [-4.29254954e-01 9.03152045e-01 7.52118129e-03 -1.27941774e+01] [ 1.77650571e-02 1.17083778e-04 9.99842182e-01 6.99858056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.22 meters Centerline goodness [0,1] 0.9999771819737593 Centerline is valid? [True, True] Translation: X:63.06, Y:-12.81, Z:0.70 [[ 9.03432136e-01 4.28461283e-01 -1.52087285e-02 6.30632584e+01] [-4.28402264e-01 9.03560137e-01 7.11191100e-03 -1.28088257e+01] [ 1.67891793e-02 9.03247572e-05 9.99859048e-01 7.00910174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.25 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.09, Y:-12.82, Z:0.70 [[ 9.03403799e-01 4.28543964e-01 -1.45480800e-02 6.30926940e+01] [-4.28489901e-01 9.03520926e-01 6.80742086e-03 -1.28230660e+01] [ 1.60617738e-02 8.38554953e-05 9.99870998e-01 7.02794855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.28 meters Centerline goodness [0,1] 0.9999543410268703 Centerline is valid? [True, True] Translation: X:63.12, Y:-12.84, Z:0.70 [[ 9.03833411e-01 4.27665011e-01 -1.37041853e-02 6.31214492e+01] [-4.27616871e-01 9.03937296e-01 6.41691716e-03 -1.28368185e+01] [ 1.51320151e-02 6.03167009e-05 9.99885503e-01 7.02584770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.309999999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.15, Y:-12.85, Z:0.71 [[ 9.03970639e-01 4.27424687e-01 -1.20507670e-02 6.31498367e+01] [-4.27387397e-01 9.04050958e-01 5.64604614e-03 -1.28502505e+01] [ 1.33077669e-02 4.64860025e-05 9.99911447e-01 7.05885699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.339999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.18, Y:-12.86, Z:0.71 [[ 9.04064098e-01 4.27246364e-01 -1.13424579e-02 6.31783067e+01] [-4.27213272e-01 9.04135246e-01 5.31765992e-03 -1.28636251e+01] [ 1.25270668e-02 3.81431260e-05 9.99921532e-01 7.06658329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.37 meters Centerline goodness [0,1] 0.9998406918525262 Centerline is valid? [True, True] Translation: X:63.21, Y:-12.88, Z:0.70 [[ 9.04508960e-01 4.26292227e-01 -1.17677091e-02 6.32083291e+01] [-4.26256475e-01 9.04585505e-01 5.52097023e-03 -1.28780237e+01] [ 1.29984458e-02 2.22951656e-05 9.99915516e-01 7.03878949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.4 meters Centerline goodness [0,1] 0.9997948624438721 Centerline is valid? [True, True] Translation: X:63.24, Y:-12.89, Z:0.70 [[ 9.04424224e-01 4.26464346e-01 -1.20409473e-02 6.32372339e+01] [-4.26426873e-01 9.04504373e-01 5.65339013e-03 -1.28906091e+01] [ 1.33020588e-02 2.15205246e-05 9.99911523e-01 7.03073352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.43 meters Centerline goodness [0,1] 0.999931598987665 Centerline is valid? [True, True] Translation: X:63.27, Y:-12.90, Z:0.70 [[ 9.03984567e-01 4.27398288e-01 -1.19417468e-02 6.32676027e+01] [-4.27361460e-01 9.04063439e-01 5.61070008e-03 -1.29041504e+01] [ 1.31941003e-02 3.14560897e-05 9.99912954e-01 7.04859060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.46 meters Centerline goodness [0,1] 0.9998182726818409 Centerline is valid? [True, True] Translation: X:63.30, Y:-12.92, Z:0.70 [[ 9.03517302e-01 4.28366743e-01 -1.25864479e-02 6.32978443e+01] [-4.28325863e-01 9.03604964e-01 5.91809924e-03 -1.29160947e+01] [ 1.39082937e-02 4.39961139e-05 9.99903274e-01 7.02076494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.489999999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.33, Y:-12.93, Z:0.71 [[ 9.02441671e-01 4.30631620e-01 -1.24674874e-02 6.33283400e+01] [-4.30591666e-01 9.02527785e-01 5.86641943e-03 -1.29291111e+01] [ 1.37785195e-02 7.42948417e-05 9.99905069e-01 7.05528862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.519999999999996 meters Centerline goodness [0,1] 0.9999772147283995 Centerline is valid? [True, True] Translation: X:63.36, Y:-12.94, Z:0.70 [[ 9.01968249e-01 4.31604786e-01 -1.30609182e-02 6.33586925e+01] [-4.31560972e-01 9.02062803e-01 6.15031281e-03 -1.29419982e+01] [ 1.44362729e-02 8.91956652e-05 9.99895788e-01 7.04359297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.55 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.39, Y:-12.95, Z:0.70 [[ 9.01281282e-01 4.33018011e-01 -1.36913637e-02 6.33886661e+01] [-4.32969954e-01 9.01385261e-01 6.45208093e-03 -1.29549542e+01] [ 1.51350607e-02 1.12809367e-04 9.99885452e-01 7.04807883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.58 meters Centerline goodness [0,1] 0.9997047467635702 Centerline is valid? [True, True] Translation: X:63.42, Y:-12.97, Z:0.70 [[ 9.00892114e-01 4.33760654e-01 -1.56554802e-02 6.34175476e+01] [-4.33697848e-01 9.01028121e-01 7.38247084e-03 -1.29655891e+01] [ 1.73082533e-02 1.38938312e-04 9.99850191e-01 6.99022635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.61 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.45, Y:-12.98, Z:0.70 [[ 8.99616600e-01 4.36427345e-01 -1.48709839e-02 6.34471583e+01] [-4.36370992e-01 8.99739485e-01 7.01545891e-03 -1.29780869e+01] [ 1.64417495e-02 1.78042724e-04 9.99864809e-01 7.04328148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.64 meters Centerline goodness [0,1] 0.9998184994441546 Centerline is valid? [True, True] Translation: X:63.48, Y:-12.99, Z:0.70 [[ 8.99404983e-01 4.36842756e-01 -1.54622893e-02 6.34775149e+01] [-4.36781808e-01 8.99537865e-01 7.29943277e-03 -1.29909649e+01] [ 1.70976191e-02 1.88500475e-04 9.99853807e-01 7.00268222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.669999999999995 meters Centerline goodness [0,1] 0.9999319820432594 Centerline is valid? [True, True] Translation: X:63.51, Y:-13.00, Z:0.70 [[ 8.98854818e-01 4.38000270e-01 -1.46894366e-02 6.35075870e+01] [-4.37945337e-01 8.98974819e-01 6.93950344e-03 -1.30048062e+01] [ 1.62449380e-02 1.95564151e-04 9.99868023e-01 7.02887330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.699999999999996 meters Centerline goodness [0,1] 0.9997957284550262 Centerline is valid? [True, True] Translation: X:63.54, Y:-13.02, Z:0.70 [[ 8.99012252e-01 4.37674326e-01 -1.47700963e-02 6.35367760e+01] [-4.37618660e-01 8.99133555e-01 6.98274242e-03 -1.30189280e+01] [ 1.63364563e-02 1.86098759e-04 9.99866534e-01 7.01061506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.73 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.56, Y:-13.03, Z:0.71 [[ 8.98914136e-01 4.37950185e-01 -1.23698052e-02 6.35647926e+01] [-4.37911119e-01 8.98999227e-01 5.85154076e-03 -1.30321938e+01] [ 1.36831286e-02 1.56842524e-04 9.99906369e-01 7.07219010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.76 meters Centerline goodness [0,1] 0.9998638992854713 Centerline is valid? [True, True] Translation: X:63.59, Y:-13.05, Z:0.71 [[ 8.99614226e-01 4.36514586e-01 -1.22172285e-02 6.35933848e+01] [-4.36476299e-01 8.99697171e-01 5.78277968e-03 -1.30465512e+01] [ 1.35160736e-02 1.30259827e-04 9.99908645e-01 7.05075577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.79 meters Centerline goodness [0,1] 0.999909303222003 Centerline is valid? [True, True] Translation: X:63.62, Y:-13.06, Z:0.71 [[ 8.99938539e-01 4.35888374e-01 -1.05806972e-02 6.36221196e+01] [-4.35859583e-01 9.00000730e-01 5.01091168e-03 -1.30600351e+01] [ 1.17068334e-02 1.02185751e-04 9.99931467e-01 7.06831882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.82 meters Centerline goodness [0,1] 0.9997284207667587 Centerline is valid? [True, True] Translation: X:63.65, Y:-13.07, Z:0.70 [[ 9.00136138e-01 4.35459763e-01 -1.13897867e-02 6.36515117e+01] [-4.35426320e-01 9.00208190e-01 5.39764362e-03 -1.30734007e+01] [ 1.26036358e-02 1.00798816e-04 9.99920566e-01 7.04595010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.849999999999994 meters Centerline goodness [0,1] 0.9999096637232097 Centerline is valid? [True, True] Translation: X:63.68, Y:-13.09, Z:0.71 [[ 8.99789731e-01 4.36202044e-01 -1.03061437e-02 6.36809670e+01] [-4.36174688e-01 8.99848747e-01 4.88618132e-03 -1.30869527e+01] [ 1.14053328e-02 9.87432463e-05 9.99934952e-01 7.07242216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.879999999999995 meters Centerline goodness [0,1] 0.999932293664944 Centerline is valid? [True, True] Translation: X:63.71, Y:-13.10, Z:0.71 [[ 8.99591453e-01 4.36612747e-01 -1.02238414e-02 6.37108912e+01] [-4.36585813e-01 8.99649543e-01 4.85064330e-03 -1.31009162e+01] [ 1.13157269e-02 9.99868549e-05 9.99935970e-01 7.07812025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.91 meters Centerline goodness [0,1] 0.9998639825897715 Centerline is valid? [True, True] Translation: X:63.74, Y:-13.11, Z:0.71 [[ 8.99571731e-01 4.36642155e-01 -1.06925201e-02 6.37410935e+01] [-4.36612651e-01 8.99635270e-01 5.07685780e-03 -1.31144268e+01] [ 1.18361383e-02 1.01491788e-04 9.99929945e-01 7.06170106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.94 meters Centerline goodness [0,1] 0.9997743631399626 Centerline is valid? [True, True] Translation: X:63.77, Y:-13.13, Z:0.70 [[ 8.99489092e-01 4.36799095e-01 -1.12216187e-02 6.37700163e+01] [-4.36766561e-01 8.99559081e-01 5.33209870e-03 -1.31277174e+01] [ 1.24235649e-02 1.05063202e-04 9.99922819e-01 7.04892462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.97 meters Centerline goodness [0,1] 0.999819596346826 Centerline is valid? [True, True] Translation: X:63.80, Y:-13.14, Z:0.70 [[ 8.99435669e-01 4.36900291e-01 -1.15591232e-02 6.37993865e+01] [-4.36865731e-01 8.99509936e-01 5.49628832e-03 -1.31410100e+01] [ 1.27988761e-02 1.06227030e-04 9.99918085e-01 7.04142802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.0 meters Centerline goodness [0,1] 0.9999320913597574 Centerline is valid? [True, True] Translation: X:63.83, Y:-13.16, Z:0.71 [[ 8.99191251e-01 4.37406137e-01 -1.14440054e-02 6.38294947e+01] [-4.37372256e-01 8.99264066e-01 5.44516248e-03 -1.31553351e+01] [ 1.26729303e-02 1.09048005e-04 9.99919689e-01 7.06232977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.03 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.86, Y:-13.17, Z:0.71 [[ 8.98970909e-01 4.37859447e-01 -1.14196965e-02 6.38581310e+01] [-4.37825701e-01 8.99043432e-01 5.43724295e-03 -1.31689468e+01] [ 1.26475513e-02 1.11913367e-04 9.99920010e-01 7.08243695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.059999999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.89, Y:-13.18, Z:0.71 [[ 8.99215178e-01 4.37370020e-01 -1.09330023e-02 6.38872225e+01] [-4.37339024e-01 8.99281633e-01 5.20786035e-03 -1.31834219e+01] [ 1.21096102e-02 9.84415046e-05 9.99926671e-01 7.08528228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.089999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.92, Y:-13.20, Z:0.71 [[ 8.99272756e-01 4.37261327e-01 -1.05376785e-02 6.39169337e+01] [-4.37232485e-01 8.99334489e-01 5.02295084e-03 -1.31978499e+01] [ 1.16732399e-02 9.04125307e-05 9.99931861e-01 7.08767052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.12 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.95, Y:-13.21, Z:0.71 [[ 8.99503191e-01 4.36792559e-01 -1.03087742e-02 6.39456079e+01] [-4.36764888e-01 8.99562257e-01 4.91719046e-03 -1.32118031e+01] [ 1.14211764e-02 7.94820963e-05 9.99934773e-01 7.09165053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.15 meters Centerline goodness [0,1] 0.9999323455787835 Centerline is valid? [True, True] Translation: X:63.97, Y:-13.23, Z:0.71 [[ 9.00196035e-01 4.35369472e-01 -1.00260149e-02 6.39741495e+01] [-4.35343176e-01 9.00251865e-01 4.78532782e-03 -1.32277568e+01] [ 1.11093243e-02 5.70240503e-05 9.99938288e-01 7.07845594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.18 meters Centerline goodness [0,1] 0.9999323455787835 Centerline is valid? [True, True] Translation: X:64.00, Y:-13.24, Z:0.71 [[ 9.00071408e-01 4.35627079e-01 -1.00253542e-02 6.40033467e+01] [-4.35600784e-01 9.00127238e-01 4.78671163e-03 -1.32417760e+01] [ 1.11093156e-02 5.86698761e-05 9.99938288e-01 7.08199210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.21 meters Centerline goodness [0,1] 0.9999548420601052 Centerline is valid? [True, True] Translation: X:64.03, Y:-13.26, Z:0.71 [[ 9.00251432e-01 4.35262790e-01 -9.67799071e-03 6.40318787e+01] [-4.35238229e-01 9.00303450e-01 4.62414530e-03 -1.32557559e+01] [ 1.07258468e-02 4.93381071e-05 9.99942475e-01 7.08736225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.239999999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.06, Y:-13.27, Z:0.71 [[ 9.00880502e-01 4.33955957e-01 -9.82587936e-03 6.40609450e+01] [-4.33930526e-01 9.00934085e-01 4.69807035e-03 -1.32717445e+01] [ 1.08912252e-02 3.13490305e-05 9.99940688e-01 7.09486082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.269999999999996 meters Centerline goodness [0,1] 0.9999091672911415 Centerline is valid? [True, True] Translation: X:64.09, Y:-13.29, Z:0.71 [[ 9.01500141e-01 4.32649755e-01 -1.05681766e-02 6.40892581e+01] [-4.32620201e-01 9.01562083e-01 5.05687432e-03 -1.32870728e+01] [ 1.17157228e-02 1.32337891e-05 9.99931368e-01 7.06861801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.3 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.12, Y:-13.30, Z:0.71 [[ 9.01768399e-01 4.32094755e-01 -1.03864081e-02 6.41181780e+01] [-4.32066135e-01 9.01828211e-01 4.97319268e-03 -1.33023800e+01] [ 1.15156463e-02 2.94719623e-06 9.99933693e-01 7.09191093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.33 meters Centerline goodness [0,1] 0.9999094387466323 Centerline is valid? [True, True] Translation: X:64.15, Y:-13.32, Z:0.71 [[ 9.02457606e-01 4.30633022e-01 -1.12013363e-02 6.41461930e+01] [-4.30599571e-01 9.02527119e-01 5.36744429e-03 -1.33180233e+01] [ 1.24209086e-02 -2.06003013e-05 9.99922857e-01 7.07165708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.36 meters Centerline goodness [0,1] 0.9999773021313298 Centerline is valid? [True, True] Translation: X:64.17, Y:-13.33, Z:0.71 [[ 9.03094020e-01 4.29304458e-01 -1.09028831e-02 6.41747775e+01] [-4.29272628e-01 9.03159831e-01 5.22783636e-03 -1.33333978e+01] [ 1.20913795e-02 -4.09184913e-05 9.99926896e-01 7.09239874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.39 meters Centerline goodness [0,1] 0.9999547091193188 Centerline is valid? [True, True] Translation: X:64.20, Y:-13.35, Z:0.71 [[ 9.03288105e-01 4.28896399e-01 -1.08848237e-02 6.42041931e+01] [-4.28864600e-01 9.03353683e-01 5.22282993e-03 -1.33473057e+01] [ 1.20728985e-02 -4.96045834e-05 9.99927119e-01 7.08635379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.419999999999995 meters Centerline goodness [0,1] 0.9999773781246465 Centerline is valid? [True, True] Translation: X:64.23, Y:-13.36, Z:0.71 [[ 9.03724030e-01 4.27953117e-01 -1.17901392e-02 6.42326166e+01] [-4.27915674e-01 9.03800932e-01 5.66137740e-03 -1.33610507e+01] [ 1.30787429e-02 -7.11374575e-05 9.99914467e-01 7.08470845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.449999999999996 meters Centerline goodness [0,1] 0.9998867958703134 Centerline is valid? [True, True] Translation: X:64.26, Y:-13.38, Z:0.71 [[ 9.04217172e-01 4.26884516e-01 -1.26852815e-02 6.42608942e+01] [-4.26841008e-01 9.04306143e-01 6.09530193e-03 -1.33757090e+01] [ 1.40733680e-02 -9.68783267e-05 9.99900961e-01 7.05955798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.48 meters Centerline goodness [0,1] 0.9999318955732123 Centerline is valid? [True, True] Translation: X:64.29, Y:-13.39, Z:0.71 [[ 9.04538909e-01 4.26195259e-01 -1.29214324e-02 6.42898231e+01] [-4.26149991e-01 9.04631189e-01 6.21264175e-03 -1.33906602e+01] [ 1.43369292e-02 -1.13107883e-04 9.99897215e-01 7.06905793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.51 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.32, Y:-13.41, Z:0.71 [[ 9.05419141e-01 4.24330836e-01 -1.26301689e-02 6.43176084e+01] [-4.24287354e-01 9.05507218e-01 6.07616582e-03 -1.34055728e+01] [ 1.40150137e-02 -1.42655874e-04 9.99901775e-01 7.08772991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.54 meters Centerline goodness [0,1] 0.9998867830536875 Centerline is valid? [True, True] Translation: X:64.35, Y:-13.42, Z:0.71 [[ 9.06045821e-01 4.22976628e-01 -1.31050298e-02 6.43457517e+01] [-4.22929638e-01 9.06140575e-01 6.30705356e-03 -1.34199058e+01] [ 1.45427355e-02 -1.71974013e-04 9.99894234e-01 7.06755190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.57 meters Centerline goodness [0,1] 0.9999091012384956 Centerline is valid? [True, True] Translation: X:64.37, Y:-13.43, Z:0.71 [[ 9.07075754e-01 4.20797336e-01 -1.19657382e-02 6.43734303e+01] [-4.20757933e-01 9.07154653e-01 5.76163808e-03 -1.34335854e+01] [ 1.32792571e-02 -1.91562927e-04 9.99911808e-01 7.07951908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.599999999999994 meters Centerline goodness [0,1] 0.9998866701421156 Centerline is valid? [True, True] Translation: X:64.40, Y:-13.45, Z:0.71 [[ 9.07492524e-01 4.19890198e-01 -1.22286584e-02 6.44018324e+01] [-4.19848917e-01 9.07574888e-01 5.89149756e-03 -1.34477041e+01] [ 1.35722054e-02 -2.12300999e-04 9.99907871e-01 7.08132566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.629999999999995 meters Centerline goodness [0,1] 0.9999546598354152 Centerline is valid? [True, True] Translation: X:64.43, Y:-13.46, Z:0.71 [[ 9.07805674e-01 4.19225632e-01 -1.17782806e-02 6.44302352e+01] [-4.19187239e-01 9.07882053e-01 5.67766212e-03 -1.34617520e+01] [ 1.30735110e-02 -2.16908981e-04 9.99914514e-01 7.09586781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.66 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.46, Y:-13.48, Z:0.71 [[ 9.08098108e-01 4.18596614e-01 -1.16060472e-02 6.44590498e+01] [-4.18559244e-01 9.08172243e-01 5.59777935e-03 -1.34756366e+01] [ 1.28835014e-02 -2.25514500e-04 9.99916979e-01 7.11125783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.69 meters Centerline goodness [0,1] 0.9999323104693141 Centerline is valid? [True, True] Translation: X:64.49, Y:-13.49, Z:0.71 [[ 9.09021581e-01 4.16565076e-01 -1.23815149e-02 6.44871439e+01] [-4.16522309e-01 9.09105858e-01 5.97531187e-03 -1.34895766e+01] [ 1.37452140e-02 -2.74510275e-04 9.99905492e-01 7.09278106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.72 meters Centerline goodness [0,1] 0.9999322921368602 Centerline is valid? [True, True] Translation: X:64.52, Y:-13.50, Z:0.71 [[ 9.09881340e-01 4.14658042e-01 -1.32156849e-02 6.45152638e+01] [-4.14609065e-01 9.09977253e-01 6.38136956e-03 -1.35026504e+01] [ 1.46720589e-02 -3.26946311e-04 9.99892306e-01 7.08002097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.54, Y:-13.52, Z:0.71 [[ 9.10180460e-01 4.13989619e-01 -1.35692818e-02 6.45439978e+01] [-4.13937866e-01 9.10281535e-01 6.55516413e-03 -1.35159284e+01] [ 1.50656365e-02 -3.49542773e-04 9.99886446e-01 7.09559506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.78 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.57, Y:-13.53, Z:0.71 [[ 9.10581871e-01 4.13095991e-01 -1.38693092e-02 6.45724573e+01] [-4.13041782e-01 9.10687412e-01 6.70256084e-03 -1.35295534e+01] [ 1.53994063e-02 -3.74626220e-04 9.99881352e-01 7.09238468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.809999999999995 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.60, Y:-13.54, Z:0.71 [[ 9.11027483e-01 4.12080425e-01 -1.47867724e-02 6.46011775e+01] [-4.12018609e-01 9.11147379e-01 7.14982064e-03 -1.35431871e+01] [ 1.64192301e-02 -4.21257712e-04 9.99865107e-01 7.08702589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.839999999999996 meters Centerline goodness [0,1] 0.9998430950619774 Centerline is valid? [True, True] Translation: X:64.63, Y:-13.56, Z:0.70 [[ 9.12049258e-01 4.09734271e-01 -1.68516770e-02 6.46295697e+01] [-4.09653495e-01 9.12204771e-01 8.15290877e-03 -1.35561853e+01] [ 1.87127062e-02 -5.32506024e-04 9.99824760e-01 7.04518250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.87 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.66, Y:-13.57, Z:0.71 [[ 9.11938213e-01 4.09983247e-01 -1.68057212e-02 6.46587082e+01] [-4.09902873e-01 9.12092899e-01 8.13499268e-03 -1.35694030e+01] [ 1.86635897e-02 -5.29897290e-04 9.99825680e-01 7.06941788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.9 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.69, Y:-13.58, Z:0.71 [[ 9.12212712e-01 4.09319881e-01 -1.80334003e-02 6.46877107e+01] [-4.09227106e-01 9.12390755e-01 8.73415223e-03 -1.35806622e+01] [ 2.00285699e-02 -5.87648461e-04 9.99799235e-01 7.05208062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.93 meters Centerline goodness [0,1] 0.9999107142857143 Centerline is valid? [True, True] Translation: X:64.72, Y:-13.59, Z:0.70 [[ 9.12545930e-01 4.08526977e-01 -1.91215571e-02 6.47160908e+01] [-4.08422394e-01 9.12746017e-01 9.26587078e-03 -1.35934278e+01] [ 2.12384833e-02 -6.45860534e-04 9.99774229e-01 7.02637621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.96 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.75, Y:-13.60, Z:0.71 [[ 9.12346281e-01 4.08997018e-01 -1.85930733e-02 6.47493231e+01] [-4.08898134e-01 9.12535508e-01 9.01458012e-03 -1.35988608e+01] [ 2.06537760e-02 -6.21745650e-04 9.99786495e-01 7.07890719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.989999999999995 meters Centerline goodness [0,1] 0.999888923446039 Centerline is valid? [True, True] Translation: X:64.78, Y:-13.61, Z:0.71 [[ 9.13354611e-01 4.06758296e-01 -1.81946157e-02 6.47775455e+01] [-4.06663082e-01 9.13535577e-01 8.82533510e-03 -1.36123442e+01] [ 2.02112070e-02 -6.61582001e-04 9.99795514e-01 7.06793964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.02 meters Centerline goodness [0,1] 0.999844895969511 Centerline is valid? [True, True] Translation: X:64.80, Y:-13.63, Z:0.71 [[ 9.13657646e-01 4.06091669e-01 -1.78679276e-02 6.48021333e+01] [-4.05999649e-01 9.13832102e-01 8.67031252e-03 -1.36326725e+01] [ 1.98492276e-02 -6.67324967e-04 9.99802762e-01 7.05191045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.05 meters Centerline goodness [0,1] 0.9999778599419931 Centerline is valid? [True, True] Translation: X:64.84, Y:-13.63, Z:0.71 [[ 9.13650764e-01 4.06146283e-01 -1.69552085e-02 6.48380040e+01] [-4.06063341e-01 9.13807853e-01 8.23231932e-03 -1.36339429e+01] [ 1.88373285e-02 -6.36576222e-04 9.99822359e-01 7.11940368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.08 meters Centerline goodness [0,1] 0.9997568792131727 Centerline is valid? [True, True] Translation: X:64.86, Y:-13.65, Z:0.71 [[ 9.14109926e-01 4.05080612e-01 -1.76845064e-02 6.48638880e+01] [-4.04990069e-01 9.14280711e-01 8.59215946e-03 -1.36514504e+01] [ 1.96491203e-02 -6.92128781e-04 9.99806698e-01 7.08630442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.11 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.90, Y:-13.66, Z:0.71 [[ 9.13746258e-01 4.05970663e-01 -1.59873850e-02 6.48964926e+01] [-4.05896725e-01 9.13885904e-01 7.77192298e-03 -1.36576997e+01] [ 1.77658185e-02 -6.12338339e-04 9.99841988e-01 7.14543888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.14 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.93, Y:-13.67, Z:0.72 [[ 9.13477275e-01 4.06590407e-01 -1.56047990e-02 6.49264538e+01] [-4.06519976e-01 9.13610362e-01 7.59054484e-03 -1.36691531e+01] [ 1.73429488e-02 -5.90127685e-04 9.99849426e-01 7.15299671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.17 meters Centerline goodness [0,1] 0.9998029642927513 Centerline is valid? [True, True] Translation: X:64.96, Y:-13.68, Z:0.71 [[ 9.12929063e-01 4.07795532e-01 -1.62274529e-02 6.49577490e+01] [-4.07719468e-01 9.13073081e-01 7.89841368e-03 -1.36788626e+01] [ 1.80377882e-02 -5.94442958e-04 9.99837129e-01 7.12607876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.2 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.99, Y:-13.69, Z:0.72 [[ 9.11888109e-01 4.10142997e-01 -1.55820176e-02 6.49873230e+01] [-4.10073127e-01 9.12021075e-01 7.58881337e-03 -1.36906989e+01] [ 1.73236271e-02 -5.30381975e-04 9.99849794e-01 7.16289307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.23 meters Centerline goodness [0,1] 0.9998907462034305 Centerline is valid? [True, True] Translation: X:65.02, Y:-13.70, Z:0.71 [[ 9.11440619e-01 4.11116035e-01 -1.61122374e-02 6.50177899e+01] [-4.11041390e-01 9.11582866e-01 7.85202144e-03 -1.37006630e+01] [ 1.79157315e-02 -5.33854809e-04 9.99839358e-01 7.14893546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.25999999999999 meters Centerline goodness [0,1] 0.999956429862972 Centerline is valid? [True, True] Translation: X:65.05, Y:-13.71, Z:0.72 [[ 9.09279927e-01 4.15861612e-01 -1.64052853e-02 6.50473963e+01] [-4.15784939e-01 9.09427796e-01 7.99805490e-03 -1.37086860e+01] [ 1.82455065e-02 -4.51400228e-04 9.99833435e-01 7.15729893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.28999999999999 meters Centerline goodness [0,1] 0.9998694147604849 Centerline is valid? [True, True] Translation: X:65.08, Y:-13.72, Z:0.71 [[ 9.08161767e-01 4.18290000e-01 -1.66036675e-02 6.50786017e+01] [-4.18211848e-01 9.08313442e-01 8.09574046e-03 -1.37192304e+01] [ 1.84677017e-02 -4.08391479e-04 9.99829374e-01 7.14858725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32 meters Centerline goodness [0,1] 0.9998049795228499 Centerline is valid? [True, True] Translation: X:65.11, Y:-13.73, Z:0.71 [[ 9.06736880e-01 4.21363728e-01 -1.67582325e-02 6.51080995e+01] [-4.21284581e-01 9.06891661e-01 8.17416380e-03 -1.37303725e+01] [ 1.86421975e-02 -3.51830816e-04 9.99826157e-01 7.14130806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.35 meters Centerline goodness [0,1] 0.9999565849740595 Centerline is valid? [True, True] Translation: X:65.14, Y:-13.74, Z:0.72 [[ 9.03496311e-01 4.28293914e-01 -1.60853712e-02 6.51404047e+01] [-4.28222034e-01 9.03639465e-01 7.84904312e-03 -1.37365502e+01] [ 1.78970736e-02 -2.03471109e-04 9.99839814e-01 7.17497787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.38 meters Centerline goodness [0,1] 0.9999567875893957 Centerline is valid? [True, True] Translation: X:65.17, Y:-13.75, Z:0.72 [[ 9.01821070e-01 4.31806282e-01 -1.61893023e-02 6.51708171e+01] [-4.31733988e-01 9.01966361e-01 7.90238203e-03 -1.37473272e+01] [ 1.80145043e-02 -1.37062575e-04 9.99837716e-01 7.17229288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.41 meters Centerline goodness [0,1] 0.9998057959130828 Centerline is valid? [True, True] Translation: X:65.20, Y:-13.76, Z:0.71 [[ 8.98883371e-01 4.37836654e-01 -1.75428093e-02 6.52026754e+01] [-4.37752799e-01 8.99054539e-01 8.56872407e-03 -1.37558308e+01] [ 1.95236438e-02 -2.28696994e-05 9.99809395e-01 7.14845404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.44 meters Centerline goodness [0,1] 0.9998491736872724 Centerline is valid? [True, True] Translation: X:65.23, Y:-13.77, Z:0.72 [[ 8.97241327e-01 4.41192367e-01 -1.75298660e-02 6.52326416e+01] [-4.41109167e-01 8.97412554e-01 8.56797576e-03 -1.37670192e+01] [ 1.95116473e-02 4.50426317e-05 9.99809629e-01 7.15382707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.47 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.26, Y:-13.78, Z:0.72 [[ 8.95245062e-01 4.45274801e-01 -1.63288200e-02 6.52636488e+01] [-4.45203193e-01 8.95393956e-01 7.98625707e-03 -1.37787319e+01] [ 1.81768057e-02 1.19985585e-04 9.99834781e-01 7.19421182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.5 meters Centerline goodness [0,1] 0.9999784923110012 Centerline is valid? [True, True] Translation: X:65.29, Y:-13.79, Z:0.72 [[ 8.93047113e-01 4.49692890e-01 -1.55935291e-02 6.52948941e+01] [-4.49628169e-01 8.93183221e-01 7.63173074e-03 -1.37884106e+01] [ 1.73598136e-02 1.95794841e-04 9.99849288e-01 7.19086916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.53 meters Centerline goodness [0,1] 0.9997639484978541 Centerline is valid? [True, True] Translation: X:65.32, Y:-13.80, Z:0.72 [[ 8.92425441e-01 4.50906042e-01 -1.61423014e-02 6.53245590e+01] [-4.50836791e-01 8.92571393e-01 7.90540846e-03 -1.38006373e+01] [ 1.79727529e-02 2.22555746e-04 9.99838452e-01 7.16072783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.56 meters Centerline goodness [0,1] 0.999827779212951 Centerline is valid? [True, True] Translation: X:65.35, Y:-13.81, Z:0.72 [[ 8.91194654e-01 4.53389662e-01 -1.44880601e-02 6.53543516e+01] [-4.53334139e-01 8.91312379e-01 7.09943935e-03 -1.38129855e+01] [ 1.61321997e-02 2.40949831e-04 9.99869839e-01 7.17639648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.59 meters Centerline goodness [0,1] 0.9999355185384202 Centerline is valid? [True, True] Translation: X:65.38, Y:-13.83, Z:0.72 [[ 8.90435756e-01 4.54896609e-01 -1.39010577e-02 6.53826273e+01] [-4.54845614e-01 8.90544222e-01 6.81589942e-03 -1.38258116e+01] [ 1.54800361e-02 2.53714561e-04 9.99880145e-01 7.19857442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62 meters Centerline goodness [0,1] 0.9998711007991751 Centerline is valid? [True, True] Translation: X:65.41, Y:-13.84, Z:0.72 [[ 8.90147876e-01 4.55451988e-01 -1.41508209e-02 6.54122247e+01] [-4.55399145e-01 8.90260309e-01 6.94275478e-03 -1.38400274e+01] [ 1.57600057e-02 2.64193323e-04 9.99875768e-01 7.18929137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.64999999999999 meters Centerline goodness [0,1] 0.9998490598585476 Centerline is valid? [True, True] Translation: X:65.44, Y:-13.86, Z:0.72 [[ 8.89847290e-01 4.56036775e-01 -1.42218170e-02 6.54412634e+01] [-4.55983396e-01 8.89960890e-01 6.98263048e-03 -1.38552270e+01] [ 1.58411972e-02 2.71437601e-04 9.99874484e-01 7.18603873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.67999999999999 meters Centerline goodness [0,1] 0.9999570916736392 Centerline is valid? [True, True] Translation: X:65.47, Y:-13.87, Z:0.72 [[ 8.89590262e-01 4.56532337e-01 -1.44010660e-02 6.54693988e+01] [-4.56477587e-01 8.89706776e-01 7.07570668e-03 -1.38695772e+01] [ 1.60430149e-02 2.79284104e-04 9.99871264e-01 7.20679963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.71 meters Centerline goodness [0,1] 0.9999785264875776 Centerline is valid? [True, True] Translation: X:65.50, Y:-13.88, Z:0.72 [[ 8.89312124e-01 4.57056641e-01 -1.49389884e-02 6.54979730e+01] [-4.56997713e-01 8.89437541e-01 7.34507598e-03 -1.38843258e+01] [ 1.66444129e-02 2.95018420e-04 9.99861429e-01 7.21828419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.74 meters Centerline goodness [0,1] 0.9998711561587356 Centerline is valid? [True, True] Translation: X:65.53, Y:-13.90, Z:0.72 [[ 8.90211707e-01 4.55266360e-01 -1.59893320e-02 6.55252179e+01] [-4.55198470e-01 8.90355247e-01 7.86682081e-03 -1.39012859e+01] [ 1.78176845e-02 2.75183474e-04 9.99841215e-01 7.17578622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.77 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.55, Y:-13.92, Z:0.72 [[ 8.89926914e-01 4.55829300e-01 -1.58030582e-02 6.55536510e+01] [-4.55762982e-01 8.90067173e-01 7.78025190e-03 -1.39185643e+01] [ 1.76122501e-02 2.78593384e-04 9.99844853e-01 7.21726390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.8 meters Centerline goodness [0,1] 0.999739521153053 Centerline is valid? [True, True] Translation: X:65.58, Y:-13.94, Z:0.72 [[ 8.90807429e-01 4.54054816e-01 -1.72148120e-02 6.55796997e+01] [-4.53975673e-01 8.90973713e-01 8.48124548e-03 -1.39353656e+01] [ 1.91888953e-02 2.59949395e-04 9.99815842e-01 7.16180930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.83 meters Centerline goodness [0,1] 0.999826978393927 Centerline is valid? [True, True] Translation: X:65.61, Y:-13.95, Z:0.72 [[ 8.90863190e-01 4.53938515e-01 -1.73954550e-02 6.56084932e+01] [-4.53857573e-01 8.91032973e-01 8.57576948e-03 -1.39519337e+01] [ 1.93927961e-02 2.55221628e-04 9.99811909e-01 7.16743487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.86 meters Centerline goodness [0,1] 0.9998698029684924 Centerline is valid? [True, True] Translation: X:65.63, Y:-13.97, Z:0.72 [[ 8.91420048e-01 4.52803162e-01 -1.84280970e-02 6.56346401e+01] [-4.52711976e-01 8.91610475e-01 9.08998605e-03 -1.39696591e+01] [ 2.05466588e-02 2.39624417e-04 9.99788866e-01 7.16341666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.89 meters Centerline goodness [0,1] 0.9999565151218663 Centerline is valid? [True, True] Translation: X:65.66, Y:-13.99, Z:0.72 [[ 8.91490262e-01 4.52669289e-01 -1.83201623e-02 6.56628062e+01] [-4.52579043e-01 8.91678452e-01 9.04145855e-03 -1.39870743e+01] [ 2.04284846e-02 2.30949284e-04 9.99791290e-01 7.18574599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.92 meters Centerline goodness [0,1] 0.9999563099373048 Centerline is valid? [True, True] Translation: X:65.69, Y:-14.00, Z:0.72 [[ 8.91784381e-01 4.52088111e-01 -1.83564162e-02 6.56903420e+01] [-4.51997259e-01 8.91973259e-01 9.06551836e-03 -1.40043534e+01] [ 2.04718454e-02 2.12562119e-04 9.99790407e-01 7.19669636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.95 meters Centerline goodness [0,1] 0.9999345749552929 Centerline is valid? [True, True] Translation: X:65.72, Y:-14.02, Z:0.72 [[ 8.92738914e-01 4.50223874e-01 -1.77677926e-02 6.57160022e+01] [-4.50138278e-01 8.92915695e-01 8.78026056e-03 -1.40235974e+01] [ 1.98182238e-02 1.59483307e-04 9.99803587e-01 7.20681324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.98 meters Centerline goodness [0,1] 0.9998905117480894 Centerline is valid? [True, True] Translation: X:65.74, Y:-14.04, Z:0.72 [[ 8.93243024e-01 4.49226049e-01 -1.76877861e-02 6.57439409e+01] [-4.49140918e-01 8.93418121e-01 8.74618263e-03 -1.40405381e+01] [ 1.97316017e-02 1.31841856e-04 9.99805304e-01 7.20835233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.00999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.77, Y:-14.06, Z:0.72 [[ 8.93253245e-01 4.49217240e-01 -1.73928716e-02 6.57717332e+01] [-4.49134817e-01 8.93422552e-01 8.60582062e-03 -1.40568548e+01] [ 1.94050667e-02 1.24566982e-04 9.99811696e-01 7.24174625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.03999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.80, Y:-14.08, Z:0.73 [[ 8.93978547e-01 4.47828105e-01 -1.58853743e-02 6.57985353e+01] [-4.47759048e-01 8.94119669e-01 7.86470769e-03 -1.40750554e+01] [ 1.77254627e-02 8.19401084e-05 9.99842888e-01 7.25847647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.83, Y:-14.09, Z:0.73 [[ 8.94287937e-01 4.47215878e-01 -1.57176163e-02 6.58269070e+01] [-4.47148090e-01 8.94426047e-01 7.78663229e-03 -1.40915605e+01] [ 1.75405510e-02 6.46107867e-05 9.99846151e-01 7.26085810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.1 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.86, Y:-14.11, Z:0.73 [[ 8.94163998e-01 4.47463707e-01 -1.57154573e-02 6.58559035e+01] [-4.47395881e-01 8.94302089e-01 7.79098782e-03 -1.41060238e+01] [ 1.75405506e-02 6.46100531e-05 9.99846151e-01 7.26440170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.13 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.88, Y:-14.12, Z:0.73 [[ 8.94434816e-01 4.46931140e-01 -1.54568773e-02 6.58845013e+01] [-4.46865357e-01 8.94568362e-01 7.66806292e-03 -1.41229295e+01] [ 1.72543295e-02 4.85605597e-05 9.99851132e-01 7.26793510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.16 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.91, Y:-14.14, Z:0.73 [[ 8.95109121e-01 4.45555193e-01 -1.61317172e-02 6.59118736e+01] [-4.45483214e-01 8.95254472e-01 8.00851314e-03 -1.41424939e+01] [ 1.80102266e-02 1.79160879e-05 9.99837803e-01 7.27109543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.19 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.94, Y:-14.16, Z:0.73 [[ 8.95415869e-01 4.44920546e-01 -1.66171326e-02 6.59404245e+01] [-4.44843954e-01 8.95570046e-01 8.25524911e-03 -1.41595544e+01] [ 1.85547362e-02 1.49920933e-07 9.99827846e-01 7.27032671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.22 meters Centerline goodness [0,1] 0.999888859251356 Centerline is valid? [True, True] Translation: X:65.97, Y:-14.18, Z:0.72 [[ 8.96512622e-01 4.42652582e-01 -1.79947268e-02 6.59669540e+01] [-4.42562183e-01 8.96693196e-01 8.94573773e-03 -1.41778150e+01] [ 2.00956030e-02 -5.61812032e-05 9.99798061e-01 7.24790081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.25 meters Centerline goodness [0,1] 0.9999332606616093 Centerline is valid? [True, True] Translation: X:66.00, Y:-14.19, Z:0.73 [[ 8.96665653e-01 4.42341844e-01 -1.80111184e-02 6.59956965e+01] [-4.42251099e-01 8.96846524e-01 8.95976833e-03 -1.41948156e+01] [ 2.01164894e-02 -6.84796307e-05 9.99797641e-01 7.26193089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.28 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.02, Y:-14.21, Z:0.73 [[ 8.96608836e-01 4.42461229e-01 -1.79068851e-02 6.60238706e+01] [-4.42371430e-01 8.96787631e-01 8.91414458e-03 -1.42111840e+01] [ 2.00028364e-02 -7.10064345e-05 9.99799921e-01 7.28284662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.31 meters Centerline goodness [0,1] 0.999955360132134 Centerline is valid? [True, True] Translation: X:66.05, Y:-14.23, Z:0.73 [[ 8.96883782e-01 4.41860922e-01 -1.89316380e-02 6.60509887e+01] [-4.41760281e-01 8.97083562e-01 9.43068882e-03 -1.42284669e+01] [ 2.11503141e-02 -9.49861278e-05 9.99776303e-01 7.27253845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.34 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.08, Y:-14.24, Z:0.73 [[ 8.96657238e-01 4.42323562e-01 -1.88590498e-02 6.60796980e+01] [-4.42223662e-01 8.96855539e-01 9.40074690e-03 -1.42449201e+01] [ 2.10720152e-02 -8.93296792e-05 9.99777956e-01 7.28979291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.37 meters Centerline goodness [0,1] 0.9999551911099162 Centerline is valid? [True, True] Translation: X:66.11, Y:-14.26, Z:0.73 [[ 8.96823691e-01 4.41993683e-01 -1.86775454e-02 6.61062440e+01] [-4.41895493e-01 8.97018157e-01 9.31665765e-03 -1.42623977e+01] [ 2.08720012e-02 -1.01876178e-04 9.99782151e-01 7.29292713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.39999999999999 meters Centerline goodness [0,1] 0.999820884828945 Centerline is valid? [True, True] Translation: X:66.14, Y:-14.28, Z:0.73 [[ 8.97066641e-01 4.41475328e-01 -1.92607483e-02 6.61350857e+01] [-4.41370645e-01 8.97273381e-01 9.61426321e-03 -1.42784601e+01] [ 2.15266167e-02 -1.23505910e-04 9.99768268e-01 7.27175213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.42999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.16, Y:-14.29, Z:0.73 [[ 8.96564870e-01 4.42558431e-01 -1.77050345e-02 6.61626077e+01] [-4.42470077e-01 8.96739665e-01 8.84334339e-03 -1.42940605e+01] [ 1.97905029e-02 -9.46830417e-05 9.99804144e-01 7.30898049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46 meters Centerline goodness [0,1] 0.999977497749775 Centerline is valid? [True, True] Translation: X:66.19, Y:-14.31, Z:0.73 [[ 8.96266771e-01 4.43199646e-01 -1.67317004e-02 6.61885874e+01] [-4.43120776e-01 8.96422929e-01 8.36125244e-03 -1.43108046e+01] [ 1.87043840e-02 -7.97486566e-05 9.99825055e-01 7.31615999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.49 meters Centerline goodness [0,1] 0.9998641857938341 Centerline is valid? [True, True] Translation: X:66.22, Y:-14.33, Z:0.73 [[ 8.95858678e-01 4.43995221e-01 -1.74777743e-02 6.62176639e+01] [-4.43909223e-01 8.96029151e-01 8.73857321e-03 -1.43267133e+01] [ 1.95404800e-02 -6.99814484e-05 9.99809064e-01 7.30856952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.52 meters Centerline goodness [0,1] 0.9997743936830231 Centerline is valid? [True, True] Translation: X:66.25, Y:-14.34, Z:0.73 [[ 8.95162026e-01 4.45397434e-01 -1.74949322e-02 6.62463457e+01] [-4.45311415e-01 8.95332968e-01 8.75328073e-03 -1.43420311e+01] [ 1.95624783e-02 -4.49115294e-05 9.99808635e-01 7.30608873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.55 meters Centerline goodness [0,1] 0.9999322324877453 Centerline is valid? [True, True] Translation: X:66.28, Y:-14.36, Z:0.73 [[ 8.92883124e-01 4.49949939e-01 -1.74579233e-02 6.62761384e+01] [-4.49865032e-01 8.93053778e-01 8.74086146e-03 -1.43566853e+01] [ 1.95238144e-02 4.91415267e-05 9.99809391e-01 7.32383526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.58 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.30, Y:-14.37, Z:0.73 [[ 8.91365083e-01 4.52936933e-01 -1.77882981e-02 6.63044643e+01] [-4.52849261e-01 8.91542552e-01 8.91207393e-03 -1.43705901e+01] [ 1.98956321e-02 1.11506112e-04 9.99802056e-01 7.33674623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.61 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.33, Y:-14.38, Z:0.73 [[ 8.88671805e-01 4.58136101e-01 -1.93322558e-02 6.63334440e+01] [-4.58033675e-01 8.88882024e-01 9.69017619e-03 -1.43826424e+01] [ 2.16235142e-02 2.43437802e-04 9.99766155e-01 7.31331347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.64 meters Centerline goodness [0,1] 0.9999546372110958 Centerline is valid? [True, True] Translation: X:66.36, Y:-14.40, Z:0.73 [[ 8.87465053e-01 4.60414977e-01 -2.05870931e-02 6.63619403e+01] [-4.60299317e-01 8.87703751e-01 1.03241745e-02 -1.43969905e+01] [ 2.30286443e-02 3.13880853e-04 9.99734756e-01 7.30577586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.67 meters Centerline goodness [0,1] 0.9998867548468926 Centerline is valid? [True, True] Translation: X:66.39, Y:-14.41, Z:0.73 [[ 8.86424645e-01 4.62360727e-01 -2.17693995e-02 6.63901726e+01] [-4.62231822e-01 8.86691837e-01 1.09237482e-02 -1.44109621e+01] [ 2.43534610e-02 3.79429554e-04 9.99703338e-01 7.29187407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.7 meters Centerline goodness [0,1] 0.9997045185925993 Centerline is valid? [True, True] Translation: X:66.42, Y:-14.43, Z:0.73 [[ 8.85754896e-01 4.63522712e-01 -2.41859515e-02 6.64173458e+01] [-4.63363882e-01 8.86084923e-01 1.21417546e-02 -1.44263291e+01] [ 2.70587860e-02 4.52277807e-04 9.99633742e-01 7.25917715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.73 meters Centerline goodness [0,1] 0.9999772401392903 Centerline is valid? [True, True] Translation: X:66.44, Y:-14.44, Z:0.73 [[ 8.85964517e-01 4.63162634e-01 -2.33933773e-02 6.64447807e+01] [-4.63013769e-01 8.86273207e-01 1.17495665e-02 -1.44439959e+01] [ 2.61748837e-02 4.21756771e-04 9.99657290e-01 7.29913780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.75999999999999 meters Centerline goodness [0,1] 0.9998625461043275 Centerline is valid? [True, True] Translation: X:66.47, Y:-14.46, Z:0.73 [[ 8.87218531e-01 4.60699145e-01 -2.44862366e-02 6.64710193e+01] [-4.60534949e-01 8.87556290e-01 1.23041925e-02 -1.44607752e+01] [ 2.74014443e-02 3.60260077e-04 9.99624445e-01 7.29147580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.78999999999999 meters Centerline goodness [0,1] 0.9997262586399617 Centerline is valid? [True, True] Translation: X:66.50, Y:-14.48, Z:0.73 [[ 8.87552072e-01 4.60028086e-01 -2.50095957e-02 6.65001358e+01] [-4.59856329e-01 8.87904299e-01 1.25742855e-02 -1.44764344e+01] [ 2.79906520e-02 3.40487688e-04 9.99608127e-01 7.29962661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82 meters Centerline goodness [0,1] 0.999840590271452 Centerline is valid? [True, True] Translation: X:66.53, Y:-14.49, Z:0.73 [[ 8.87789916e-01 4.59618858e-01 -2.40742655e-02 6.65282960e+01] [-4.59459362e-01 8.88116214e-01 1.21113698e-02 -1.44895649e+01] [ 2.69473595e-02 3.08794693e-04 9.99636806e-01 7.30536530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.85 meters Centerline goodness [0,1] 0.9999091734786558 Centerline is valid? [True, True] Translation: X:66.56, Y:-14.50, Z:0.73 [[ 8.87883959e-01 4.59480200e-01 -2.32383358e-02 6.65575520e+01] [-4.59331363e-01 8.88187966e-01 1.16976972e-02 -1.45027837e+01] [ 2.60148705e-02 2.87898748e-04 9.99661515e-01 7.33995963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.88 meters Centerline goodness [0,1] 0.9999545092687365 Centerline is valid? [True, True] Translation: X:66.59, Y:-14.52, Z:0.73 [[ 8.87338136e-01 4.60530495e-01 -2.32958357e-02 6.65873801e+01] [-4.60381076e-01 8.87643828e-01 1.17345212e-02 -1.45156641e+01] [ 2.60825097e-02 3.12473734e-04 9.99659745e-01 7.34752147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.91 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.62, Y:-14.53, Z:0.73 [[ 8.86629644e-01 4.61902164e-01 -2.31141602e-02 6.66157472e+01] [-4.61755359e-01 8.86930816e-01 1.16497252e-02 -1.45273736e+01] [ 2.58816943e-02 3.44095624e-04 9.99664954e-01 7.34937140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.94 meters Centerline goodness [0,1] 0.9999548165552141 Centerline is valid? [True, True] Translation: X:66.65, Y:-14.54, Z:0.74 [[ 8.85232109e-01 4.64527718e-01 -2.40439594e-02 6.66453575e+01] [-4.64369642e-01 8.85558475e-01 1.21253135e-02 -1.45406644e+01] [ 2.69248763e-02 4.31567968e-04 9.99637367e-01 7.36120984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.97 meters Centerline goodness [0,1] 0.9997736276174307 Centerline is valid? [True, True] Translation: X:66.67, Y:-14.55, Z:0.74 [[ 8.84542972e-01 4.65728301e-01 -2.60936753e-02 6.66744160e+01] [-4.65542393e-01 8.84927624e-01 1.31674175e-02 -1.45544646e+01] [ 2.92234530e-02 5.00565372e-04 9.99572778e-01 7.35613238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.0 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.70, Y:-14.57, Z:0.74 [[ 8.83161506e-01 4.68366832e-01 -2.56566943e-02 6.67027614e+01] [-4.68188055e-01 8.83533917e-01 1.29523227e-02 -1.45661232e+01] [ 2.87349980e-02 5.73165006e-04 9.99586900e-01 7.36703495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.03 meters Centerline goodness [0,1] 0.9999094592453428 Centerline is valid? [True, True] Translation: X:66.73, Y:-14.58, Z:0.74 [[ 8.82879316e-01 4.68792711e-01 -2.75228482e-02 6.67317534e+01] [-4.68586961e-01 8.83307990e-01 1.39016279e-02 -1.45804897e+01] [ 3.08281336e-02 6.23388019e-04 9.99524506e-01 7.35854218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.06 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.76, Y:-14.59, Z:0.74 [[ 8.82641952e-01 4.69275514e-01 -2.69012285e-02 6.67610604e+01] [-4.69078901e-01 8.83051590e-01 1.35968500e-02 -1.45949001e+01] [ 3.01358414e-02 6.17648476e-04 9.99545622e-01 7.37171758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.09 meters Centerline goodness [0,1] 0.9998416146257579 Centerline is valid? [True, True] Translation: X:66.79, Y:-14.61, Z:0.74 [[ 8.82900056e-01 4.68671703e-01 -2.88847134e-02 6.67888298e+01] [-4.68444422e-01 8.83372194e-01 1.46078726e-02 -1.46078246e+01] [ 3.23622492e-02 6.33591340e-04 9.99476004e-01 7.35040236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.12 meters Centerline goodness [0,1] 0.9998870541462422 Centerline is valid? [True, True] Translation: X:66.82, Y:-14.62, Z:0.74 [[ 8.84152263e-01 4.66346694e-01 -2.82052691e-02 6.68166438e+01] [-4.66128543e-01 8.84601878e-01 1.42723299e-02 -1.46245668e+01] [ 3.16062879e-02 5.28368196e-04 9.99500257e-01 7.37133092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.14999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.84, Y:-14.64, Z:0.74 [[ 8.85080635e-01 4.64695469e-01 -2.62752857e-02 6.68440013e+01] [-4.64505194e-01 8.85470460e-01 1.33037189e-02 -1.46415937e+01] [ 2.94481672e-02 4.30142685e-04 9.99566216e-01 7.40508511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.17999999999999 meters Centerline goodness [0,1] 0.9998866547276313 Centerline is valid? [True, True] Translation: X:66.87, Y:-14.66, Z:0.74 [[ 8.86296701e-01 4.62314938e-01 -2.72590632e-02 6.68711947e+01] [-4.62108766e-01 8.86715722e-01 1.38100449e-02 -1.46570930e+01] [ 3.05556299e-02 3.56854843e-04 9.99533004e-01 7.39276761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.21 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.90, Y:-14.68, Z:0.75 [[ 8.89468749e-01 4.56361701e-01 -2.40695271e-02 6.68957504e+01] [-4.56198685e-01 8.89794347e-01 1.21975112e-02 -1.46775984e+01] [ 2.69834062e-02 1.31181564e-04 9.99635873e-01 7.45061707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.24 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.92, Y:-14.69, Z:0.75 [[ 8.90914346e-01 4.53574846e-01 -2.32698836e-02 6.69221189e+01] [-4.53421415e-01 8.91218188e-01 1.17967199e-02 -1.46941275e+01] [ 2.60892389e-02 4.11965139e-05 9.99659617e-01 7.45503701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.27 meters Centerline goodness [0,1] 0.9999316348388861 Centerline is valid? [True, True] Translation: X:66.95, Y:-14.71, Z:0.75 [[ 8.94107690e-01 4.47244554e-01 -2.33183875e-02 6.69484865e+01] [-4.47088140e-01 8.94411698e-01 1.18282897e-02 -1.47133718e+01] [ 2.61463767e-02 -1.50390302e-04 9.99658114e-01 7.46615339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.3 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.98, Y:-14.73, Z:0.75 [[ 8.95583463e-01 4.44319399e-01 -2.25949687e-02 6.69755534e+01] [-4.44171435e-01 8.95868415e-01 1.14681958e-02 -1.47301437e+01] [ 2.53376607e-02 -2.34686857e-04 9.99678922e-01 7.47673994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.33 meters Centerline goodness [0,1] 0.9999542857142857 Centerline is valid? [True, True] Translation: X:67.00, Y:-14.75, Z:0.75 [[ 8.97018041e-01 4.41368729e-01 -2.35006325e-02 6.70018088e+01] [-4.41207516e-01 8.97325767e-01 1.19329549e-02 -1.47461778e+01] [ 2.63545562e-02 -3.35420114e-04 9.99652602e-01 7.47041364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.36 meters Centerline goodness [0,1] 0.999817075959208 Centerline is valid? [True, True] Translation: X:67.03, Y:-14.76, Z:0.75 [[ 8.99111753e-01 4.36988322e-01 -2.52836473e-02 6.70277451e+01] [-4.36799811e-01 8.99467038e-01 1.28441790e-02 -1.47642234e+01] [ 2.83545636e-02 -5.04459962e-04 9.99597801e-01 7.45951054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.39 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.05, Y:-14.78, Z:0.75 [[ 8.99779344e-01 4.35691441e-01 -2.38767916e-02 6.70548773e+01] [-4.35522682e-01 9.00095938e-01 1.21365942e-02 -1.47807666e+01] [ 2.67792134e-02 -5.21372449e-04 9.99641237e-01 7.47157476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.42 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.08, Y:-14.80, Z:0.75 [[ 9.00165091e-01 4.34874603e-01 -2.42257637e-02 6.70831465e+01] [-4.34700376e-01 9.00490847e-01 1.23214234e-02 -1.47965853e+01] [ 2.71733526e-02 -5.60366591e-04 9.99630579e-01 7.47610301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.45 meters Centerline goodness [0,1] 0.9999085505258345 Centerline is valid? [True, True] Translation: X:67.11, Y:-14.81, Z:0.75 [[ 8.99826366e-01 4.35528088e-01 -2.50558304e-02 6.71117633e+01] [-4.35341748e-01 9.00174963e-01 1.27514155e-02 -1.48102704e+01] [ 2.81082309e-02 -5.66210828e-04 9.99604725e-01 7.46926097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.14, Y:-14.82, Z:0.75 [[ 8.98539862e-01 4.38203335e-01 -2.45754769e-02 6.71411875e+01] [-4.38024878e-01 8.98875746e-01 1.25139803e-02 -1.48216886e+01] [ 2.75739680e-02 -4.79639851e-04 9.99619651e-01 7.46279954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.50999999999999 meters Centerline goodness [0,1] 0.9999542491135766 Centerline is valid? [True, True] Translation: X:67.17, Y:-14.83, Z:0.75 [[ 8.97598285e-01 4.40088773e-01 -2.52822174e-02 6.71721197e+01] [-4.39900433e-01 8.97954162e-01 1.28814444e-02 -1.48323597e+01] [ 2.83712514e-02 -4.40703988e-04 9.99597358e-01 7.48145615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.53999999999999 meters Centerline goodness [0,1] 0.9999771679072104 Centerline is valid? [True, True] Translation: X:67.20, Y:-14.85, Z:0.75 [[ 8.96522681e-01 4.42295083e-01 -2.49427808e-02 6.72009987e+01] [-4.42112403e-01 8.96869511e-01 1.27162523e-02 -1.48451509e+01] [ 2.79947555e-02 -3.72895857e-04 9.99608000e-01 7.48056710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.23, Y:-14.86, Z:0.75 [[ 8.95447572e-01 4.44501364e-01 -2.43348214e-02 6.72291725e+01] [-4.44328091e-01 8.95778123e-01 1.24137793e-02 -1.48595243e+01] [ 2.73165424e-02 -3.03243837e-04 9.99626788e-01 7.45850246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.6 meters Centerline goodness [0,1] 0.9998863610536604 Centerline is valid? [True, True] Translation: X:67.26, Y:-14.87, Z:0.75 [[ 8.93304367e-01 4.48792003e-01 -2.43525422e-02 6.72606196e+01] [-4.48619863e-01 8.93636227e-01 1.24303198e-02 -1.48691751e+01] [ 2.73409420e-02 -1.79024769e-04 9.99626151e-01 7.48817912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.63 meters Centerline goodness [0,1] 0.9999772742767539 Centerline is valid? [True, True] Translation: X:67.29, Y:-14.88, Z:0.75 [[ 8.90872652e-01 4.53719049e-01 -2.20213980e-02 6.72917374e+01] [-4.53579692e-01 8.91144783e-01 1.12445023e-02 -1.48801033e+01] [ 2.47260989e-02 -2.89606321e-05 9.99694263e-01 7.50948523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.66 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.32, Y:-14.89, Z:0.75 [[ 8.89567913e-01 4.56315463e-01 -2.10980315e-02 6.73206600e+01] [-4.56188176e-01 8.89818069e-01 1.07773484e-02 -1.48925365e+01] [ 2.36912804e-02 3.74892053e-05 9.99719322e-01 7.51066063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.69 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.35, Y:-14.91, Z:0.75 [[ 8.88316738e-01 4.58789618e-01 -2.01360142e-02 6.73505283e+01] [-4.58674166e-01 8.88544922e-01 1.02923069e-02 -1.49056452e+01] [ 2.26137567e-02 9.30410381e-05 9.99744272e-01 7.52690359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.72 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.38, Y:-14.92, Z:0.75 [[ 8.86898029e-01 4.61545224e-01 -1.96949504e-02 6.73805943e+01] [-4.61435301e-01 8.87116668e-01 1.00737898e-02 -1.49187850e+01] [ 2.21212283e-02 1.53521061e-04 9.99755284e-01 7.53400244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.75 meters Centerline goodness [0,1] 0.999887356943318 Centerline is valid? [True, True] Translation: X:67.41, Y:-14.93, Z:0.75 [[ 8.84705385e-01 4.65734476e-01 -1.96921111e-02 6.74106730e+01] [-4.65625479e-01 8.84924479e-01 1.00786623e-02 -1.49289319e+01] [ 2.21200117e-02 2.52501806e-04 9.99755291e-01 7.52179636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.78 meters Centerline goodness [0,1] 0.9999773509693786 Centerline is valid? [True, True] Translation: X:67.44, Y:-14.94, Z:0.75 [[ 8.83973055e-01 4.67140667e-01 -1.92674853e-02 6.74398401e+01] [-4.67036518e-01 8.84182968e-01 9.86756667e-03 -1.49434067e+01] [ 2.16455240e-02 2.75956188e-04 9.99765670e-01 7.53620642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.81 meters Centerline goodness [0,1] 0.9999548990867065 Centerline is valid? [True, True] Translation: X:67.47, Y:-14.96, Z:0.75 [[ 8.83394838e-01 4.68203145e-01 -1.99843674e-02 6.74683934e+01] [-4.68091223e-01 8.83620801e-01 1.02414085e-02 -1.49555873e+01] [ 2.24536624e-02 3.07299516e-04 9.99747838e-01 7.51569343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.84 meters Centerline goodness [0,1] 0.9998196492177285 Centerline is valid? [True, True] Translation: X:67.50, Y:-14.97, Z:0.75 [[ 8.83643807e-01 4.67688815e-01 -2.09951123e-02 6.74973362e+01] [-4.67564972e-01 8.83893139e-01 1.07664379e-02 -1.49707006e+01] [ 2.35927783e-02 3.02882897e-04 9.99721606e-01 7.50520095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.87 meters Centerline goodness [0,1] 0.9998874684911775 Centerline is valid? [True, True] Translation: X:67.53, Y:-14.99, Z:0.75 [[ 8.84041248e-01 4.66939965e-01 -2.09317932e-02 6.75254757e+01] [-4.66816494e-01 8.84288976e-01 1.07409646e-02 -1.49856810e+01] [ 2.35251397e-02 2.75850527e-04 9.99723208e-01 7.50496428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.89999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.55, Y:-15.00, Z:0.75 [[ 8.85137893e-01 4.64881065e-01 -2.04085034e-02 6.75525334e+01] [-4.64762997e-01 8.85373114e-01 1.04787779e-02 -1.50022235e+01] [ 2.29405256e-02 2.09953766e-04 9.99736809e-01 7.51397820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.92999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.58, Y:-15.02, Z:0.75 [[ 8.85504503e-01 4.64193132e-01 -2.01621268e-02 6.75803145e+01] [-4.64077577e-01 8.85733991e-01 1.03585964e-02 -1.50181334e+01] [ 2.26666704e-02 1.84207186e-04 9.99743061e-01 7.52081827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.61, Y:-15.03, Z:0.75 [[ 8.86253990e-01 4.62766440e-01 -2.00271487e-02 6.76080492e+01] [-4.62651921e-01 8.86480232e-01 1.02955344e-02 -1.50349042e+01] [ 2.25180993e-02 1.41140369e-04 9.99746425e-01 7.52251872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.99 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.64, Y:-15.05, Z:0.75 [[ 8.86122478e-01 4.63018334e-01 -2.00243996e-02 6.76368220e+01] [-4.62903758e-01 8.86348691e-01 1.03008794e-02 -1.50497837e+01] [ 2.25180964e-02 1.41529042e-04 9.99746426e-01 7.52606080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.02 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.67, Y:-15.07, Z:0.75 [[ 8.86391143e-01 4.62497336e-01 -2.01731276e-02 6.76652832e+01] [-4.62380752e-01 8.86620662e-01 1.03846624e-02 -1.50656660e+01] [ 2.26887905e-02 1.22793142e-04 9.99742569e-01 7.52649018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.05 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.69, Y:-15.08, Z:0.75 [[ 8.86749948e-01 4.61814669e-01 -2.00434761e-02 6.76944884e+01] [-4.61699243e-01 8.86976438e-01 1.03250989e-02 -1.50817948e+01] [ 2.25463732e-02 9.82767714e-05 9.99745793e-01 7.52492267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.08 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.72, Y:-15.10, Z:0.75 [[ 8.87619240e-01 4.60145803e-01 -1.99480589e-02 6.77230013e+01] [-4.60030891e-01 8.87843363e-01 1.02830990e-02 -1.50987580e+01] [ 2.24424766e-02 4.92467519e-05 9.99748135e-01 7.51895011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.11 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.75, Y:-15.12, Z:0.75 [[ 8.87954096e-01 4.59493407e-01 -2.00831333e-02 6.77513773e+01] [-4.59376602e-01 8.88181180e-01 1.03599989e-02 -1.51150553e+01] [ 2.25978122e-02 2.65180240e-05 9.99744636e-01 7.52326903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.14 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.78, Y:-15.13, Z:0.75 [[ 8.88591838e-01 4.58246970e-01 -2.03533561e-02 6.77784356e+01] [-4.58126537e-01 8.88824906e-01 1.05053483e-02 -1.51324363e+01] [ 2.29046138e-02 -1.05541843e-05 9.99737655e-01 7.52424902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.17 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.81, Y:-15.15, Z:0.75 [[ 8.88769217e-01 4.57897708e-01 -2.04687187e-02 6.78071471e+01] [-4.57775675e-01 8.89004886e-01 1.05708799e-02 -1.51487233e+01] [ 2.30371726e-02 -2.49910929e-05 9.99734609e-01 7.52696195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.2 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.84, Y:-15.16, Z:0.75 [[ 8.88898564e-01 4.57635428e-01 -2.07161296e-02 6.78358766e+01] [-4.57510183e-01 8.89139929e-01 1.07060363e-02 -1.51646935e+01] [ 2.33189996e-02 -3.87400537e-05 9.99728074e-01 7.53277990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.23 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.86, Y:-15.18, Z:0.75 [[ 8.88987832e-01 4.57451776e-01 -2.09405751e-02 6.78639292e+01] [-4.57323580e-01 8.89234429e-01 1.08292622e-02 -1.51799625e+01] [ 2.35749456e-02 -5.04635799e-05 9.99722071e-01 7.52758819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.25999999999999 meters Centerline goodness [0,1] 0.9998627912826729 Centerline is valid? [True, True] Translation: X:67.89, Y:-15.19, Z:0.75 [[ 8.88871046e-01 4.57655175e-01 -2.14477081e-02 6.78935954e+01] [-4.57520572e-01 8.89129765e-01 1.10990285e-02 -1.51947915e+01] [ 2.41493235e-02 -5.28374396e-05 9.99708361e-01 7.52775558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.28999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.92, Y:-15.21, Z:0.75 [[ 8.88455912e-01 4.58496770e-01 -2.06592537e-02 6.79218172e+01] [-4.58371959e-01 8.88696073e-01 1.06974987e-02 -1.52087548e+01] [ 2.32645662e-02 -3.46333597e-05 9.99729343e-01 7.52960158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.95, Y:-15.22, Z:0.75 [[ 8.87740189e-01 4.59940540e-01 -1.92887683e-02 6.79502069e+01] [-4.59831966e-01 8.87949717e-01 9.99315725e-03 -1.52220727e+01] [ 2.17237145e-02 -1.73506194e-06 9.99764012e-01 7.54510836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.35 meters Centerline goodness [0,1] 0.999886425586044 Centerline is valid? [True, True] Translation: X:67.98, Y:-15.23, Z:0.76 [[ 8.86752356e-01 4.61917205e-01 -1.73998619e-02 6.79795114e+01] [-4.61829142e-01 8.86923049e-01 9.01940431e-03 -1.52349570e+01] [ 1.95985566e-02 3.77852718e-05 9.99807929e-01 7.56452853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.38 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.01, Y:-15.25, Z:0.76 [[ 8.85886976e-01 4.63631143e-01 -1.58249447e-02 6.80084411e+01] [-4.63558492e-01 8.86028306e-01 8.20764848e-03 -1.52483824e+01] [ 1.78266704e-02 6.47385869e-05 9.99841090e-01 7.58097527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.41 meters Centerline goodness [0,1] 0.9998181942140308 Centerline is valid? [True, True] Translation: X:68.04, Y:-15.26, Z:0.76 [[ 8.85244505e-01 4.64878354e-01 -1.51750776e-02 6.80382032e+01] [-4.64811649e-01 8.85374559e-01 7.87540889e-03 -1.52626482e+01] [ 1.70967348e-02 8.18903974e-05 9.99853837e-01 7.58707238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.44 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.07, Y:-15.28, Z:0.76 [[ 8.84120345e-01 4.67061272e-01 -1.36009081e-02 6.80679695e+01] [-4.67007877e-01 8.84224947e-01 7.06298043e-03 -1.52768795e+01] [ 1.53251069e-02 1.07206522e-04 9.99882558e-01 7.60886532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.47 meters Centerline goodness [0,1] 0.999818700992612 Centerline is valid? [True, True] Translation: X:68.10, Y:-15.29, Z:0.76 [[ 8.82611238e-01 4.69954954e-01 -1.18213205e-02 6.80979449e+01] [-4.69914828e-01 8.82690390e-01 6.14256831e-03 -1.52887155e+01] [ 1.33212964e-02 1.33513983e-04 9.99911259e-01 7.61378482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.5 meters Centerline goodness [0,1] 0.9999094858797972 Centerline is valid? [True, True] Translation: X:68.13, Y:-15.30, Z:0.76 [[ 8.81751582e-01 4.71578174e-01 -1.13213606e-02 6.81274323e+01] [-4.71541460e-01 8.81824248e-01 5.88623376e-03 -1.53020418e+01] [ 1.27592697e-02 1.48294969e-04 9.99918586e-01 7.62287635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.53 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.16, Y:-15.31, Z:0.76 [[ 8.80395762e-01 4.74101019e-01 -1.14684331e-02 6.81571913e+01] [-4.74063511e-01 8.80470437e-01 5.96639123e-03 -1.53137487e+01] [ 1.29262885e-02 1.83980124e-04 9.99916435e-01 7.61852731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.19, Y:-15.33, Z:0.76 [[ 8.80073026e-01 4.74695437e-01 -1.16494881e-02 6.81864985e+01] [-4.74656737e-01 8.80150104e-01 6.06441569e-03 -1.53262144e+01] [ 1.31320486e-02 1.92379330e-04 9.99913752e-01 7.60647897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.59 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.22, Y:-15.34, Z:0.76 [[ 8.79698112e-01 4.75350231e-01 -1.31677781e-02 6.82156972e+01] [-4.75300787e-01 8.79796629e-01 6.85962998e-03 -1.53388860e+01] [ 1.48456934e-02 2.24251728e-04 9.99889771e-01 7.58874184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.62 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.25, Y:-15.35, Z:0.76 [[ 8.79441972e-01 4.75812207e-01 -1.35853589e-02 6.82451525e+01] [-4.75759562e-01 8.79546865e-01 7.08170951e-03 -1.53536329e+01] [ 1.53185237e-02 2.35411846e-04 9.99882637e-01 7.58517676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.64999999999999 meters Centerline goodness [0,1] 0.9998870082032044 Centerline is valid? [True, True] Translation: X:68.27, Y:-15.37, Z:0.76 [[ 8.79487292e-01 4.75733377e-01 -1.34110727e-02 6.82746500e+01] [-4.75681993e-01 8.79589508e-01 6.99561442e-03 -1.53687142e+01] [ 1.51242861e-02 2.26851828e-04 9.99885596e-01 7.58054043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.67999999999999 meters Centerline goodness [0,1] 0.9997524641072956 Centerline is valid? [True, True] Translation: X:68.30, Y:-15.38, Z:0.76 [[ 8.79597689e-01 4.75527947e-01 -1.34564623e-02 6.83041486e+01] [-4.75476118e-01 8.79700587e-01 7.02410606e-03 -1.53838954e+01] [ 1.51778165e-02 2.19839007e-04 9.99884786e-01 7.57807480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.71 meters Centerline goodness [0,1] 0.9998875823459316 Centerline is valid? [True, True] Translation: X:68.33, Y:-15.40, Z:0.76 [[ 8.79904379e-01 4.74987160e-01 -1.24692542e-02 6.83315622e+01] [-4.74942546e-01 8.79992705e-01 6.51279304e-03 -1.53976706e+01] [ 1.40663458e-02 1.91544218e-04 9.99901046e-01 7.58224595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.74 meters Centerline goodness [0,1] 0.9998877438764284 Centerline is valid? [True, True] Translation: X:68.36, Y:-15.41, Z:0.76 [[ 8.80961024e-01 4.73033962e-01 -1.21055540e-02 6.83594448e+01] [-4.72991681e-01 8.81044180e-01 6.32627381e-03 -1.54131221e+01] [ 1.36580703e-02 1.52625687e-04 9.99906713e-01 7.57616069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.77 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.39, Y:-15.43, Z:0.76 [[ 8.81316443e-01 4.72374404e-01 -1.19895914e-02 6.83871697e+01] [-4.72332820e-01 8.81397982e-01 6.26925697e-03 -1.54280351e+01] [ 1.35290382e-02 1.37878259e-04 9.99908469e-01 7.58445440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.8 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.41, Y:-15.44, Z:0.76 [[ 8.81977697e-01 4.71129452e-01 -1.23442858e-02 6.84143186e+01] [-4.71085200e-01 8.82064071e-01 6.45827992e-03 -1.54435719e+01] [ 1.39311369e-02 1.19151490e-04 9.99902950e-01 7.58405301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.83 meters Centerline goodness [0,1] 0.9999096780020774 Centerline is valid? [True, True] Translation: X:68.44, Y:-15.46, Z:0.76 [[ 8.83324834e-01 4.68607090e-01 -1.20263755e-02 6.84414883e+01] [-4.68564814e-01 8.83406696e-01 6.29484660e-03 -1.54620299e+01] [ 1.35739904e-02 7.47420630e-05 9.99907866e-01 7.58704904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.86 meters Centerline goodness [0,1] 0.9999548940009021 Centerline is valid? [True, True] Translation: X:68.47, Y:-15.48, Z:0.76 [[ 8.83609752e-01 4.68074987e-01 -1.18158054e-02 6.84697485e+01] [-4.68034108e-01 8.83688747e-01 6.18642455e-03 -1.54786462e+01] [ 1.33372048e-02 6.38148662e-05 9.99911053e-01 7.59910690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.50, Y:-15.49, Z:0.76 [[ 8.83789423e-01 4.67732590e-01 -1.19365096e-02 6.84976596e+01] [-4.67690782e-01 8.83870025e-01 6.25382854e-03 -1.54942207e+01] [ 1.34754424e-02 5.55279763e-05 9.99909201e-01 7.61091957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.92 meters Centerline goodness [0,1] 0.999864406779661 Centerline is valid? [True, True] Translation: X:68.53, Y:-15.51, Z:0.76 [[ 8.84243013e-01 4.66897968e-01 -1.09809428e-02 6.85261562e+01] [-4.66862481e-01 8.84311193e-01 5.75658714e-03 -1.55115171e+01] [ 1.23983095e-02 3.63682332e-05 9.99923137e-01 7.60821891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.95 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.56, Y:-15.53, Z:0.76 [[ 8.83741598e-01 4.67839790e-01 -1.12569419e-02 6.85551367e+01] [-4.67802520e-01 8.83813289e-01 5.90539479e-03 -1.55267007e+01] [ 1.27118135e-02 4.71827742e-05 9.99919201e-01 7.62032080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98 meters Centerline goodness [0,1] 0.9998868240566785 Centerline is valid? [True, True] Translation: X:68.58, Y:-15.54, Z:0.76 [[ 8.83641443e-01 4.68033979e-01 -1.10451164e-02 6.85845032e+01] [-4.67998065e-01 8.83710469e-01 5.79820867e-03 -1.55422709e+01] [ 1.24744437e-02 4.55556185e-05 9.99922190e-01 7.61115702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.00999999999999 meters Centerline goodness [0,1] 0.9998645689908132 Centerline is valid? [True, True] Translation: X:68.61, Y:-15.56, Z:0.76 [[ 8.83285253e-01 4.68700285e-01 -1.12784844e-02 6.86135730e+01] [-4.68662838e-01 8.83357255e-01 5.92487717e-03 -1.55577236e+01] [ 1.27399226e-02 5.24498570e-05 9.99918843e-01 7.61058333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.03999999999999 meters Centerline goodness [0,1] 0.9999096983926314 Centerline is valid? [True, True] Translation: X:68.64, Y:-15.57, Z:0.76 [[ 8.82443735e-01 4.70260564e-01 -1.21678686e-02 6.86415965e+01] [-4.70217062e-01 8.82527618e-01 6.39680136e-03 -1.55722019e+01] [ 1.37466435e-02 7.67221422e-05 9.99905507e-01 7.60628482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.07 meters Centerline goodness [0,1] 0.9999322783810018 Centerline is valid? [True, True] Translation: X:68.67, Y:-15.59, Z:0.76 [[ 8.81947990e-01 4.71184653e-01 -1.23598536e-02 6.86705088e+01] [-4.71139797e-01 8.82034588e-01 6.50206094e-03 -1.55873489e+01] [ 1.39654897e-02 8.87393369e-05 9.99902474e-01 7.60687810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.1 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.70, Y:-15.60, Z:0.76 [[ 8.80893383e-01 4.73136793e-01 -1.29777879e-02 6.86981082e+01] [-4.73087484e-01 8.80988967e-01 6.83171159e-03 -1.56026761e+01] [ 1.46656221e-02 1.21619517e-04 9.99892447e-01 7.62628353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.13 meters Centerline goodness [0,1] 0.9999320652173913 Centerline is valid? [True, True] Translation: X:68.73, Y:-15.62, Z:0.76 [[ 8.80491782e-01 4.73890630e-01 -1.27236915e-02 6.87269516e+01] [-4.73843256e-01 8.80583701e-01 6.70180645e-03 -1.56185761e+01] [ 1.43801986e-02 1.28149889e-04 9.99896591e-01 7.62153278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.16 meters Centerline goodness [0,1] 0.9999319882112899 Centerline is valid? [True, True] Translation: X:68.76, Y:-15.63, Z:0.76 [[ 8.79361955e-01 4.75987975e-01 -1.25698006e-02 6.87553032e+01] [-4.75941893e-01 8.79451774e-01 6.62500995e-03 -1.56325718e+01] [ 1.42079585e-02 1.56712977e-04 9.99899050e-01 7.62923800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.19 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.78, Y:-15.65, Z:0.76 [[ 8.78440517e-01 4.77683222e-01 -1.26884510e-02 6.87846071e+01] [-4.77636389e-01 8.78532132e-01 6.69132276e-03 -1.56467083e+01] [ 1.43435445e-02 1.82536898e-04 9.99897109e-01 7.64312842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.22 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.81, Y:-15.66, Z:0.76 [[ 8.78010525e-01 4.78480170e-01 -1.24195223e-02 6.88143389e+01] [-4.78435326e-01 8.78098338e-01 6.55344466e-03 -1.56616825e+01] [ 1.40412552e-02 1.87944802e-04 9.99901399e-01 7.64885358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.25 meters Centerline goodness [0,1] 0.9998641150492583 Centerline is valid? [True, True] Translation: X:68.84, Y:-15.68, Z:0.76 [[ 8.77568906e-01 4.79319577e-01 -1.12052718e-02 6.88432050e+01] [-4.79283095e-01 8.77640422e-01 5.91640214e-03 -1.56776901e+01] [ 1.26700468e-02 1.78446780e-04 9.99919716e-01 7.64514680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.28 meters Centerline goodness [0,1] 0.9998642011633434 Centerline is valid? [True, True] Translation: X:68.87, Y:-15.69, Z:0.77 [[ 8.77434223e-01 4.79582763e-01 -1.04669602e-02 6.88722082e+01] [-4.79550907e-01 8.77496635e-01 5.53017643e-03 -1.56934282e+01] [ 1.18368997e-02 1.67074209e-04 9.99929927e-01 7.65104885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.31 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.90, Y:-15.71, Z:0.77 [[ 8.77050505e-01 4.80270943e-01 -1.10558931e-02 6.89007267e+01] [-4.80235403e-01 8.77120167e-01 5.84555322e-03 -1.57087686e+01] [ 1.25047962e-02 1.82585878e-04 9.99921795e-01 7.68279156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.34 meters Centerline goodness [0,1] 0.999841675525298 Centerline is valid? [True, True] Translation: X:68.93, Y:-15.73, Z:0.77 [[ 8.77789501e-01 4.78941550e-01 -1.00291305e-02 6.89277860e+01] [-4.78912182e-01 8.77846781e-01 5.30579771e-03 -1.57259111e+01] [ 1.13452069e-02 1.45699243e-04 9.99935630e-01 7.67442728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.37 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.96, Y:-15.74, Z:0.77 [[ 8.77665047e-01 4.79148055e-01 -1.10094229e-02 6.89559486e+01] [-4.79112633e-01 8.77734081e-01 5.82824219e-03 -1.57411721e+01] [ 1.24559366e-02 1.59509115e-04 9.99922409e-01 7.69768949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.39999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.98, Y:-15.76, Z:0.77 [[ 8.78204079e-01 4.78148354e-01 -1.14780968e-02 6.89834352e+01] [-4.78109716e-01 8.78279073e-01 6.08033668e-03 -1.57578539e+01] [ 1.29882752e-02 1.48013108e-04 9.99915638e-01 7.69269058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.42999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.01, Y:-15.77, Z:0.77 [[ 8.78524335e-01 4.77559897e-01 -1.14689953e-02 6.90107779e+01] [-4.77521225e-01 8.78599184e-01 6.07887877e-03 -1.57729120e+01] [ 1.29796786e-02 1.36245764e-04 9.99915751e-01 7.69328961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46 meters Centerline goodness [0,1] 0.9998410210987713 Centerline is valid? [True, True] Translation: X:69.04, Y:-15.79, Z:0.77 [[ 8.79159461e-01 4.76405480e-01 -1.07916760e-02 6.90385753e+01] [-4.76371130e-01 8.79225686e-01 5.72185571e-03 -1.57889957e+01] [ 1.22142421e-02 1.10419293e-04 9.99925397e-01 7.67186955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.49 meters Centerline goodness [0,1] 0.9999773745418344 Centerline is valid? [True, True] Translation: X:69.07, Y:-15.81, Z:0.77 [[ 8.80237313e-01 4.74388376e-01 -1.17448139e-02 6.90656778e+01] [-4.74347459e-01 8.80315660e-01 6.23118892e-03 -1.58052600e+01] [ 1.32951472e-02 8.61976089e-05 9.99911612e-01 7.68897428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.52 meters Centerline goodness [0,1] 0.9999546957821773 Centerline is valid? [True, True] Translation: X:69.09, Y:-15.82, Z:0.77 [[ 8.81137689e-01 4.72715234e-01 -1.16910451e-02 6.90924689e+01] [-4.72674498e-01 8.81215243e-01 6.20601894e-03 -1.58210311e+01] [ 1.32360068e-02 5.77016717e-05 9.99912399e-01 7.68341528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.55 meters Centerline goodness [0,1] 0.9998410319298724 Centerline is valid? [True, True] Translation: X:69.12, Y:-15.84, Z:0.77 [[ 8.83231537e-01 4.68804335e-01 -1.11600838e-02 6.91190121e+01] [-4.68766876e-01 8.83302041e-01 5.92626275e-03 -1.58387606e+01] [ 1.26359825e-02 -2.78451612e-06 9.99920163e-01 7.67354400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.58 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.15, Y:-15.85, Z:0.77 [[ 8.83841122e-01 4.67637735e-01 -1.18245757e-02 6.91466039e+01] [-4.67595524e-01 8.83920216e-01 6.28309602e-03 -1.58546475e+01] [ 1.33901943e-02 -2.41399349e-05 9.99910347e-01 7.70485999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.61 meters Centerline goodness [0,1] 0.9998865930277393 Centerline is valid? [True, True] Translation: X:69.17, Y:-15.87, Z:0.77 [[ 8.84614708e-01 4.66188547e-01 -1.11829052e-02 6.91747716e+01] [-4.66150632e-01 8.84685388e-01 5.94574329e-03 -1.58712510e+01] [ 1.26651903e-02 -4.67736147e-05 9.99919792e-01 7.68786796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.64 meters Centerline goodness [0,1] 0.9998176471929064 Centerline is valid? [True, True] Translation: X:69.20, Y:-15.89, Z:0.77 [[ 8.85266986e-01 4.64956414e-01 -1.08580564e-02 6.92034581e+01] [-4.64920532e-01 8.85333569e-01 5.77668604e-03 -1.58869044e+01] [ 1.22989090e-02 -6.57761073e-05 9.99924363e-01 7.68496331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.67 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.23, Y:-15.90, Z:0.77 [[ 8.85499593e-01 4.64480063e-01 -1.21959881e-02 6.92316641e+01] [-4.64434683e-01 8.85583572e-01 6.49320893e-03 -1.59010945e+01] [ 1.38165328e-02 -8.54940138e-05 9.99904544e-01 7.71129218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.7 meters Centerline goodness [0,1] 0.9997956867196368 Centerline is valid? [True, True] Translation: X:69.26, Y:-15.92, Z:0.77 [[ 8.85622013e-01 4.64259088e-01 -1.17111236e-02 6.92610823e+01] [-4.64217174e-01 8.85699436e-01 6.23887898e-03 -1.59167718e+01] [ 1.32689918e-02 -8.87838622e-05 9.99911959e-01 7.67574336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.73 meters Centerline goodness [0,1] 0.9998865981719626 Centerline is valid? [True, True] Translation: X:69.29, Y:-15.93, Z:0.77 [[ 8.84967927e-01 4.65457888e-01 -1.34432991e-02 6.92909984e+01] [-4.65402716e-01 8.85070024e-01 7.16687794e-03 -1.59308253e+01] [ 1.52341409e-02 -8.59092115e-05 9.99883950e-01 7.67886125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.75999999999999 meters Centerline goodness [0,1] 0.99995465058274 Centerline is valid? [True, True] Translation: X:69.32, Y:-15.94, Z:0.77 [[ 8.84341734e-01 4.66628575e-01 -1.40524251e-02 6.93194861e+01] [-4.66568359e-01 8.84453372e-01 7.49657748e-03 -1.59447489e+01] [ 1.59268321e-02 -7.31193897e-05 9.99873157e-01 7.69505695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.78999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.35, Y:-15.96, Z:0.77 [[ 8.82957663e-01 4.69234679e-01 -1.43032147e-02 6.93494739e+01] [-4.69172559e-01 8.83073505e-01 7.63508276e-03 -1.59571950e+01] [ 1.62134355e-02 -3.07790045e-05 9.99868553e-01 7.71265848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.38, Y:-15.97, Z:0.77 [[ 8.82259230e-01 4.70542538e-01 -1.44350800e-02 6.93786591e+01] [-4.70479366e-01 8.82377311e-01 7.71015474e-03 -1.59710809e+01] [ 1.63651429e-02 -1.09478789e-05 9.99866082e-01 7.70950659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.85 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.41, Y:-15.99, Z:0.77 [[ 8.81544220e-01 4.71882917e-01 -1.43631829e-02 6.94087458e+01] [-4.71820475e-01 8.81661223e-01 7.67641478e-03 -1.59852192e+01] [ 1.62858304e-02 9.74469665e-06 9.99867377e-01 7.71604377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.88 meters Centerline goodness [0,1] 0.9998423813919974 Centerline is valid? [True, True] Translation: X:69.44, Y:-16.00, Z:0.77 [[ 8.80423267e-01 4.74006924e-01 -1.31266017e-02 6.94388315e+01] [-4.73954943e-01 8.80521115e-01 7.01978489e-03 -1.59981004e+01] [ 1.48856766e-02 4.10358340e-05 9.99889201e-01 7.69750538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.91 meters Centerline goodness [0,1] 0.9998423813919974 Centerline is valid? [True, True] Translation: X:69.47, Y:-16.01, Z:0.77 [[ 8.80289420e-01 4.74255503e-01 -1.31246205e-02 6.94673562e+01] [-4.74203495e-01 8.80387254e-01 7.02348746e-03 -1.60134474e+01] [ 1.48856762e-02 4.10392164e-05 9.99889201e-01 7.70104890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.94 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.50, Y:-16.03, Z:0.77 [[ 8.79453917e-01 4.75789772e-01 -1.35978358e-02 6.94965974e+01] [-4.75734050e-01 8.79559031e-01 7.28178871e-03 -1.60276086e+01] [ 1.54246998e-02 6.49558846e-05 9.99881030e-01 7.73860493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.97 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.53, Y:-16.04, Z:0.77 [[ 8.78947224e-01 4.76719725e-01 -1.37869591e-02 6.95252862e+01] [-4.76662487e-01 8.79055344e-01 7.38754868e-03 -1.60420225e+01] [ 1.56412903e-02 7.84608095e-05 9.99877664e-01 7.74211963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.0 meters Centerline goodness [0,1] 0.9999100476747323 Centerline is valid? [True, True] Translation: X:69.55, Y:-16.06, Z:0.77 [[ 8.77691073e-01 4.79021788e-01 -1.40181307e-02 6.95542932e+01] [-4.78962850e-01 8.77803003e-01 7.51501572e-03 -1.60560763e+01] [ 1.59050135e-02 1.18301635e-04 9.99873500e-01 7.72151841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.03 meters Centerline goodness [0,1] 0.9998643853264924 Centerline is valid? [True, True] Translation: X:69.58, Y:-16.07, Z:0.77 [[ 8.76926403e-01 4.80409986e-01 -1.43641469e-02 6.95834722e+01] [-4.80348213e-01 8.77044027e-01 7.70511557e-03 -1.60705728e+01] [ 1.62996037e-02 1.42973037e-04 9.99867142e-01 7.71221785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.06 meters Centerline goodness [0,1] 0.999887529242397 Centerline is valid? [True, True] Translation: X:69.61, Y:-16.08, Z:0.77 [[ 8.75328887e-01 4.83293968e-01 -1.50426081e-02 6.96131638e+01] [-4.83226563e-01 8.75458109e-01 8.07394990e-03 -1.60837794e+01] [ 1.70712645e-02 2.01626227e-04 9.99854255e-01 7.71328459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.09 meters Centerline goodness [0,1] 0.9998201802692801 Centerline is valid? [True, True] Translation: X:69.64, Y:-16.10, Z:0.77 [[ 8.74469831e-01 4.84855282e-01 -1.47604090e-02 6.96420231e+01] [-4.84790527e-01 8.74594366e-01 7.92715155e-03 -1.60976601e+01] [ 1.67528919e-02 2.23651579e-04 9.99859635e-01 7.70743404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12 meters Centerline goodness [0,1] 0.9998881156436707 Centerline is valid? [True, True] Translation: X:69.67, Y:-16.11, Z:0.77 [[ 8.73597715e-01 4.86435565e-01 -1.44038965e-02 6.96708470e+01] [-4.86374041e-01 8.73716419e-01 7.74024078e-03 -1.61112677e+01] [ 1.63500492e-02 2.43824664e-04 9.99866299e-01 7.72027191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.14999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.70, Y:-16.13, Z:0.78 [[ 8.72787985e-01 4.87888431e-01 -1.43531120e-02 6.96999931e+01] [-4.87827460e-01 8.72905956e-01 7.71755082e-03 -1.61255235e+01] [ 1.62942207e-02 2.66056550e-04 9.99867205e-01 7.75525526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.17999999999999 meters Centerline goodness [0,1] 0.9998431407699547 Centerline is valid? [True, True] Translation: X:69.73, Y:-16.14, Z:0.77 [[ 8.71718501e-01 4.89833872e-01 -1.30243125e-02 6.97286981e+01] [-4.89783828e-01 8.71815751e-01 7.00696715e-03 -1.61399113e+01] [ 1.47870507e-02 2.70994760e-04 9.99890629e-01 7.74026529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.21 meters Centerline goodness [0,1] 0.9997313873841608 Centerline is valid? [True, True] Translation: X:69.76, Y:-16.15, Z:0.77 [[ 8.71172990e-01 4.90820056e-01 -1.23812023e-02 6.97569214e+01] [-4.90774878e-01 8.71260925e-01 6.66479972e-03 -1.61542859e+01] [ 1.40584751e-02 2.70189538e-04 9.99901138e-01 7.74039625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.24 meters Centerline goodness [0,1] 0.9998209329393858 Centerline is valid? [True, True] Translation: X:69.79, Y:-16.17, Z:0.78 [[ 8.70073336e-01 4.92773528e-01 -1.21094723e-02 6.97859275e+01] [-4.92730448e-01 8.70157552e-01 6.52233196e-03 -1.61682988e+01] [ 1.37511813e-02 2.91798607e-04 9.99905405e-01 7.76123729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.27 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.81, Y:-16.18, Z:0.78 [[ 8.69190320e-01 4.94315548e-01 -1.26619643e-02 6.98148532e+01] [-4.94268551e-01 8.69282481e-01 6.82409332e-03 -1.61826774e+01] [ 1.43800791e-02 3.26974874e-04 9.99896548e-01 7.80280468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.3 meters Centerline goodness [0,1] 0.9997535897493336 Centerline is valid? [True, True] Translation: X:69.84, Y:-16.20, Z:0.78 [[ 8.68795714e-01 4.95005882e-01 -1.27743777e-02 6.98429657e+01] [-4.94958062e-01 8.68889557e-01 6.88869988e-03 -1.61964955e+01] [ 1.45094703e-02 3.37908269e-04 9.99894675e-01 7.75498763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.33 meters Centerline goodness [0,1] 0.9998878898630014 Centerline is valid? [True, True] Translation: X:69.87, Y:-16.21, Z:0.78 [[ 8.67979119e-01 4.96417762e-01 -1.34779748e-02 6.98720635e+01] [-4.96364634e-01 8.68083673e-01 7.27231911e-03 -1.62105736e+01] [ 1.53101182e-02 3.77768902e-04 9.99882722e-01 7.76634519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.36 meters Centerline goodness [0,1] 0.9999330775408227 Centerline is valid? [True, True] Translation: X:69.90, Y:-16.22, Z:0.78 [[ 8.66743856e-01 4.98522851e-01 -1.51675293e-02 6.99006482e+01] [-4.98455804e-01 8.66876434e-01 8.18897158e-03 -1.62226902e+01] [ 1.72307632e-02 4.62602183e-04 9.99851432e-01 7.75637914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.39 meters Centerline goodness [0,1] 0.9998884600798625 Centerline is valid? [True, True] Translation: X:69.93, Y:-16.24, Z:0.77 [[ 8.66323778e-01 4.99234808e-01 -1.57390859e-02 6.99294305e+01] [-4.99162643e-01 8.66466598e-01 8.50235423e-03 -1.62373029e+01] [ 1.78820634e-02 4.90572094e-04 9.99839983e-01 7.74228520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.42 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.96, Y:-16.25, Z:0.78 [[ 8.66303029e-01 4.99229454e-01 -1.70004384e-02 6.99581776e+01] [-4.99145144e-01 8.66469663e-01 9.18957005e-03 -1.62529075e+01] [ 1.93180682e-02 5.24733913e-04 9.99813251e-01 7.76992554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.45 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.99, Y:-16.27, Z:0.78 [[ 8.66774284e-01 4.98402246e-01 -1.72493799e-02 6.99852424e+01] [-4.98315191e-01 8.66945755e-01 9.32892616e-03 -1.62684842e+01] [ 1.96038344e-02 5.09554743e-04 9.99807697e-01 7.76984815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48 meters Centerline goodness [0,1] 0.9997310924369748 Centerline is valid? [True, True] Translation: X:70.01, Y:-16.29, Z:0.77 [[ 8.67856888e-01 4.96514972e-01 -1.72425340e-02 7.00121553e+01] [-4.96427534e-01 8.68028034e-01 9.32926065e-03 -1.62858786e+01] [ 1.95991205e-02 4.63205527e-04 9.99807811e-01 7.72392552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.50999999999999 meters Centerline goodness [0,1] 0.9997981474420795 Centerline is valid? [True, True] Translation: X:70.04, Y:-16.31, Z:0.77 [[ 8.70634813e-01 4.91616778e-01 -1.75489546e-02 7.00367621e+01] [-4.91525137e-01 8.70811585e-01 9.49855622e-03 -1.63054760e+01] [ 1.99514826e-02 3.55978593e-04 9.99800886e-01 7.73865858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.53999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.06, Y:-16.32, Z:0.78 [[ 8.72116957e-01 4.88971812e-01 -1.78488177e-02 7.00631218e+01] [-4.88876395e-01 8.72299535e-01 9.66398194e-03 -1.63243596e+01] [ 2.02949301e-02 2.97743107e-04 9.99793992e-01 7.78927120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.09, Y:-16.35, Z:0.78 [[ 8.75797984e-01 4.82360913e-01 -1.74882931e-02 7.00867382e+01] [-4.82267919e-01 8.75972563e-01 9.47228018e-03 -1.63480236e+01] [ 1.98883227e-02 1.38238831e-04 9.99802198e-01 7.82078682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.6 meters Centerline goodness [0,1] 0.9998425692695214 Centerline is valid? [True, True] Translation: X:70.11, Y:-16.37, Z:0.78 [[ 8.77765786e-01 4.78790746e-01 -1.69306438e-02 7.01123827e+01] [-4.78702882e-01 8.77929051e-01 9.17235882e-03 -1.63661196e+01] [ 1.92555446e-02 5.35652420e-05 9.99814593e-01 7.79908534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.63 meters Centerline goodness [0,1] 0.999932112873662 Centerline is valid? [True, True] Translation: X:70.14, Y:-16.38, Z:0.78 [[ 8.79487979e-01 4.75639844e-01 -1.63595003e-02 7.01390464e+01] [-4.75557186e-01 8.79640119e-01 8.86701841e-03 -1.63849743e+01] [ 1.86079800e-02 -1.85581751e-05 9.99826856e-01 7.83263812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.66 meters Centerline goodness [0,1] 0.9998869162049079 Centerline is valid? [True, True] Translation: X:70.16, Y:-16.41, Z:0.78 [[ 8.83375091e-01 4.68440750e-01 -1.45503423e-02 7.01636830e+01] [-4.68374308e-01 8.83494901e-01 7.89100229e-03 -1.64059255e+01] [ 1.65516203e-02 -1.55708351e-04 9.99863000e-01 7.84819378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.69 meters Centerline goodness [0,1] 0.9999094715401154 Centerline is valid? [True, True] Translation: X:70.19, Y:-16.42, Z:0.79 [[ 8.85086460e-01 4.65207273e-01 -1.42881437e-02 7.01894639e+01] [-4.65142713e-01 8.85201755e-01 7.75308360e-03 -1.64243941e+01] [ 1.62546808e-02 -2.16123394e-04 9.99867861e-01 7.86067081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.72 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.22, Y:-16.44, Z:0.79 [[ 8.87891442e-01 4.59849080e-01 -1.36970827e-02 7.02154927e+01] [-4.59789051e-01 8.87997033e-01 7.43622150e-03 -1.64425980e+01] [ 1.55825084e-02 -3.04788765e-04 9.99878539e-01 7.90491515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.24, Y:-16.46, Z:0.79 [[ 8.88892351e-01 4.57918180e-01 -1.34658551e-02 7.02409001e+01] [-4.57859878e-01 8.88994279e-01 7.31466904e-03 -1.64608748e+01] [ 1.53205881e-02 -3.36478563e-04 9.99882576e-01 7.90922269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.78 meters Centerline goodness [0,1] 0.9998181818181818 Centerline is valid? [True, True] Translation: X:70.27, Y:-16.48, Z:0.79 [[ 8.89941481e-01 4.55870339e-01 -1.36526140e-02 7.02694999e+01] [-4.55810103e-01 8.90046116e-01 7.42031177e-03 -1.64760524e+01] [ 1.55341562e-02 -3.80643833e-04 9.99879265e-01 7.87700468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.81 meters Centerline goodness [0,1] 0.9998632946001367 Centerline is valid? [True, True] Translation: X:70.30, Y:-16.49, Z:0.79 [[ 8.90475396e-01 4.54818691e-01 -1.39113793e-02 7.02952809e+01] [-4.54755952e-01 8.90583960e-01 7.56535775e-03 -1.64941717e+01] [ 1.58301174e-02 -4.10482390e-04 9.99874612e-01 7.88193195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.84 meters Centerline goodness [0,1] 0.9999544097198477 Centerline is valid? [True, True] Translation: X:70.33, Y:-16.51, Z:0.79 [[ 8.90820769e-01 4.54090377e-01 -1.55011794e-02 7.03250736e+01] [-4.54012278e-01 8.90955500e-01 8.43497785e-03 -1.65068972e+01] [ 1.76411033e-02 -4.76327678e-04 9.99844270e-01 7.89245284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.86999999999999 meters Centerline goodness [0,1] 0.9998402081859064 Centerline is valid? [True, True] Translation: X:70.35, Y:-16.52, Z:0.79 [[ 8.90746898e-01 4.54195605e-01 -1.66227398e-02 7.03537494e+01] [-4.54105708e-01 8.90901840e-01 9.05080878e-03 -1.65218635e+01] [ 1.89200671e-02 -5.13498793e-04 9.99820868e-01 7.86206513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.89999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.38, Y:-16.54, Z:0.79 [[ 8.90197716e-01 4.55252017e-01 -1.71355662e-02 7.03823148e+01] [-4.55156575e-01 8.90362476e-01 9.33559339e-03 -1.65357079e+01] [ 1.95069129e-02 -5.11158288e-04 9.99809591e-01 7.89075104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.92999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.41, Y:-16.55, Z:0.79 [[ 8.88936010e-01 4.57673711e-01 -1.80981843e-02 7.04102349e+01] [-4.57567624e-01 8.89120091e-01 9.86578563e-03 -1.65488955e+01] [ 2.06067699e-02 -4.88908944e-04 9.99787538e-01 7.88281222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96 meters Centerline goodness [0,1] 0.9999092064644998 Centerline is valid? [True, True] Translation: X:70.44, Y:-16.56, Z:0.79 [[ 8.88308992e-01 4.58884447e-01 -1.82263314e-02 7.04400365e+01] [-4.58777028e-01 8.88495833e-01 9.93947162e-03 -1.65624338e+01] [ 2.07550884e-02 -4.67499857e-04 9.99784481e-01 7.87000727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.99 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.47, Y:-16.57, Z:0.79 [[ 8.86494518e-01 4.62401208e-01 -1.76803165e-02 7.04698761e+01] [-4.62300794e-01 8.86670730e-01 9.64332232e-03 -1.65738035e+01] [ 2.01357030e-02 -3.75128017e-04 9.99797186e-01 7.89588501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.02 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.50, Y:-16.59, Z:0.79 [[ 8.85530778e-01 4.64264962e-01 -1.71256014e-02 7.04997510e+01] [-4.64171039e-01 8.85696302e-01 9.34383228e-03 -1.65868388e+01] [ 1.95060958e-02 -3.25042865e-04 9.99809685e-01 7.90883262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.05 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.53, Y:-16.60, Z:0.79 [[ 8.84490246e-01 4.66275372e-01 -1.62567268e-02 7.05293004e+01] [-4.66190984e-01 8.84639590e-01 8.87482996e-03 -1.66001534e+01] [ 1.85194588e-02 -2.70961078e-04 9.99828463e-01 7.91487210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.08 meters Centerline goodness [0,1] 0.9998660475084836 Centerline is valid? [True, True] Translation: X:70.56, Y:-16.61, Z:0.79 [[ 8.82369081e-01 4.70307519e-01 -1.53506385e-02 7.05594241e+01] [-4.70232804e-01 8.82502581e-01 8.38476984e-03 -1.66104160e+01] [ 1.74903984e-02 -1.80087896e-04 9.99847015e-01 7.89877837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.11 meters Centerline goodness [0,1] 0.9998653500897666 Centerline is valid? [True, True] Translation: X:70.59, Y:-16.62, Z:0.79 [[ 8.81200597e-01 4.72527677e-01 -1.42513899e-02 7.05892645e+01] [-4.72463504e-01 8.81315822e-01 7.78843704e-03 -1.66229059e+01] [ 1.62402275e-02 -1.29913774e-04 9.99868110e-01 7.91107511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.14 meters Centerline goodness [0,1] 0.9999106983389892 Centerline is valid? [True, True] Translation: X:70.62, Y:-16.64, Z:0.79 [[ 8.79856344e-01 4.75044878e-01 -1.36080048e-02 7.06191604e+01] [-4.74986605e-01 8.79961566e-01 7.44097709e-03 -1.66357110e+01] [ 1.55093192e-02 -8.33709276e-05 9.99879720e-01 7.92777418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.17 meters Centerline goodness [0,1] 0.99982178261935 Centerline is valid? [True, True] Translation: X:70.65, Y:-16.64, Z:0.79 [[ 8.77217880e-01 4.79889813e-01 -1.39483891e-02 7.06504848e+01] [-4.79829128e-01 8.77328768e-01 7.63157801e-03 -1.66444563e+01] [ 1.58996396e-02 -1.71330113e-06 9.99873593e-01 7.91570376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.2 meters Centerline goodness [0,1] 0.999822588871887 Centerline is valid? [True, True] Translation: X:70.68, Y:-16.66, Z:0.79 [[ 8.75623604e-01 4.82804353e-01 -1.35373572e-02 7.06814643e+01] [-4.82747471e-01 8.75728242e-01 7.41110640e-03 -1.66570976e+01] [ 1.54331605e-02 4.57852526e-05 9.99880901e-01 7.91393051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.23 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.71, Y:-16.66, Z:0.79 [[ 8.72323715e-01 4.88754681e-01 -1.30459876e-02 7.07126925e+01] [-4.88702451e-01 8.72421252e-01 7.14649305e-03 -1.66644131e+01] [ 1.48744788e-02 1.41550774e-04 9.99889359e-01 7.94708644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.25999999999999 meters Centerline goodness [0,1] 0.9997572011919215 Centerline is valid? [True, True] Translation: X:70.74, Y:-16.68, Z:0.79 [[ 8.71147851e-01 4.90792952e-01 -1.49566081e-02 7.07421911e+01] [-4.90724532e-01 8.71276213e-01 8.19724897e-03 -1.66759927e+01] [ 1.70544889e-02 1.98558692e-04 9.99854542e-01 7.89116513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.28999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.77, Y:-16.69, Z:0.79 [[ 8.69461517e-01 4.93804722e-01 -1.39128156e-02 7.07723132e+01] [-4.93745859e-01 8.69572792e-01 7.62805599e-03 -1.66884109e+01] [ 1.58649760e-02 2.37093950e-04 9.99874115e-01 7.93982414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32 meters Centerline goodness [0,1] 0.9999120066874918 Centerline is valid? [True, True] Translation: X:70.80, Y:-16.70, Z:0.79 [[ 8.67800137e-01 4.96669308e-01 -1.55730798e-02 7.08024130e+01] [-4.96595925e-01 8.67939800e-01 8.54347853e-03 -1.66979425e+01] [ 1.77597794e-02 3.19496141e-04 9.99842232e-01 7.89655876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.35 meters Centerline goodness [0,1] 0.999801893022232 Centerline is valid? [True, True] Translation: X:70.83, Y:-16.71, Z:0.79 [[ 8.67336881e-01 4.97437648e-01 -1.68083487e-02 7.08314544e+01] [-4.97352203e-01 8.67499659e-01 9.22648752e-03 -1.67125953e+01] [ 1.91708390e-02 3.57196334e-04 9.99816159e-01 7.87958628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.38 meters Centerline goodness [0,1] 0.9998466627237081 Centerline is valid? [True, True] Translation: X:70.86, Y:-16.73, Z:0.79 [[ 8.66934996e-01 4.98129480e-01 -1.70509175e-02 7.08603424e+01] [-4.98041577e-01 8.67102579e-01 9.36514446e-03 -1.67266742e+01] [ 1.94499490e-02 3.73094342e-04 9.99810762e-01 7.88257762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.41 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.89, Y:-16.74, Z:0.79 [[ 8.66084951e-01 4.99601893e-01 -1.71699494e-02 7.08886625e+01] [-4.99512942e-01 8.66255035e-01 9.43585013e-03 -1.67389041e+01] [ 1.95877237e-02 4.04364132e-04 9.99808060e-01 7.91473574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.44 meters Centerline goodness [0,1] 0.9997809947219728 Centerline is valid? [True, True] Translation: X:70.92, Y:-16.75, Z:0.79 [[ 8.66384486e-01 4.99000283e-01 -1.94072390e-02 7.09175846e+01] [-4.98886337e-01 8.66601712e-01 1.06721334e-02 -1.67537866e+01] [ 2.21437441e-02 4.35835568e-04 9.99754702e-01 7.85907825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.47 meters Centerline goodness [0,1] 0.999912510936133 Centerline is valid? [True, True] Translation: X:70.95, Y:-16.77, Z:0.79 [[ 8.66524511e-01 4.98745427e-01 -1.97045720e-02 7.09461231e+01] [-4.98627766e-01 8.66748414e-01 1.08414653e-02 -1.67678136e+01] [ 2.24860378e-02 4.30851257e-04 9.99747064e-01 7.86923975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.5 meters Centerline goodness [0,1] 0.9998687405657282 Centerline is valid? [True, True] Translation: X:70.97, Y:-16.78, Z:0.79 [[ 8.67083232e-01 4.97760909e-01 -2.00186229e-02 7.09741978e+01] [-4.97639080e-01 8.67314194e-01 1.10197185e-02 -1.67834408e+01] [ 2.28476209e-02 4.07035917e-04 9.99738876e-01 7.86207223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.53 meters Centerline goodness [0,1] 0.9997815449143657 Centerline is valid? [True, True] Translation: X:71.00, Y:-16.80, Z:0.79 [[ 8.67776364e-01 4.96527723e-01 -2.06010425e-02 7.10013431e+01] [-4.96398199e-01 8.68020781e-01 1.13468989e-02 -1.67999880e+01] [ 2.35161829e-02 3.79749751e-04 9.99723384e-01 7.85786838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.03, Y:-16.82, Z:0.79 [[ 8.68080086e-01 4.96042699e-01 -1.94578051e-02 7.10283537e+01] [-4.95926928e-01 8.68298062e-01 1.07218684e-02 -1.68153475e+01] [ 2.22136790e-02 3.42209119e-04 9.99753187e-01 7.90589894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.59 meters Centerline goodness [0,1] 0.9998679955118474 Centerline is valid? [True, True] Translation: X:71.05, Y:-16.83, Z:0.79 [[ 8.70598972e-01 4.91593568e-01 -1.98290872e-02 7.10543718e+01] [-4.91472065e-01 8.70824731e-01 1.09315373e-02 -1.68342801e+01] [ 2.26415330e-02 2.28457280e-04 9.99743622e-01 7.89695094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.61999999999999 meters Centerline goodness [0,1] 0.9999781114564636 Centerline is valid? [True, True] Translation: X:71.08, Y:-16.85, Z:0.79 [[ 8.71479506e-01 4.90072222e-01 -1.87799973e-02 7.10813605e+01] [-4.89962756e-01 8.71681815e-01 1.03590889e-02 -1.68508295e+01] [ 2.14468839e-02 1.73765617e-04 9.99769974e-01 7.93289306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.64999999999999 meters Centerline goodness [0,1] 0.999825201564446 Centerline is valid? [True, True] Translation: X:71.11, Y:-16.87, Z:0.79 [[ 8.73059282e-01 4.87220945e-01 -1.95765415e-02 7.11085969e+01] [-4.87101133e-01 8.73278730e-01 1.08049194e-02 -1.68673560e+01] [ 2.23601604e-02 1.02420348e-04 9.99749975e-01 7.90804050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.67999999999999 meters Centerline goodness [0,1] 0.9998906721476364 Centerline is valid? [True, True] Translation: X:71.13, Y:-16.89, Z:0.79 [[ 8.75438753e-01 4.82993784e-01 -1.79998545e-02 7.11347174e+01] [-4.82891510e-01 8.75623780e-01 9.93908611e-03 -1.68850901e+01] [ 2.05616174e-02 -9.08424378e-06 9.99788588e-01 7.92936092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.71 meters Centerline goodness [0,1] 0.9998908010832532 Centerline is valid? [True, True] Translation: X:71.16, Y:-16.90, Z:0.80 [[ 8.76445839e-01 4.81194954e-01 -1.71495568e-02 7.11630037e+01] [-4.81101683e-01 8.76613606e-01 9.47402188e-03 -1.69025459e+01] [ 1.95923863e-02 -5.27864477e-05 9.99808049e-01 7.95424454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.74 meters Centerline goodness [0,1] 0.999846900835484 Centerline is valid? [True, True] Translation: X:71.19, Y:-16.92, Z:0.80 [[ 8.78662524e-01 4.77168230e-01 -1.62064509e-02 7.11905505e+01] [-4.77084149e-01 8.78811960e-01 8.95844722e-03 -1.69197098e+01] [ 1.85171093e-02 -1.39611015e-04 9.99828534e-01 7.96163368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.77 meters Centerline goodness [0,1] 0.9998249835922117 Centerline is valid? [True, True] Translation: X:71.22, Y:-16.94, Z:0.80 [[ 8.79689055e-01 4.75273079e-01 -1.62069859e-02 7.12172160e+01] [-4.75188577e-01 8.79838319e-01 8.96377709e-03 -1.69350074e+01] [ 1.85197691e-02 -1.83962058e-04 9.99828477e-01 7.96107059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.8 meters Centerline goodness [0,1] 0.9998249835922117 Centerline is valid? [True, True] Translation: X:71.25, Y:-16.95, Z:0.80 [[ 8.79556963e-01 4.75517565e-01 -1.62047653e-02 7.12455319e+01] [-4.75433031e-01 8.79706208e-01 8.96779019e-03 -1.69507621e+01] [ 1.85197743e-02 -1.83401642e-04 9.99828477e-01 7.96461202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.83 meters Centerline goodness [0,1] 0.9998467902558603 Centerline is valid? [True, True] Translation: X:71.27, Y:-16.97, Z:0.80 [[ 8.80304039e-01 4.74131950e-01 -1.62386189e-02 7.12735222e+01] [-4.74046722e-01 8.80453773e-01 8.99216887e-03 -1.69659075e+01] [ 1.85608278e-02 -2.17978511e-04 9.99827709e-01 7.96948754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.86 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.30, Y:-16.98, Z:0.80 [[ 8.81545380e-01 4.71835713e-01 -1.57734501e-02 7.13011582e+01] [-4.71754840e-01 8.81686447e-01 8.73960801e-03 -1.69815764e+01] [ 1.80308963e-02 -2.63159653e-04 9.99837396e-01 8.00202239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.89 meters Centerline goodness [0,1] 0.999847274948728 Centerline is valid? [True, True] Translation: X:71.33, Y:-17.00, Z:0.80 [[ 8.82544663e-01 4.69952978e-01 -1.60970996e-02 7.13281843e+01] [-4.69868344e-01 8.82691396e-01 8.92404572e-03 -1.69973422e+01] [ 1.84026532e-02 -3.12351402e-04 9.99830608e-01 7.96946820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.92 meters Centerline goodness [0,1] 0.9998037548243606 Centerline is valid? [True, True] Translation: X:71.36, Y:-17.01, Z:0.80 [[ 8.83150051e-01 4.68804044e-01 -1.63937643e-02 7.13560046e+01] [-4.68715968e-01 8.83302127e-01 9.09357536e-03 -1.70129071e+01] [ 1.87437518e-02 -3.46972444e-04 9.99824260e-01 7.96533970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.95 meters Centerline goodness [0,1] 0.9998035963687151 Centerline is valid? [True, True] Translation: X:71.38, Y:-17.03, Z:0.80 [[ 8.83889768e-01 4.67393350e-01 -1.68027920e-02 7.13848426e+01] [-4.67300465e-01 8.84049378e-01 9.32589938e-03 -1.70264996e+01] [ 1.92133611e-02 -3.91114547e-04 9.99815330e-01 7.96678759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98 meters Centerline goodness [0,1] 0.9998474413738994 Centerline is valid? [True, True] Translation: X:71.41, Y:-17.04, Z:0.80 [[ 8.83835795e-01 4.67492604e-01 -1.68805288e-02 7.14145422e+01] [-4.67398763e-01 8.83996894e-01 9.37487665e-03 -1.70417973e+01] [ 1.93050205e-02 -3.95913288e-04 9.99813562e-01 7.97027215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.00999999999999 meters Centerline goodness [0,1] 0.9999564867393338 Centerline is valid? [True, True] Translation: X:71.44, Y:-17.06, Z:0.80 [[ 8.83404532e-01 4.68317682e-01 -1.65825679e-02 7.14426356e+01] [-4.68227179e-01 8.83560076e-01 9.21417146e-03 -1.70560528e+01] [ 1.89668544e-02 -3.75431821e-04 9.99820043e-01 7.98609561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.03999999999999 meters Centerline goodness [0,1] 0.9999565179580833 Centerline is valid? [True, True] Translation: X:71.47, Y:-17.07, Z:0.80 [[ 8.82186045e-01 4.70621028e-01 -1.62367121e-02 7.14714941e+01] [-4.70534596e-01 8.82335392e-01 9.02493820e-03 -1.70677186e+01] [ 1.85735515e-02 -3.21739754e-04 9.99827445e-01 7.98308129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.50, Y:-17.08, Z:0.80 [[ 8.80996672e-01 4.72855440e-01 -1.58933126e-02 7.15003313e+01] [-4.72772921e-01 8.81139977e-01 8.83779420e-03 -1.70810969e+01] [ 1.81832322e-02 -2.72139451e-04 9.99834634e-01 7.99766196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.1 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.53, Y:-17.09, Z:0.80 [[ 8.78769354e-01 4.76969689e-01 -1.62585151e-02 7.15312861e+01] [-4.76883964e-01 8.78919722e-01 9.04473532e-03 -1.70925220e+01] [ 1.86039941e-02 -1.94811113e-04 9.99826912e-01 7.99475268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.13 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.56, Y:-17.11, Z:0.80 [[ 8.77531019e-01 4.79244547e-01 -1.62472933e-02 7.15604210e+01] [-4.79159269e-01 8.77681401e-01 9.04174786e-03 -1.71053647e+01] [ 1.85931555e-02 -1.49373047e-04 9.99827121e-01 7.99434336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.16 meters Centerline goodness [0,1] 0.9998052538191889 Centerline is valid? [True, True] Translation: X:71.59, Y:-17.12, Z:0.80 [[ 8.76423136e-01 4.81237536e-01 -1.71149206e-02 7.15900957e+01] [-4.81143168e-01 8.76590223e-01 9.53060961e-03 -1.71189608e+01] [ 1.95892592e-02 -1.18119640e-04 9.99808105e-01 7.96321474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.19 meters Centerline goodness [0,1] 0.9998919386211368 Centerline is valid? [True, True] Translation: X:71.62, Y:-17.13, Z:0.80 [[ 8.75136867e-01 4.83587203e-01 -1.66997413e-02 7.16181616e+01] [-4.83497679e-01 8.75296186e-01 9.30494210e-03 -1.71319099e+01] [ 1.91169708e-02 -6.88116932e-05 9.99817252e-01 7.97126939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.22 meters Centerline goodness [0,1] 0.9998274783808846 Centerline is valid? [True, True] Translation: X:71.65, Y:-17.14, Z:0.80 [[ 8.72845270e-01 4.87709888e-01 -1.67391460e-02 7.16490155e+01] [-4.87620593e-01 8.73005764e-01 9.33235199e-03 -1.71437472e+01] [ 1.91648513e-02 1.66529759e-05 9.99816337e-01 7.96580678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.25 meters Centerline goodness [0,1] 0.9997847518188472 Centerline is valid? [True, True] Translation: X:71.68, Y:-17.16, Z:0.80 [[ 8.71747716e-01 4.89668824e-01 -1.67440314e-02 7.16784786e+01] [-4.89579720e-01 8.71908504e-01 9.34119205e-03 -1.71574854e+01] [ 1.91733539e-02 5.43753659e-05 9.99816173e-01 7.96433045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.28 meters Centerline goodness [0,1] 0.9999569206909921 Centerline is valid? [True, True] Translation: X:71.71, Y:-17.17, Z:0.80 [[ 8.69214900e-01 4.94193728e-01 -1.54277802e-02 7.17075849e+01] [-4.94118719e-01 8.69351793e-01 8.61112029e-03 -1.71689779e+01] [ 1.76677300e-02 1.38240923e-04 9.99843904e-01 8.00189930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.31 meters Centerline goodness [0,1] 0.9999569197630587 Centerline is valid? [True, True] Translation: X:71.74, Y:-17.18, Z:0.80 [[ 8.67889837e-01 4.96521992e-01 -1.52689921e-02 7.17366725e+01] [-4.96448819e-01 8.68024123e-01 8.52594183e-03 -1.71826018e+01] [ 1.74871711e-02 1.80694835e-04 9.99847071e-01 8.00851886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.34 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.77, Y:-17.20, Z:0.80 [[ 8.66401706e-01 4.99125039e-01 -1.49090287e-02 7.17657172e+01] [-4.99055581e-01 8.66529945e-01 8.32961756e-03 -1.71970036e+01] [ 1.70766405e-02 2.23639129e-04 9.99854159e-01 8.02745292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.36999999999999 meters Centerline goodness [0,1] 0.9998710537061314 Centerline is valid? [True, True] Translation: X:71.80, Y:-17.21, Z:0.80 [[ 8.64344860e-01 5.02659555e-01 -1.55349115e-02 7.17954017e+01] [-5.02584621e-01 8.64484402e-01 8.68433953e-03 -1.72080846e+01] [ 1.77949549e-02 3.01343358e-04 9.99841612e-01 7.99465088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.39999999999999 meters Centerline goodness [0,1] 0.9998072846405859 Centerline is valid? [True, True] Translation: X:71.82, Y:-17.22, Z:0.80 [[ 8.63450789e-01 5.04188635e-01 -1.57020834e-02 7.18237395e+01] [-5.04112244e-01 8.63593487e-01 8.78265214e-03 -1.72224197e+01] [ 1.79883303e-02 3.32224570e-04 9.99838142e-01 7.98675245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.42999999999999 meters Centerline goodness [0,1] 0.9998498466290568 Centerline is valid? [True, True] Translation: X:71.85, Y:-17.24, Z:0.80 [[ 8.62634230e-01 5.05587289e-01 -1.56102091e-02 7.18517718e+01] [-5.05511930e-01 8.62775386e-01 8.73620972e-03 -1.72373871e+01] [ 1.78850208e-02 3.54993400e-04 9.99839987e-01 7.99561800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46 meters Centerline goodness [0,1] 0.9997429250840849 Centerline is valid? [True, True] Translation: X:71.88, Y:-17.25, Z:0.80 [[ 8.61680808e-01 5.07165567e-01 -1.70080220e-02 7.18800076e+01] [-5.07076302e-01 8.61848544e-01 9.52419340e-03 -1.72529651e+01] [ 1.94886819e-02 4.17550220e-04 9.99809990e-01 7.97353728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.49 meters Centerline goodness [0,1] 0.9997643378966086 Centerline is valid? [True, True] Translation: X:71.91, Y:-17.27, Z:0.80 [[ 8.61437666e-01 5.07555052e-01 -1.76922646e-02 7.19075544e+01] [-5.07458428e-01 8.61619218e-01 9.91294793e-03 -1.72685038e+01] [ 2.02753620e-02 4.38702063e-04 9.99794337e-01 7.97014596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.52 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.93, Y:-17.29, Z:0.80 [[ 8.60874858e-01 5.08504594e-01 -1.78201311e-02 7.19336611e+01] [-5.08406659e-01 8.61059154e-01 9.99012289e-03 -1.72868081e+01] [ 2.04242104e-02 4.59627704e-04 9.99791298e-01 8.01485218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.55 meters Centerline goodness [0,1] 0.9998063391646763 Centerline is valid? [True, True] Translation: X:71.96, Y:-17.30, Z:0.80 [[ 8.61241254e-01 5.07861041e-01 -1.84571198e-02 7.19608384e+01] [-5.07755702e-01 8.61438887e-01 1.03533214e-02 -1.73032784e+01] [ 2.11577293e-02 4.55000285e-04 9.99776047e-01 7.98024452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.58 meters Centerline goodness [0,1] 0.9998494688400499 Centerline is valid? [True, True] Translation: X:71.99, Y:-17.32, Z:0.80 [[ 8.61114549e-01 5.08081075e-01 -1.83127006e-02 7.19880737e+01] [-5.07977300e-01 8.61309130e-01 1.02784025e-02 -1.73199622e+01] [ 2.09951580e-02 4.51554248e-04 9.99779475e-01 7.99692639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.61 meters Centerline goodness [0,1] 0.9998492743637225 Centerline is valid? [True, True] Translation: X:72.02, Y:-17.34, Z:0.80 [[ 8.61068550e-01 5.08156837e-01 -1.83733897e-02 7.20161936e+01] [-5.08052252e-01 8.61264435e-01 1.03190014e-02 -1.73372304e+01] [ 2.10680182e-02 4.49274501e-04 9.99777944e-01 7.99829606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.64 meters Centerline goodness [0,1] 0.9998489491174313 Centerline is valid? [True, True] Translation: X:72.04, Y:-17.36, Z:0.80 [[ 8.60979687e-01 5.08281768e-01 -1.90688929e-02 7.20432483e+01] [-5.08168991e-01 8.61190704e-01 1.07166982e-02 -1.73556189e+01] [ 2.18690556e-02 4.63360575e-04 9.99760736e-01 7.99983629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.67 meters Centerline goodness [0,1] 0.9997612691798511 Centerline is valid? [True, True] Translation: X:72.07, Y:-17.38, Z:0.80 [[ 8.61262492e-01 5.07770741e-01 -1.98945819e-02 7.20704194e+01] [-5.07647678e-01 8.61492112e-01 1.11881849e-02 -1.73751677e+01] [ 2.28200583e-02 4.63474323e-04 9.99739481e-01 7.99209683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.7 meters Centerline goodness [0,1] 0.9998488904239703 Centerline is valid? [True, True] Translation: X:72.10, Y:-17.39, Z:0.80 [[ 8.61501882e-01 5.07382680e-01 -1.94248116e-02 7.20974547e+01] [-5.07265114e-01 8.61720735e-01 1.09306271e-02 -1.73924216e+01] [ 2.22847738e-02 4.36773484e-04 9.99751568e-01 8.00607110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.73 meters Centerline goodness [0,1] 0.9998052074540614 Centerline is valid? [True, True] Translation: X:72.12, Y:-17.41, Z:0.80 [[ 8.62137990e-01 5.06295943e-01 -1.95577343e-02 7.21234509e+01] [-5.06176347e-01 8.62359701e-01 1.10114844e-02 -1.74088195e+01] [ 2.24408717e-02 4.06243496e-04 9.99748089e-01 7.99762995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.75999999999999 meters Centerline goodness [0,1] 0.9998917889451586 Centerline is valid? [True, True] Translation: X:72.15, Y:-17.43, Z:0.80 [[ 8.62670921e-01 5.05416530e-01 -1.87886661e-02 7.21488307e+01] [-5.05305831e-01 8.62875425e-01 1.05838649e-02 -1.74265703e+01] [ 2.15615385e-02 3.63630108e-04 9.99767457e-01 8.01517438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.78999999999999 meters Centerline goodness [0,1] 0.999890989164323 Centerline is valid? [True, True] Translation: X:72.17, Y:-17.45, Z:0.80 [[ 8.64686067e-01 5.01956635e-01 -1.89087826e-02 7.21720248e+01] [-5.01843569e-01 8.64892746e-01 1.06569677e-02 -1.74479945e+01] [ 2.17034045e-02 2.74319486e-04 9.99764416e-01 8.02216703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82 meters Centerline goodness [0,1] 0.9997170776295458 Centerline is valid? [True, True] Translation: X:72.20, Y:-17.47, Z:0.80 [[ 8.66045832e-01 4.99568172e-01 -1.99062232e-02 7.21973944e+01] [-4.99442090e-01 8.66274548e-01 1.12252460e-02 -1.74678174e+01] [ 2.28520302e-02 2.20428194e-04 9.99738834e-01 8.01223144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.85 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.22, Y:-17.49, Z:0.81 [[ 8.68397282e-01 4.95526937e-01 -1.84177876e-02 7.22201985e+01] [-4.95417982e-01 8.68592566e-01 1.03912501e-02 -1.74901190e+01] [ 2.11466977e-02 1.00769816e-04 9.99776379e-01 8.06997034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.88 meters Centerline goodness [0,1] 0.9999124879670954 Centerline is valid? [True, True] Translation: X:72.25, Y:-17.51, Z:0.81 [[ 8.70206622e-01 4.92334411e-01 -1.86350039e-02 7.22464965e+01] [-4.92222009e-01 8.70406128e-01 1.05198040e-02 -1.75098120e+01] [ 2.13992831e-02 1.81559414e-05 9.99771009e-01 8.05719100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.91 meters Centerline goodness [0,1] 0.9998026878302239 Centerline is valid? [True, True] Translation: X:72.27, Y:-17.53, Z:0.80 [[ 8.72008315e-01 4.89119623e-01 -1.90654795e-02 7.22733684e+01] [-4.89001049e-01 8.72216710e-01 1.07695880e-02 -1.75298878e+01] [ 2.18968466e-02 -6.81307704e-05 9.99760233e-01 8.04307845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.94 meters Centerline goodness [0,1] 0.9999115259560727 Centerline is valid? [True, True] Translation: X:72.30, Y:-17.55, Z:0.81 [[ 8.75495914e-01 4.82851654e-01 -1.90048522e-02 7.22966849e+01] [-4.82732220e-01 8.75702134e-01 1.07413440e-02 -1.75528503e+01] [ 2.18290653e-02 -2.29748276e-04 9.99761691e-01 8.05664015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.97 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.32, Y:-17.57, Z:0.81 [[ 8.76936048e-01 4.80258597e-01 -1.82988260e-02 7.23219604e+01] [-4.80147201e-01 8.77126899e-01 1.03473648e-02 -1.75721071e+01] [ 2.10198034e-02 -2.87847106e-04 9.99779018e-01 8.08103378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.0 meters Centerline goodness [0,1] 0.9997783049194139 Centerline is valid? [True, True] Translation: X:72.34, Y:-17.59, Z:0.81 [[ 8.80202361e-01 4.74240070e-01 -1.84434283e-02 7.23445018e+01] [-4.74125507e-01 8.80395459e-01 1.04326263e-02 -1.75946012e+01] [ 2.11850799e-02 -4.38322527e-04 9.99775475e-01 8.05109577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.03 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.37, Y:-17.61, Z:0.81 [[ 8.80881216e-01 4.73021730e-01 -1.72837253e-02 7.23707047e+01] [-4.72920827e-01 8.81050650e-01 9.77973514e-03 -1.76128730e+01] [ 1.98538646e-02 -4.40951346e-04 9.99802795e-01 8.09554595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.06 meters Centerline goodness [0,1] 0.9997779406213222 Centerline is valid? [True, True] Translation: X:72.40, Y:-17.63, Z:0.81 [[ 8.82427315e-01 4.70101890e-01 -1.80622850e-02 7.23960086e+01] [-4.69990969e-01 8.82611991e-01 1.02255243e-02 -1.76321344e+01] [ 2.07490277e-02 -5.34171135e-04 9.99784573e-01 8.06183150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.09 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.42, Y:-17.65, Z:0.81 [[ 8.82127369e-01 4.70712835e-01 -1.67550495e-02 7.24231213e+01] [-4.70617413e-01 8.82286343e-01 9.48997732e-03 -1.76489021e+01] [ 1.92498055e-02 -4.86150657e-04 9.99814587e-01 8.10581249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.11999999999999 meters Centerline goodness [0,1] 0.9998665984836694 Centerline is valid? [True, True] Translation: X:72.45, Y:-17.67, Z:0.81 [[ 8.82088475e-01 4.70770691e-01 -1.71720121e-02 7.24514339e+01] [-4.70670365e-01 8.82255465e-01 9.73153255e-03 -1.76658629e+01] [ 1.97314218e-02 -5.01715491e-04 9.99805191e-01 8.08287900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.14999999999999 meters Centerline goodness [0,1] 0.9998222617196179 Centerline is valid? [True, True] Translation: X:72.48, Y:-17.68, Z:0.81 [[ 8.80807046e-01 4.73162825e-01 -1.72014326e-02 7.24782348e+01] [-4.73062507e-01 8.80974878e-01 9.75342640e-03 -1.76809627e+01] [ 1.97689888e-02 -4.53533866e-04 9.99804472e-01 8.07713811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.17999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.51, Y:-17.70, Z:0.81 [[ 8.79677334e-01 4.75299796e-01 -1.60590103e-02 7.25061964e+01] [-4.75212639e-01 8.79823822e-01 9.10990933e-03 -1.76960073e+01] [ 1.84590378e-02 -3.82336113e-04 9.99829544e-01 8.11394514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.21 meters Centerline goodness [0,1] 0.999866325052913 Centerline is valid? [True, True] Translation: X:72.54, Y:-17.71, Z:0.81 [[ 8.78715207e-01 4.77052358e-01 -1.67520723e-02 7.25350012e+01] [-4.76957738e-01 8.78874800e-01 9.50796993e-03 -1.77111023e+01] [ 1.92587736e-02 -3.64767267e-04 9.99814466e-01 8.09088174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.24 meters Centerline goodness [0,1] 0.9998443233626154 Centerline is valid? [True, True] Translation: X:72.56, Y:-17.73, Z:0.81 [[ 8.77364193e-01 4.79511663e-01 -1.73388890e-02 7.25641969e+01] [-4.79410705e-01 8.77535446e-01 9.84462533e-03 -1.77257907e+01] [ 1.99361023e-02 -3.24872786e-04 9.99801203e-01 8.08587347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.27 meters Centerline goodness [0,1] 0.9998887751924189 Centerline is valid? [True, True] Translation: X:72.59, Y:-17.74, Z:0.81 [[ 8.74161186e-01 4.85323829e-01 -1.74069582e-02 7.25931119e+01] [-4.85223202e-01 8.74334457e-01 9.88440100e-03 -1.77359237e+01] [ 2.00166387e-02 -1.94299698e-04 9.99799628e-01 8.08087029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.3 meters Centerline goodness [0,1] 0.9999109171083693 Centerline is valid? [True, True] Translation: X:72.62, Y:-17.75, Z:0.81 [[ 8.72134235e-01 4.88939450e-01 -1.78910841e-02 7.26230719e+01] [-4.88833846e-01 8.72317718e-01 1.01621846e-02 -1.77477125e+01] [ 2.05754026e-02 -1.17021608e-04 9.99788297e-01 8.10257526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.33 meters Centerline goodness [0,1] 0.9998886910062333 Centerline is valid? [True, True] Translation: X:72.65, Y:-17.76, Z:0.81 [[ 8.69984303e-01 4.92735646e-01 -1.84091320e-02 7.26523900e+01] [-4.92624558e-01 8.70179052e-01 1.04624353e-02 -1.77617742e+01] [ 2.11744558e-02 -3.33639449e-05 9.99775796e-01 8.09873363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.36 meters Centerline goodness [0,1] 0.9998666073810583 Centerline is valid? [True, True] Translation: X:72.68, Y:-17.77, Z:0.81 [[ 8.65718244e-01 5.00156420e-01 -1.93772654e-02 7.26822106e+01] [-5.00035044e-01 8.65935063e-01 1.10191372e-02 -1.77743656e+01] [ 2.22907458e-02 1.49843664e-04 9.99751519e-01 8.09004131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.39 meters Centerline goodness [0,1] 0.9998221510826553 Centerline is valid? [True, True] Translation: X:72.71, Y:-17.79, Z:0.81 [[ 8.63664819e-01 5.03676789e-01 -1.98184773e-02 7.27106079e+01] [-5.03550603e-01 8.63892143e-01 1.12763568e-02 -1.77877560e+01] [ 2.28006660e-02 2.40613524e-04 9.99740002e-01 8.07597810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.42 meters Centerline goodness [0,1] 0.999955450617009 Centerline is valid? [True, True] Translation: X:72.74, Y:-17.80, Z:0.81 [[ 8.61724271e-01 5.07016137e-01 -1.91289400e-02 7.27387904e+01] [-5.06899270e-01 8.61936505e-01 1.08899445e-02 -1.78026173e+01] [ 2.20093093e-02 3.12316255e-04 9.99757717e-01 8.10277710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.45 meters Centerline goodness [0,1] 0.999776755815511 Centerline is valid? [True, True] Translation: X:72.77, Y:-17.82, Z:0.81 [[ 8.58943247e-01 5.11711893e-01 -1.91686270e-02 7.27670607e+01] [-5.11595573e-01 8.59157003e-01 1.09185513e-02 -1.78156161e+01] [ 2.20560126e-02 4.28168822e-04 9.99756645e-01 8.07945942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48 meters Centerline goodness [0,1] 0.9999330790336612 Centerline is valid? [True, True] Translation: X:72.79, Y:-17.83, Z:0.81 [[ 8.57655141e-01 5.13918971e-01 -1.77468060e-02 7.27944188e+01] [-5.13819632e-01 8.57838617e-01 1.01139665e-02 -1.78324198e+01] [ 2.04216548e-02 4.44361954e-04 9.99791358e-01 8.11318768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.50999999999999 meters Centerline goodness [0,1] 0.9999108237654665 Centerline is valid? [True, True] Translation: X:72.82, Y:-17.85, Z:0.81 [[ 8.56635234e-01 5.15618342e-01 -1.77144458e-02 7.28226142e+01] [-5.15519611e-01 8.56818240e-01 1.01011954e-02 -1.78484470e+01] [ 2.03864219e-02 4.79104310e-04 9.99792061e-01 8.11961511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.53999999999999 meters Centerline goodness [0,1] 0.9997989365980072 Centerline is valid? [True, True] Translation: X:72.85, Y:-17.87, Z:0.81 [[ 8.54876825e-01 5.18530232e-01 -1.76638805e-02 7.28505223e+01] [-5.18432607e-01 8.55059123e-01 1.00761485e-02 -1.78650606e+01] [ 2.03284498e-02 5.43665823e-04 9.99793208e-01 8.11669067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.57 meters Centerline goodness [0,1] 0.9998660624595397 Centerline is valid? [True, True] Translation: X:72.88, Y:-17.88, Z:0.81 [[ 8.53734988e-01 5.20418782e-01 -1.73453534e-02 7.28782252e+01] [-5.20324971e-01 8.53910979e-01 9.89769224e-03 -1.78798273e+01] [ 1.99623327e-02 5.75214344e-04 9.99800567e-01 8.12656633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.6 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.91, Y:-17.90, Z:0.82 [[ 8.51541395e-01 5.24022971e-01 -1.66486985e-02 7.29051138e+01] [-5.23937136e-01 8.51703899e-01 9.50511127e-03 -1.78961409e+01] [ 1.91606581e-02 6.28875719e-04 9.99816220e-01 8.16183036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.63 meters Centerline goodness [0,1] 0.9998210971218999 Centerline is valid? [True, True] Translation: X:72.93, Y:-17.91, Z:0.81 [[ 8.51031325e-01 5.24808604e-01 -1.79335955e-02 7.29328392e+01] [-5.24709059e-01 8.51219978e-01 1.02446261e-02 -1.79120793e+01] [ 2.06419027e-02 6.91422323e-04 9.99786694e-01 8.13190758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.66 meters Centerline goodness [0,1] 0.9999775543185491 Centerline is valid? [True, True] Translation: X:72.96, Y:-17.93, Z:0.81 [[ 8.50319698e-01 5.25936256e-01 -1.86404319e-02 7.29599567e+01] [-5.25828844e-01 8.50523665e-01 1.06546900e-02 -1.79287652e+01] [ 2.14578162e-02 7.41783956e-04 9.99769479e-01 8.14476918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.69 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.99, Y:-17.94, Z:0.81 [[ 8.50437175e-01 5.25702934e-01 -1.98251573e-02 7.29891204e+01] [-5.25581210e-01 8.50667868e-01 1.13388309e-02 -1.79427391e+01] [ 2.28254810e-02 7.76766831e-04 9.99739163e-01 8.12320164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.72 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.02, Y:-17.96, Z:0.81 [[ 8.50296168e-01 5.25931088e-01 -1.98221328e-02 7.30172151e+01] [-5.25809303e-01 8.50526829e-01 1.13441167e-02 -1.79589272e+01] [ 2.28254794e-02 7.76802836e-04 9.99739163e-01 8.12674725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.75 meters Centerline goodness [0,1] 0.9997752253366 Centerline is valid? [True, True] Translation: X:73.04, Y:-17.98, Z:0.81 [[ 8.51101767e-01 5.24542608e-01 -2.19279205e-02 7.30430338e+01] [-5.24392916e-01 8.51383811e-01 1.25569366e-02 -1.79781400e+01] [ 2.52557248e-02 8.11615277e-04 9.99680694e-01 8.08311894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.78 meters Centerline goodness [0,1] 0.9999325099547817 Centerline is valid? [True, True] Translation: X:73.07, Y:-18.00, Z:0.81 [[ 8.51554830e-01 5.23791155e-01 -2.22979298e-02 7.30688615e+01] [-5.23635924e-01 8.51846342e-01 1.27760615e-02 -1.79977222e+01] [ 2.56863979e-02 7.96480160e-04 9.99669733e-01 8.10388727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.81 meters Centerline goodness [0,1] 0.999841682686871 Centerline is valid? [True, True] Translation: X:73.09, Y:-18.02, Z:0.81 [[ 8.53310221e-01 5.20860750e-01 -2.37854061e-02 7.30929601e+01] [-5.20682753e-01 8.53641329e-01 1.36363992e-02 -1.80206679e+01] [ 2.74068708e-02 7.48571888e-04 9.99624081e-01 8.10124238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.84 meters Centerline goodness [0,1] 0.999818676337262 Centerline is valid? [True, True] Translation: X:73.12, Y:-18.04, Z:0.81 [[ 8.54133152e-01 5.19489671e-01 -2.42289224e-02 7.31192082e+01] [-5.19304196e-01 8.54476434e-01 1.38987588e-02 -1.80392690e+01] [ 2.79233048e-02 7.10790443e-04 9.99609816e-01 8.09954060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.86999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.14, Y:-18.06, Z:0.81 [[ 8.56159638e-01 5.16190286e-01 -2.32005045e-02 7.31434046e+01] [-5.16018911e-01 8.56473735e-01 1.33125716e-02 -1.80581258e+01] [ 2.67424429e-02 5.74212572e-04 9.99642192e-01 8.12140712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.89999999999999 meters Centerline goodness [0,1] 0.9998410608055947 Centerline is valid? [True, True] Translation: X:73.17, Y:-18.08, Z:0.81 [[ 8.57322701e-01 5.14246687e-01 -2.34121928e-02 7.31702610e+01] [-5.14071307e-01 8.57642164e-01 1.34391494e-02 -1.80765298e+01] [ 2.69903217e-02 5.13848676e-04 9.99635563e-01 8.10764803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.92999999999999 meters Centerline goodness [0,1] 0.9998408620728851 Centerline is valid? [True, True] Translation: X:73.20, Y:-18.09, Z:0.81 [[ 8.58056574e-01 5.13054753e-01 -2.26657408e-02 7.31965784e+01] [-5.12889781e-01 8.58355761e-01 1.30176492e-02 -1.80922891e+01] [ 2.61340360e-02 4.55147367e-04 9.99658344e-01 8.11772570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96 meters Centerline goodness [0,1] 0.9998416504546894 Centerline is valid? [True, True] Translation: X:73.23, Y:-18.11, Z:0.81 [[ 8.59241934e-01 5.11157207e-01 -2.05331332e-02 7.32251817e+01] [-5.11021173e-01 8.59487163e-01 1.17973482e-02 -1.81079162e+01] [ 2.36782640e-02 3.56089539e-04 9.99719567e-01 8.14207124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.99 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.25, Y:-18.12, Z:0.82 [[ 8.59207605e-01 5.11277665e-01 -1.89061039e-02 7.32533611e+01] [-5.11162266e-01 8.59415524e-01 1.08672006e-02 -1.81237193e+01] [ 2.18043562e-02 3.26905490e-04 9.99762203e-01 8.19219287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.02 meters Centerline goodness [0,1] 0.9997745106881933 Centerline is valid? [True, True] Translation: X:73.28, Y:-18.14, Z:0.82 [[ 8.59468658e-01 5.10840980e-01 -1.88445806e-02 7.32821317e+01] [-5.10726089e-01 8.59675170e-01 1.08381147e-02 -1.81388132e+01] [ 2.17367711e-02 3.09399073e-04 9.99763681e-01 8.17272128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.05 meters Centerline goodness [0,1] 0.999796642339065 Centerline is valid? [True, True] Translation: X:73.31, Y:-18.15, Z:0.82 [[ 8.59214202e-01 5.11331280e-01 -1.70668212e-02 7.33106687e+01] [-5.11237040e-01 8.59383639e-01 9.82089467e-03 -1.81517995e+01] [ 1.96886775e-02 2.86938941e-04 9.99806118e-01 8.19336505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.08 meters Centerline goodness [0,1] 0.9998422784011536 Centerline is valid? [True, True] Translation: X:73.34, Y:-18.17, Z:0.82 [[ 8.58564315e-01 5.12425742e-01 -1.69462861e-02 7.33383397e+01] [-5.12332939e-01 8.58731487e-01 9.75672336e-03 -1.81659006e+01] [ 1.95519057e-02 3.05366069e-04 9.99808797e-01 8.20278095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.11 meters Centerline goodness [0,1] 0.9997525754644834 Centerline is valid? [True, True] Translation: X:73.37, Y:-18.18, Z:0.82 [[ 8.57503104e-01 5.14168466e-01 -1.78666325e-02 7.33676199e+01] [-5.14065566e-01 8.57689140e-01 1.02923988e-02 -1.81801142e+01] [ 2.06160436e-02 3.58856626e-04 9.99787402e-01 8.19003806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.14 meters Centerline goodness [0,1] 0.9997981248037324 Centerline is valid? [True, True] Translation: X:73.40, Y:-18.20, Z:0.82 [[ 8.56581091e-01 5.15674712e-01 -1.86661793e-02 7.33963714e+01] [-5.15562617e-01 8.56784352e-01 1.07592638e-02 -1.81951998e+01] [ 2.15411706e-02 4.07402325e-04 9.99767879e-01 8.18688931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.17 meters Centerline goodness [0,1] 0.999865010799136 Centerline is valid? [True, True] Translation: X:73.43, Y:-18.21, Z:0.82 [[ 8.55820516e-01 5.16898665e-01 -1.96726851e-02 7.34252238e+01] [-5.16774327e-01 8.56046472e-01 1.13460752e-02 -1.82092258e+01] [ 2.27055038e-02 4.56134628e-04 9.99742093e-01 8.18383481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.2 meters Centerline goodness [0,1] 0.9998207483755321 Centerline is valid? [True, True] Translation: X:73.45, Y:-18.22, Z:0.81 [[ 8.54812076e-01 5.18494170e-01 -2.14501950e-02 7.34548151e+01] [-5.18346671e-01 8.55080994e-01 1.23782710e-02 -1.82200129e+01] [ 2.47597155e-02 5.37541637e-04 9.99693287e-01 8.14564073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.23 meters Centerline goodness [0,1] 0.9999101991334216 Centerline is valid? [True, True] Translation: X:73.48, Y:-18.24, Z:0.82 [[ 8.54609494e-01 5.18811387e-01 -2.18485188e-02 7.34830019e+01] [-5.18658269e-01 8.54888555e-01 1.26158115e-02 -1.82379009e+01] [ 2.52232754e-02 5.50322619e-04 9.99681691e-01 8.16861297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.25999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.51, Y:-18.25, Z:0.82 [[ 8.54564195e-01 5.18881210e-01 -2.19619388e-02 7.35108641e+01] [-5.18726315e-01 8.54846178e-01 1.26894116e-02 -1.82532234e+01] [ 2.53583767e-02 5.48318789e-04 9.99678274e-01 8.18782305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.28999999999999 meters Centerline goodness [0,1] 0.9997977209898187 Centerline is valid? [True, True] Translation: X:73.54, Y:-18.27, Z:0.82 [[ 8.56266557e-01 5.16044601e-01 -2.24844880e-02 7.35371976e+01] [-5.15881064e-01 8.56561586e-01 1.29991248e-02 -1.82714285e+01] [ 2.59674769e-02 4.68605748e-04 9.99662678e-01 8.17018339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.32 meters Centerline goodness [0,1] 0.9997527756551445 Centerline is valid? [True, True] Translation: X:73.56, Y:-18.29, Z:0.82 [[ 8.57272131e-01 5.14393291e-01 -2.20007963e-02 7.35631091e+01] [-5.14235995e-01 8.57554301e-01 1.27264162e-02 -1.82883411e+01] [ 2.54132606e-02 4.03599382e-04 9.99676949e-01 8.17484735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.35 meters Centerline goodness [0,1] 0.9998424417034303 Centerline is valid? [True, True] Translation: X:73.59, Y:-18.31, Z:0.82 [[ 8.58567310e-01 5.12266285e-01 -2.11051538e-02 7.35891758e+01] [-5.12120740e-01 8.58826612e-01 1.22146558e-02 -1.83054228e+01] [ 2.43828241e-02 3.21282834e-04 9.99702643e-01 8.19009485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.38 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.61, Y:-18.32, Z:0.82 [[ 8.61208933e-01 5.07908192e-01 -1.86666027e-02 7.36143650e+01] [-5.07793211e-01 8.61411191e-01 1.08081077e-02 -1.83240103e+01] [ 2.15691469e-02 1.70735164e-04 9.99767344e-01 8.22860294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.41 meters Centerline goodness [0,1] 0.9996854356715948 Centerline is valid? [True, True] Translation: X:73.64, Y:-18.34, Z:0.82 [[ 8.63225240e-01 5.04472413e-01 -1.87021508e-02 7.36413957e+01] [-5.04356113e-01 8.63427807e-01 1.08320531e-02 -1.83425608e+01] [ 2.16124291e-02 8.20424379e-05 9.99766421e-01 8.19410226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.44 meters Centerline goodness [0,1] 0.9998872451740934 Centerline is valid? [True, True] Translation: X:73.67, Y:-18.36, Z:0.82 [[ 8.66379382e-01 4.99100597e-01 -1.68926151e-02 7.36672849e+01] [-4.99004655e-01 8.66544051e-01 9.78585282e-03 -1.83628174e+01] [ 1.95223201e-02 -4.87675701e-05 9.99809420e-01 8.22780470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.47 meters Centerline goodness [0,1] 0.9998872655122655 Centerline is valid? [True, True] Translation: X:73.69, Y:-18.38, Z:0.82 [[ 8.67882339e-01 4.96509852e-01 -1.60690090e-02 7.36943429e+01] [-4.96422527e-01 8.68031080e-01 9.31228011e-03 -1.83817000e+01] [ 1.85720380e-02 -1.04945391e-04 9.99827519e-01 8.24404849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.5 meters Centerline goodness [0,1] 0.9998419935894542 Centerline is valid? [True, True] Translation: X:73.72, Y:-18.40, Z:0.83 [[ 8.69219118e-01 4.94185415e-01 -1.54564241e-02 7.37210117e+01] [-4.94104158e-01 8.69356516e-01 8.96265956e-03 -1.84004689e+01] [ 1.78663586e-02 -1.53431652e-04 9.99840372e-01 8.25467426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.53 meters Centerline goodness [0,1] 0.9998640103352145 Centerline is valid? [True, True] Translation: X:73.75, Y:-18.42, Z:0.83 [[ 8.70391389e-01 4.92108827e-01 -1.57395242e-02 7.37458940e+01] [-4.92024148e-01 8.70533665e-01 9.13108187e-03 -1.84188580e+01] [ 1.81952717e-02 -2.03389045e-04 9.99834432e-01 8.26081873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.77, Y:-18.44, Z:0.83 [[ 8.71410860e-01 4.90289038e-01 -1.61174567e-02 7.37734231e+01] [-4.90199860e-01 8.71559864e-01 9.35421685e-03 -1.84355377e+01] [ 1.86335983e-02 -2.50591135e-04 9.99826348e-01 8.28253467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.59 meters Centerline goodness [0,1] 0.9997515696282578 Centerline is valid? [True, True] Translation: X:73.80, Y:-18.45, Z:0.82 [[ 8.71832414e-01 4.89513220e-01 -1.68834287e-02 7.37996267e+01] [-4.89415111e-01 8.71995830e-01 9.80421770e-03 -1.84519267e+01] [ 1.95215736e-02 -2.84629673e-04 9.99809395e-01 8.23563883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.61999999999999 meters Centerline goodness [0,1] 0.9997962694675842 Centerline is valid? [True, True] Translation: X:73.83, Y:-18.47, Z:0.82 [[ 8.71748152e-01 4.89615624e-01 -1.82126469e-02 7.38276234e+01] [-4.89501359e-01 8.71938326e-01 1.05818098e-02 -1.84665952e+01] [ 2.10613243e-02 -3.09557722e-04 9.99778138e-01 8.22417516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.64999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.86, Y:-18.48, Z:0.83 [[ 8.71343955e-01 4.90316538e-01 -1.86923759e-02 7.38564512e+01] [-4.90196194e-01 8.71544376e-01 1.08670094e-02 -1.84830346e+01] [ 2.16195095e-02 -3.05971381e-04 9.99766224e-01 8.25728852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.67999999999999 meters Centerline goodness [0,1] 0.9998415429192321 Centerline is valid? [True, True] Translation: X:73.88, Y:-18.50, Z:0.82 [[ 8.71536373e-01 4.89932746e-01 -1.97548480e-02 7.38825492e+01] [-4.89798074e-01 8.71760167e-01 1.14916490e-02 -1.84996437e+01] [ 2.28516247e-02 -3.39503617e-04 9.99738810e-01 8.22586659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.71 meters Centerline goodness [0,1] 0.9999092414857169 Centerline is valid? [True, True] Translation: X:73.91, Y:-18.52, Z:0.82 [[ 8.71780539e-01 4.89453967e-01 -2.08208183e-02 7.39091102e+01] [-4.89304067e-01 8.72029054e-01 1.21184948e-02 -1.85171742e+01] [ 2.40878038e-02 -3.76956824e-04 9.99709776e-01 8.23448000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.74 meters Centerline goodness [0,1] 0.9997504423975679 Centerline is valid? [True, True] Translation: X:73.94, Y:-18.53, Z:0.82 [[ 8.71868232e-01 4.89278624e-01 -2.12653385e-02 7.39367539e+01] [-4.89122028e-01 8.72127440e-01 1.23842895e-02 -1.85335234e+01] [ 2.46054533e-02 -3.96123061e-04 9.99697162e-01 8.22828693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.77 meters Centerline goodness [0,1] 0.999863757124367 Centerline is valid? [True, True] Translation: X:73.96, Y:-18.55, Z:0.83 [[ 8.71813062e-01 4.89420861e-01 -2.02288312e-02 7.39644272e+01] [-4.89279045e-01 8.72047635e-01 1.17872200e-02 -1.85502498e+01] [ 2.34094158e-02 -3.78709173e-04 9.99725890e-01 8.25885611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.8 meters Centerline goodness [0,1] 0.9997963386209862 Centerline is valid? [True, True] Translation: X:73.99, Y:-18.57, Z:0.83 [[ 8.71604354e-01 4.89796491e-01 -2.01307614e-02 7.39914537e+01] [-4.89655986e-01 8.71836716e-01 1.17369742e-02 -1.85666251e+01] [ 2.32994657e-02 -3.72849981e-04 9.99728461e-01 8.25649314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.83 meters Centerline goodness [0,1] 0.999863596062473 Centerline is valid? [True, True] Translation: X:74.02, Y:-18.58, Z:0.83 [[ 8.71164544e-01 4.90595314e-01 -1.97122902e-02 7.40196239e+01] [-4.90460645e-01 8.71387466e-01 1.14996121e-02 -1.85825432e+01] [ 2.28186984e-02 -3.49951748e-04 9.99739558e-01 8.27597972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.86 meters Centerline goodness [0,1] 0.9999547828446113 Centerline is valid? [True, True] Translation: X:74.05, Y:-18.60, Z:0.83 [[ 8.70349523e-01 4.92073447e-01 -1.88528583e-02 7.40475496e+01] [-4.91950480e-01 8.70553635e-01 1.10043032e-02 -1.85976799e+01] [ 2.18273497e-02 -3.02917392e-04 9.99761709e-01 8.30428067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.89 meters Centerline goodness [0,1] 0.9998871713866636 Centerline is valid? [True, True] Translation: X:74.07, Y:-18.61, Z:0.83 [[ 8.69863503e-01 4.92935365e-01 -1.87672986e-02 7.40741434e+01] [-4.92813582e-01 8.70065885e-01 1.09603128e-02 -1.86139896e+01] [ 2.17315121e-02 -2.85196437e-04 9.99763802e-01 8.29662907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.92 meters Centerline goodness [0,1] 0.9998872222848765 Centerline is valid? [True, True] Translation: X:74.10, Y:-18.63, Z:0.83 [[ 8.68350300e-01 4.95631752e-01 -1.78023223e-02 7.41032573e+01] [-4.95522625e-01 8.68532741e-01 1.04022102e-02 -1.86275068e+01] [ 2.06175654e-02 -2.11308905e-04 9.99787413e-01 8.31611296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.95 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.13, Y:-18.64, Z:0.83 [[ 8.66903655e-01 4.98183947e-01 -1.70531136e-02 7.41318682e+01] [-4.98084198e-01 8.67071354e-01 9.96987281e-03 -1.86414636e+01] [ 1.97530969e-02 -1.49032758e-04 9.99804877e-01 8.34722871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98 meters Centerline goodness [0,1] 0.9997975435281414 Centerline is valid? [True, True] Translation: X:74.16, Y:-18.66, Z:0.83 [[ 8.65860839e-01 4.99979835e-01 -1.74691737e-02 7.41610825e+01] [-4.99875400e-01 8.66037038e-01 1.02192735e-02 -1.86566684e+01] [ 2.02383821e-02 -1.16058565e-04 9.99795176e-01 8.32231615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.00999999999999 meters Centerline goodness [0,1] 0.9997077798008407 Centerline is valid? [True, True] Translation: X:74.19, Y:-18.67, Z:0.83 [[ 8.64372654e-01 5.02544927e-01 -1.75644908e-02 7.41893748e+01] [-5.02439775e-01 8.64551093e-01 1.02800474e-02 -1.86706138e+01] [ 2.03515854e-02 -6.06930599e-05 9.99792883e-01 8.31774584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.03999999999999 meters Centerline goodness [0,1] 0.9998872273721722 Centerline is valid? [True, True] Translation: X:74.22, Y:-18.68, Z:0.83 [[ 8.61351254e-01 5.07702978e-01 -1.76551325e-02 7.42204223e+01] [-5.07597718e-01 8.61532172e-01 1.03379777e-02 -1.86832403e+01] [ 2.04590867e-02 5.70748758e-05 9.99790689e-01 8.34011851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.07 meters Centerline goodness [0,1] 0.999887748916777 Centerline is valid? [True, True] Translation: X:74.25, Y:-18.70, Z:0.83 [[ 8.59869339e-01 5.10203301e-01 -1.78132265e-02 7.42480041e+01] [-5.10096555e-01 8.60053823e-01 1.04367598e-02 -1.86971078e+01] [ 2.06452029e-02 1.12215714e-04 9.99786859e-01 8.33722425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.1 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.28, Y:-18.71, Z:0.84 [[ 8.57104199e-01 5.14811378e-01 -1.84834060e-02 7.42767835e+01] [-5.14697392e-01 8.57303443e-01 1.08351809e-02 -1.87093329e+01] [ 2.14239620e-02 2.26481780e-04 9.99770455e-01 8.35696277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.13 meters Centerline goodness [0,1] 0.9998206398672735 Centerline is valid? [True, True] Translation: X:74.30, Y:-18.72, Z:0.83 [[ 8.56593284e-01 5.15629135e-01 -1.93530505e-02 7.43048987e+01] [-5.15504238e-01 8.56811841e-01 1.13511823e-02 -1.87240865e+01] [ 2.24349232e-02 2.53233037e-04 9.99748273e-01 8.31929242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.16 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.33, Y:-18.74, Z:0.84 [[ 8.55190142e-01 5.17965487e-01 -1.90151395e-02 7.43328264e+01] [-5.17845354e-01 8.55401463e-01 1.11591889e-02 -1.87393168e+01] [ 2.20456528e-02 3.03673268e-04 9.99756919e-01 8.35991938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.19 meters Centerline goodness [0,1] 0.9999104744852283 Centerline is valid? [True, True] Translation: X:74.36, Y:-18.75, Z:0.83 [[ 8.54251731e-01 5.19497308e-01 -1.94042869e-02 7.43611100e+01] [-5.19372454e-01 8.54472017e-01 1.13941153e-02 -1.87539457e+01] [ 2.24996324e-02 3.44609427e-04 9.99746792e-01 8.34447872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.22 meters Centerline goodness [0,1] 0.9997542174058764 Centerline is valid? [True, True] Translation: X:74.39, Y:-18.77, Z:0.83 [[ 8.53821841e-01 5.20197208e-01 -1.95736793e-02 7.43900528e+01] [-5.20070188e-01 8.54046096e-01 1.15006573e-02 -1.87705506e+01] [ 2.26994342e-02 3.60174654e-04 9.99742270e-01 8.33400752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.25 meters Centerline goodness [0,1] 0.9999104484294893 Centerline is valid? [True, True] Translation: X:74.42, Y:-18.79, Z:0.84 [[ 8.53175371e-01 5.21283866e-01 -1.88392411e-02 7.44183923e+01] [-5.21166308e-01 8.53383264e-01 1.10762458e-02 -1.87865813e+01] [ 2.18509613e-02 3.68397647e-04 9.99761171e-01 8.36241594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.28 meters Centerline goodness [0,1] 0.9998206197587336 Centerline is valid? [True, True] Translation: X:74.45, Y:-18.80, Z:0.84 [[ 8.53184507e-01 5.21278115e-01 -1.85828670e-02 7.44470221e+01] [-5.21163582e-01 8.53386782e-01 1.09326100e-02 -1.88035590e+01] [ 2.15573034e-02 3.57180031e-04 9.99767551e-01 8.35921171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.31 meters Centerline goodness [0,1] 0.9998212530163554 Centerline is valid? [True, True] Translation: X:74.48, Y:-18.82, Z:0.84 [[ 8.53401550e-01 5.20946272e-01 -1.79102399e-02 7.44751776e+01] [-5.20839714e-01 8.53589405e-01 1.05413878e-02 -1.88199935e+01] [ 2.07794877e-02 3.32327536e-04 9.99784028e-01 8.36350862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.34 meters Centerline goodness [0,1] 0.9999107262420212 Centerline is valid? [True, True] Translation: X:74.50, Y:-18.84, Z:0.84 [[ 8.53993886e-01 5.19987314e-01 -1.75395751e-02 7.45024984e+01] [-5.19884841e-01 8.54173931e-01 1.03270549e-02 -1.88363576e+01] [ 2.03517853e-02 2.99317472e-04 9.99792836e-01 8.37308654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.36999999999999 meters Centerline goodness [0,1] 0.9998217071540004 Centerline is valid? [True, True] Translation: X:74.53, Y:-18.85, Z:0.84 [[ 8.54601002e-01 5.18962149e-01 -1.83143294e-02 7.45297690e+01] [-5.18850055e-01 8.54797174e-01 1.07894628e-02 -1.88530813e+01] [ 2.12543598e-02 2.81705100e-04 9.99774061e-01 8.35577180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.39999999999999 meters Centerline goodness [0,1] 0.9998437883555377 Centerline is valid? [True, True] Translation: X:74.56, Y:-18.87, Z:0.84 [[ 8.55176717e-01 5.18007472e-01 -1.84673126e-02 7.45562280e+01] [-5.17893147e-01 8.55376054e-01 1.08855188e-02 -1.88698918e+01] [ 2.14352771e-02 2.55052411e-04 9.99770206e-01 8.35220438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.42999999999999 meters Centerline goodness [0,1] 0.9997990847192767 Centerline is valid? [True, True] Translation: X:74.58, Y:-18.89, Z:0.83 [[ 8.56595649e-01 5.15600782e-01 -1.99931901e-02 7.45823501e+01] [-5.15465972e-01 8.56828916e-01 1.17915373e-02 -1.88894970e+01] [ 2.32104693e-02 2.05229630e-04 9.99730580e-01 8.34196083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46 meters Centerline goodness [0,1] 0.9999551589614816 Centerline is valid? [True, True] Translation: X:74.61, Y:-18.91, Z:0.84 [[ 8.56954425e-01 5.15006842e-01 -1.99265085e-02 7.46097359e+01] [-5.14872605e-01 8.57186047e-01 1.17593205e-02 -1.89077562e+01] [ 2.31368556e-02 1.82411592e-04 9.99732290e-01 8.36887376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.49 meters Centerline goodness [0,1] 0.9999325160274435 Centerline is valid? [True, True] Translation: X:74.64, Y:-18.93, Z:0.84 [[ 8.58185397e-01 5.12941551e-01 -2.02185549e-02 7.46361120e+01] [-5.12802604e-01 8.58423526e-01 1.19389470e-02 -1.89258752e+01] [ 2.34800652e-02 1.22297589e-04 9.99724298e-01 8.36850173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.52 meters Centerline goodness [0,1] 0.9999551247531862 Centerline is valid? [True, True] Translation: X:74.66, Y:-18.94, Z:0.84 [[ 8.58740866e-01 5.12004973e-01 -2.03723289e-02 7.46627611e+01] [-5.11863473e-01 8.58982479e-01 1.20368457e-02 -1.89428344e+01] [ 2.36623985e-02 9.13197777e-05 9.99720002e-01 8.37608950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.55 meters Centerline goodness [0,1] 0.9998651624792125 Centerline is valid? [True, True] Translation: X:74.69, Y:-18.96, Z:0.84 [[ 8.59307797e-01 5.11038757e-01 -2.07243568e-02 7.46906936e+01] [-5.10891858e-01 8.59557668e-01 1.22525278e-02 -1.89611234e+01] [ 2.40752964e-02 5.92124549e-05 9.99710146e-01 8.36560531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.58 meters Centerline goodness [0,1] 0.9998201398412734 Centerline is valid? [True, True] Translation: X:74.72, Y:-18.98, Z:0.84 [[ 8.60201076e-01 5.09519407e-01 -2.10732767e-02 7.47174852e+01] [-5.09366867e-01 8.60459165e-01 1.24667970e-02 -1.89796299e+01] [ 2.44847691e-02 1.00767374e-05 9.99700203e-01 8.36053351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.61 meters Centerline goodness [0,1] 0.9998201398412734 Centerline is valid? [True, True] Translation: X:74.75, Y:-19.00, Z:0.84 [[ 8.60059981e-01 5.09757679e-01 -2.10698173e-02 7.47453243e+01] [-5.09605068e-01 8.60318027e-01 1.24726420e-02 -1.89961978e+01] [ 2.44847687e-02 1.00654561e-05 9.99700203e-01 8.36407733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.64 meters Centerline goodness [0,1] 0.999864314789688 Centerline is valid? [True, True] Translation: X:74.77, Y:-19.01, Z:0.84 [[ 8.60339576e-01 5.09283878e-01 -2.11126878e-02 7.47727270e+01] [-5.09130306e-01 8.60598589e-01 1.25060042e-02 -1.90137490e+01] [ 2.45386556e-02 -1.03011357e-05 9.99698882e-01 8.37593618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.67 meters Centerline goodness [0,1] 0.9998874406249296 Centerline is valid? [True, True] Translation: X:74.80, Y:-19.03, Z:0.84 [[ 8.60454557e-01 5.09097572e-01 -2.09192914e-02 7.47993142e+01] [-5.08946561e-01 8.60708813e-01 1.23990783e-02 -1.90310853e+01] [ 2.43177592e-02 -2.20419894e-05 9.99704279e-01 8.38211689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.7 meters Centerline goodness [0,1] 0.9997744445697531 Centerline is valid? [True, True] Translation: X:74.83, Y:-19.05, Z:0.84 [[ 8.60801097e-01 5.08535619e-01 -2.03223228e-02 7.48252136e+01] [-5.08392780e-01 8.61040953e-01 1.20523098e-02 -1.90493784e+01] [ 2.36273810e-02 -4.29193005e-05 9.99720834e-01 8.38504689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.73 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.85, Y:-19.07, Z:0.84 [[ 8.60580862e-01 5.08967534e-01 -1.87784210e-02 7.48518205e+01] [-5.08845552e-01 8.60785716e-01 1.11425385e-02 -1.90657755e+01] [ 2.18353869e-02 -3.37393621e-05 9.99761579e-01 8.43017670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.75999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.88, Y:-19.08, Z:0.85 [[ 8.60810377e-01 5.08632582e-01 -1.72739731e-02 7.48783889e+01] [-5.08529192e-01 8.60983678e-01 1.02550572e-02 -1.90834012e+01] [ 2.00886651e-02 -4.33400505e-05 9.99798201e-01 8.46226950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.78999999999999 meters Centerline goodness [0,1] 0.9998644588519665 Centerline is valid? [True, True] Translation: X:74.90, Y:-19.10, Z:0.85 [[ 8.61011832e-01 5.08292092e-01 -1.72561388e-02 7.49046732e+01] [-5.08188728e-01 8.61184734e-01 1.02503696e-02 -1.91008058e+01] [ 2.00709051e-02 -5.63142595e-05 9.99798558e-01 8.45046634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82 meters Centerline goodness [0,1] 0.9998864307454686 Centerline is valid? [True, True] Translation: X:74.93, Y:-19.12, Z:0.85 [[ 8.60889977e-01 5.08510741e-01 -1.68900585e-02 7.49320409e+01] [-5.08411661e-01 8.61055645e-01 1.00379208e-02 -1.91181050e+01] [ 1.96476708e-02 -5.44427556e-05 9.99806964e-01 8.46704992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.85 meters Centerline goodness [0,1] 0.9998186681173217 Centerline is valid? [True, True] Translation: X:74.96, Y:-19.13, Z:0.85 [[ 8.60722800e-01 5.08786036e-01 -1.71181855e-02 7.49597847e+01] [-5.08684211e-01 8.60893006e-01 1.01786936e-02 -1.91349124e+01] [ 1.99157034e-02 -5.32829300e-05 9.99801661e-01 8.46645242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.88 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.99, Y:-19.15, Z:0.85 [[ 8.60070219e-01 5.09923117e-01 -1.60509561e-02 7.49870653e+01] [-5.09833692e-01 8.60219980e-01 9.54952678e-03 -1.91503189e+01] [ 1.86768776e-02 -2.99453846e-05 9.99825571e-01 8.49470208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.91 meters Centerline goodness [0,1] 0.9997729955507128 Centerline is valid? [True, True] Translation: X:75.02, Y:-19.17, Z:0.85 [[ 8.59664983e-01 5.10570769e-01 -1.71349772e-02 7.50155334e+01] [-5.10468863e-01 8.59835734e-01 1.02005109e-02 -1.91671825e+01] [ 1.99413484e-02 -2.21497127e-05 9.99801151e-01 8.46040173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.94 meters Centerline goodness [0,1] 0.9997510636371866 Centerline is valid? [True, True] Translation: X:75.04, Y:-19.18, Z:0.85 [[ 8.59244941e-01 5.11250476e-01 -1.79187468e-02 7.50439986e+01] [-5.11139036e-01 8.59431760e-01 1.06740684e-02 -1.91838916e+01] [ 2.08570627e-02 -1.26683559e-05 9.99782468e-01 8.45934348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.97 meters Centerline goodness [0,1] 0.9997969130787977 Centerline is valid? [True, True] Translation: X:75.07, Y:-19.20, Z:0.85 [[ 8.59116724e-01 5.11466596e-01 -1.78990476e-02 7.50717074e+01] [-5.11355310e-01 8.59303160e-01 1.06688931e-02 -1.92004918e+01] [ 2.08374906e-02 -1.30514014e-05 9.99782876e-01 8.46039165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.0 meters Centerline goodness [0,1] 0.9998182148700236 Centerline is valid? [True, True] Translation: X:75.10, Y:-19.22, Z:0.85 [[ 8.59089324e-01 5.11508541e-01 -1.80151466e-02 7.51000988e+01] [-5.11395677e-01 8.59278193e-01 1.07447558e-02 -1.92173189e+01] [ 2.09760569e-02 -1.78369602e-05 9.99779978e-01 8.47543680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.03 meters Centerline goodness [0,1] 0.9998641365880169 Centerline is valid? [True, True] Translation: X:75.13, Y:-19.23, Z:0.85 [[ 8.59610462e-01 5.10648845e-01 -1.75388362e-02 7.51276690e+01] [-5.10541580e-01 8.59789367e-01 1.04661324e-02 -1.92342402e+01] [ 2.04242233e-02 -4.24917784e-05 9.99791403e-01 8.48580353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.06 meters Centerline goodness [0,1] 0.999841431645713 Centerline is valid? [True, True] Translation: X:75.15, Y:-19.25, Z:0.85 [[ 8.60267219e-01 5.09536836e-01 -1.76783908e-02 7.51546001e+01] [-5.09427514e-01 8.60448841e-01 1.05546155e-02 -1.92506532e+01] [ 2.05893163e-02 -7.39310629e-05 9.99788015e-01 8.48671162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.09 meters Centerline goodness [0,1] 0.9996837587531059 Centerline is valid? [True, True] Translation: X:75.18, Y:-19.27, Z:0.85 [[ 8.60480169e-01 5.09169682e-01 -1.78917522e-02 7.51829096e+01] [-5.09057489e-01 8.60666153e-01 1.06885596e-02 -1.92674908e+01] [ 2.08411160e-02 -8.93631584e-05 9.99782796e-01 8.47463765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.11999999999999 meters Centerline goodness [0,1] 0.9998417578442897 Centerline is valid? [True, True] Translation: X:75.21, Y:-19.28, Z:0.85 [[ 8.60639204e-01 5.08904068e-01 -1.77991753e-02 7.52114316e+01] [-5.08792838e-01 8.60823234e-01 1.06399510e-02 -1.92840915e+01] [ 2.07366580e-02 -1.01066045e-04 9.99784967e-01 8.48854235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.14999999999999 meters Centerline goodness [0,1] 0.9997515135086292 Centerline is valid? [True, True] Translation: X:75.24, Y:-19.30, Z:0.85 [[ 8.60857144e-01 5.08514172e-01 -1.83933503e-02 7.52399619e+01] [-5.08395148e-01 8.61053612e-01 1.10022816e-02 -1.93010914e+01] [ 2.14324768e-02 -1.20302608e-04 9.99770291e-01 8.48036762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.17999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.27, Y:-19.32, Z:0.85 [[ 8.61290251e-01 5.07817959e-01 -1.73212212e-02 7.52679979e+01] [-5.07712137e-01 8.61464394e-01 1.03674416e-02 -1.93173521e+01] [ 2.01863883e-02 -1.35182147e-04 9.99796225e-01 8.51378667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.21 meters Centerline goodness [0,1] 0.9997728718088489 Centerline is valid? [True, True] Translation: X:75.30, Y:-19.33, Z:0.85 [[ 8.61726370e-01 5.07055795e-01 -1.79466865e-02 7.52952443e+01] [-5.06941887e-01 8.61913217e-01 1.07484785e-02 -1.93345349e+01] [ 2.09185646e-02 -1.64320233e-04 9.99781169e-01 8.49406971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.24 meters Centerline goodness [0,1] 0.9997294555292526 Centerline is valid? [True, True] Translation: X:75.32, Y:-19.35, Z:0.85 [[ 8.61666013e-01 5.07186553e-01 -1.71313357e-02 7.53232122e+01] [-5.07082666e-01 8.61836281e-01 1.02661828e-02 -1.93511440e+01] [ 1.99712765e-02 -1.59017405e-04 9.99800542e-01 8.50485897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.27 meters Centerline goodness [0,1] 0.999842153922475 Centerline is valid? [True, True] Translation: X:75.35, Y:-19.37, Z:0.85 [[ 8.61046124e-01 5.08258779e-01 -1.65101885e-02 7.53504864e+01] [-5.08162377e-01 8.61204387e-01 9.89964814e-03 -1.93666564e+01] [ 1.92502298e-02 -1.34197053e-04 9.99814688e-01 8.51760114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.3 meters Centerline goodness [0,1] 0.9997960339943343 Centerline is valid? [True, True] Translation: X:75.38, Y:-19.38, Z:0.85 [[ 8.60168715e-01 5.09740574e-01 -1.65628711e-02 7.53797615e+01] [-5.09643720e-01 8.60328156e-01 9.93691253e-03 -1.93821440e+01] [ 1.93147518e-02 -1.06258051e-04 9.99813447e-01 8.51629946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.33 meters Centerline goodness [0,1] 0.9997517434381277 Centerline is valid? [True, True] Translation: X:75.41, Y:-19.39, Z:0.85 [[ 8.57762004e-01 5.13756883e-01 -1.72687556e-02 7.54086893e+01] [-5.13652304e-01 8.57935816e-01 1.03656318e-02 -1.93940440e+01] [ 2.01408987e-02 -2.11090241e-05 9.99797151e-01 8.49216896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.36 meters Centerline goodness [0,1] 0.999842661272196 Centerline is valid? [True, True] Translation: X:75.44, Y:-19.41, Z:0.85 [[ 8.55971212e-01 5.16703123e-01 -1.81980181e-02 7.54380487e+01] [-5.16587536e-01 8.56164634e-01 1.09286914e-02 -1.94084281e+01] [ 2.12273885e-02 4.62241651e-05 9.99774673e-01 8.49569516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.39 meters Centerline goodness [0,1] 0.9999101971173274 Centerline is valid? [True, True] Translation: X:75.47, Y:-19.42, Z:0.85 [[ 8.52708062e-01 5.22016503e-01 -1.96908857e-02 7.54670968e+01] [-5.21882420e-01 8.52935364e-01 1.18323414e-02 -1.94197148e+01] [ 2.29717302e-02 1.86794137e-04 9.99736098e-01 8.47912722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.42 meters Centerline goodness [0,1] 0.9998427107675715 Centerline is valid? [True, True] Translation: X:75.49, Y:-19.43, Z:0.85 [[ 8.51405115e-01 5.24113921e-01 -2.03452094e-02 7.54942818e+01] [-5.23971225e-01 8.51648130e-01 1.22318586e-02 -1.94340228e+01] [ 2.37378470e-02 2.46037330e-04 9.99718187e-01 8.46748992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.45 meters Centerline goodness [0,1] 0.9997538158542589 Centerline is valid? [True, True] Translation: X:75.52, Y:-19.45, Z:0.85 [[ 8.50374838e-01 5.25754372e-01 -2.10944181e-02 7.55223651e+01] [-5.25601308e-01 8.50636380e-01 1.26890993e-02 -1.94496011e+01] [ 2.46150289e-02 2.96762970e-04 9.99696960e-01 8.46746592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48 meters Centerline goodness [0,1] 0.9997982696014703 Centerline is valid? [True, True] Translation: X:75.55, Y:-19.46, Z:0.85 [[ 8.48525702e-01 5.28718583e-01 -2.14660993e-02 7.55507097e+01] [-5.28560841e-01 8.48797098e-01 1.29199214e-02 -1.94649149e+01] [ 2.50513653e-02 3.83254103e-04 9.99686092e-01 8.48355840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.50999999999999 meters Centerline goodness [0,1] 0.9997764813697222 Centerline is valid? [True, True] Translation: X:75.58, Y:-19.48, Z:0.85 [[ 8.47943710e-01 5.29642599e-01 -2.16836988e-02 7.55776501e+01] [-5.29481765e-01 8.48220815e-01 1.30579498e-02 -1.94802679e+01] [ 2.53086112e-02 4.08716722e-04 9.99679602e-01 8.48487719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.53999999999999 meters Centerline goodness [0,1] 0.9998206881093803 Centerline is valid? [True, True] Translation: X:75.61, Y:-19.50, Z:0.85 [[ 8.47359239e-01 5.30611271e-01 -2.08326455e-02 7.56057034e+01] [-5.30462932e-01 8.47615189e-01 1.25526946e-02 -1.94969339e+01] [ 2.43186680e-02 4.14304461e-04 9.99704172e-01 8.50057734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.57 meters Centerline goodness [0,1] 0.9998207282913165 Centerline is valid? [True, True] Translation: X:75.63, Y:-19.51, Z:0.85 [[ 8.47402208e-01 5.30576011e-01 -1.99648360e-02 7.56325364e+01] [-5.30439601e-01 8.47637272e-01 1.20368563e-02 -1.95142191e+01] [ 2.33094063e-02 3.90081027e-04 9.99728223e-01 8.52031484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.6 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.66, Y:-19.53, Z:0.86 [[ 8.47820258e-01 5.29998884e-01 -1.73779822e-02 7.56596347e+01] [-5.29895339e-01 8.47998278e-01 1.04809603e-02 -1.95323547e+01] [ 2.02913962e-02 3.22541331e-04 9.99794056e-01 8.57548042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.63 meters Centerline goodness [0,1] 0.9999103822198324 Centerline is valid? [True, True] Translation: X:75.69, Y:-19.55, Z:0.86 [[ 8.48528580e-01 5.28883624e-01 -1.67738477e-02 7.56864028e+01] [-5.28786865e-01 8.48694311e-01 1.01201959e-02 -1.95501574e+01] [ 1.95882750e-02 2.82514885e-04 9.99808091e-01 8.56910578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.66 meters Centerline goodness [0,1] 0.9998202085580726 Centerline is valid? [True, True] Translation: X:75.71, Y:-19.57, Z:0.86 [[ 8.49254251e-01 5.27737560e-01 -1.61333816e-02 7.57134292e+01] [-5.27647742e-01 8.49407446e-01 9.73911097e-03 -1.95679720e+01] [ 1.88435091e-02 2.41760986e-04 9.99822416e-01 8.57106831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.69 meters Centerline goodness [0,1] 0.9997974979749797 Centerline is valid? [True, True] Translation: X:75.74, Y:-19.59, Z:0.86 [[ 8.50388448e-01 5.25929757e-01 -1.54070809e-02 7.57396042e+01] [-5.25847458e-01 8.50527986e-01 9.30572388e-03 -1.95864329e+01] [ 1.79983106e-02 1.88294218e-04 9.99838000e-01 8.57883865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.72 meters Centerline goodness [0,1] 0.9998874836851344 Centerline is valid? [True, True] Translation: X:75.77, Y:-19.60, Z:0.86 [[ 8.50735744e-01 5.25369951e-01 -1.53332578e-02 7.57662719e+01] [-5.25288258e-01 8.50873895e-01 9.26610957e-03 -1.96031947e+01] [ 1.79148043e-02 1.71369676e-04 9.99839502e-01 8.58599060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.75 meters Centerline goodness [0,1] 0.9997748609766531 Centerline is valid? [True, True] Translation: X:75.79, Y:-19.62, Z:0.86 [[ 8.51360094e-01 5.24330970e-01 -1.62180326e-02 7.57937323e+01] [-5.24239280e-01 8.51514539e-01 9.80648713e-03 -1.96217886e+01] [ 1.89517355e-02 1.53277933e-04 9.99820388e-01 8.57253310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.78 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.82, Y:-19.64, Z:0.86 [[ 8.51525438e-01 5.24052770e-01 -1.65263998e-02 7.58211121e+01] [-5.23957383e-01 8.51685783e-01 9.99940845e-03 -1.96393752e+01] [ 1.93155175e-02 1.44378534e-04 9.99813428e-01 8.60376867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.81 meters Centerline goodness [0,1] 0.9997972972972973 Centerline is valid? [True, True] Translation: X:75.85, Y:-19.66, Z:0.85 [[ 8.53567571e-01 5.20632476e-01 -1.90847281e-02 7.58467213e+01] [-5.20504237e-01 8.53780897e-01 1.15550986e-02 -1.96581405e+01] [ 2.23101359e-02 7.06244024e-05 9.99751095e-01 8.54083422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.84 meters Centerline goodness [0,1] 0.9998194130925507 Centerline is valid? [True, True] Translation: X:75.87, Y:-19.68, Z:0.86 [[ 8.54539897e-01 5.19008036e-01 -1.98046142e-02 7.58740962e+01] [-5.18869327e-01 8.54769359e-01 1.19984873e-02 -1.96773108e+01] [ 2.31556887e-02 2.28207784e-05 9.99731871e-01 8.55098791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.86999999999999 meters Centerline goodness [0,1] 0.9998190536505926 Centerline is valid? [True, True] Translation: X:75.90, Y:-19.70, Z:0.85 [[ 8.57031926e-01 5.14856001e-01 -2.04835443e-02 7.58981705e+01] [-5.14706257e-01 8.57276670e-01 1.24169328e-02 -1.96972684e+01] [ 2.39529970e-02 -9.86994044e-05 9.99713081e-01 8.54810988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.89999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.93, Y:-19.72, Z:0.86 [[ 8.58066349e-01 5.13178130e-01 -1.92444141e-02 7.59253698e+01] [-5.13045389e-01 8.58282113e-01 1.16723084e-02 -1.97157446e+01] [ 2.25071099e-02 -1.42357137e-04 9.99746673e-01 8.59955205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.92999999999999 meters Centerline goodness [0,1] 0.9997283100887521 Centerline is valid? [True, True] Translation: X:75.95, Y:-19.73, Z:0.86 [[ 8.59972900e-01 5.09968578e-01 -1.94592265e-02 7.59516570e+01] [-5.09831872e-01 8.60192998e-01 1.18096560e-02 -1.97349404e+01] [ 2.27612439e-02 -2.35050227e-04 9.99740902e-01 8.57806314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.98, Y:-19.75, Z:0.86 [[ 8.62630693e-01 5.05546251e-01 -1.70668180e-02 7.59775596e+01] [-5.05440121e-01 8.62799449e-01 1.03631231e-02 -1.97542906e+01] [ 1.99642792e-02 -3.13293485e-04 9.99800645e-01 8.63823087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.99 meters Centerline goodness [0,1] 0.9999090929751596 Centerline is valid? [True, True] Translation: X:76.00, Y:-19.77, Z:0.86 [[ 8.64224792e-01 5.02817334e-01 -1.70363505e-02 7.60030216e+01] [-5.02710940e-01 8.64392610e-01 1.03502204e-02 -1.97727632e+01] [ 1.99303657e-02 -3.80557346e-04 9.99801298e-01 8.62673703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.02 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.03, Y:-19.79, Z:0.87 [[ 8.65199015e-01 5.01166727e-01 -1.62041774e-02 7.60298987e+01] [-5.01070087e-01 8.65350651e-01 9.84976709e-03 -1.97898608e+01] [ 1.89586710e-02 -4.02580221e-04 9.99820187e-01 8.65156442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.05 meters Centerline goodness [0,1] 0.9999546032322498 Centerline is valid? [True, True] Translation: X:76.06, Y:-19.81, Z:0.87 [[ 8.67125330e-01 4.97843145e-01 -1.56800988e-02 7.60550458e+01] [-4.97752036e-01 8.67266965e-01 9.53530826e-03 -1.98084711e+01] [ 1.83459195e-02 -4.63506220e-04 9.99831592e-01 8.65092603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.08 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.08, Y:-19.83, Z:0.87 [[ 8.67487064e-01 4.97219958e-01 -1.54436916e-02 7.60824011e+01] [-4.97131413e-01 8.67624395e-01 9.39508842e-03 -1.98258036e+01] [ 1.80707490e-02 -4.72573444e-04 9.99836599e-01 8.66239855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.11 meters Centerline goodness [0,1] 0.9998638066053797 Centerline is valid? [True, True] Translation: X:76.11, Y:-19.84, Z:0.86 [[ 8.67854282e-01 4.96543727e-01 -1.65309298e-02 7.61105161e+01] [-4.96442042e-01 8.68011550e-01 1.00622565e-02 -1.98421087e+01] [ 1.93453883e-02 -5.25923827e-04 9.99812722e-01 8.64420572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.14 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.14, Y:-19.86, Z:0.87 [[ 8.67045881e-01 4.97947284e-01 -1.67314813e-02 7.61382190e+01] [-4.97843269e-01 8.67207154e-01 1.01898085e-02 -1.98570765e+01] [ 1.95836477e-02 -5.05376104e-04 9.99808094e-01 8.66199437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.17 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.17, Y:-19.87, Z:0.87 [[ 8.66300886e-01 4.99229427e-01 -1.71100650e-02 7.61666800e+01] [-4.99120789e-01 8.66469698e-01 1.04259583e-02 -1.98721556e+01] [ 2.00302980e-02 -4.92027777e-04 9.99799252e-01 8.66254236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.2 meters Centerline goodness [0,1] 0.9999324141659908 Centerline is valid? [True, True] Translation: X:76.19, Y:-19.89, Z:0.87 [[ 8.64369388e-01 5.02520456e-01 -1.84052341e-02 7.61947485e+01] [-5.02395380e-01 8.64565201e-01 1.12202854e-02 -1.98851957e+01] [ 2.15509479e-02 -4.51766639e-04 9.99767649e-01 8.65219237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.23 meters Centerline goodness [0,1] 0.9999774261270006 Centerline is valid? [True, True] Translation: X:76.22, Y:-19.90, Z:0.87 [[ 8.63067149e-01 5.04741104e-01 -1.87487245e-02 7.62239912e+01] [-5.04611729e-01 8.63270671e-01 1.14346766e-02 -1.98995100e+01] [ 2.19567752e-02 -4.08067471e-04 9.99758838e-01 8.65529261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.25999999999999 meters Centerline goodness [0,1] 0.9998875874007959 Centerline is valid? [True, True] Translation: X:76.25, Y:-19.91, Z:0.86 [[ 8.62084796e-01 5.06374785e-01 -1.98590238e-02 7.62516333e+01] [-5.06229940e-01 8.62313413e-01 1.21171521e-02 -1.99143594e+01] [ 2.32605229e-02 -3.92780168e-04 9.99729360e-01 8.64038554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.28999999999999 meters Centerline goodness [0,1] 0.9998205915992017 Centerline is valid? [True, True] Translation: X:76.28, Y:-19.93, Z:0.86 [[ 8.60026201e-01 5.09848183e-01 -2.02426109e-02 7.62811970e+01] [-5.09698517e-01 8.60264340e-01 1.23566600e-02 -1.99270799e+01] [ 2.37140170e-02 -3.09422587e-04 9.99718735e-01 8.63730208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32 meters Centerline goodness [0,1] 0.9997308813635344 Centerline is valid? [True, True] Translation: X:76.31, Y:-19.94, Z:0.86 [[ 8.59116959e-01 5.11377041e-01 -2.02872337e-02 7.63088663e+01] [-5.11226986e-01 8.59356414e-01 1.23904053e-02 -1.99418456e+01] [ 2.37701333e-02 -2.73425998e-04 9.99717413e-01 8.63765055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.35 meters Centerline goodness [0,1] 0.9998208768080247 Centerline is valid? [True, True] Translation: X:76.34, Y:-19.96, Z:0.87 [[ 8.57320965e-01 5.14444078e-01 -1.86561904e-02 7.63375686e+01] [-5.14317788e-01 8.57523911e-01 1.13997465e-02 -1.99551360e+01] [ 2.18626615e-02 -1.78031127e-04 9.99760968e-01 8.65491917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.38 meters Centerline goodness [0,1] 0.9998212050777758 Centerline is valid? [True, True] Translation: X:76.36, Y:-19.97, Z:0.87 [[ 8.56395543e-01 5.16015905e-01 -1.77273867e-02 7.63648521e+01] [-5.15902105e-01 8.56578991e-01 1.08374476e-02 -1.99700738e+01] [ 2.07772023e-02 -1.35545690e-04 9.99784121e-01 8.66757172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.41 meters Centerline goodness [0,1] 0.9998887405429462 Centerline is valid? [True, True] Translation: X:76.39, Y:-19.98, Z:0.87 [[ 8.55342744e-01 5.17772061e-01 -1.73459883e-02 7.63937682e+01] [-5.17663356e-01 8.55518605e-01 1.06097241e-02 -1.99848263e+01] [ 2.03332344e-02 -9.55680020e-05 9.99793254e-01 8.69001382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.44 meters Centerline goodness [0,1] 0.9999776755815512 Centerline is valid? [True, True] Translation: X:76.42, Y:-20.00, Z:0.87 [[ 8.54278033e-01 5.19549446e-01 -1.66557722e-02 7.64210114e+01] [-5.19449455e-01 8.54440384e-01 1.01928279e-02 -1.99992556e+01] [ 1.95270425e-02 -5.56771376e-05 9.99809328e-01 8.69886225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.47 meters Centerline goodness [0,1] 0.9997550329592019 Centerline is valid? [True, True] Translation: X:76.45, Y:-20.01, Z:0.87 [[ 8.52748971e-01 5.22000210e-01 -1.83023016e-02 7.64508081e+01] [-5.21879901e-01 8.52945356e-01 1.12065960e-02 -2.00127512e+01] [ 2.14607086e-02 -4.80981086e-06 9.99769692e-01 8.67755824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.5 meters Centerline goodness [0,1] 0.9999113082039911 Centerline is valid? [True, True] Translation: X:76.48, Y:-20.03, Z:0.87 [[ 8.50339787e-01 5.25933815e-01 -1.77727215e-02 7.64805638e+01] [-5.25821101e-01 8.50525493e-01 1.08882975e-02 -2.00250410e+01] [ 2.08426766e-02 8.65193777e-05 9.99782764e-01 8.69425815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.53 meters Centerline goodness [0,1] 0.9999113082039911 Centerline is valid? [True, True] Translation: X:76.51, Y:-20.04, Z:0.87 [[ 8.50196036e-01 5.26166261e-01 -1.77698435e-02 7.65081444e+01] [-5.26053499e-01 8.50381714e-01 1.08929932e-02 -2.00420460e+01] [ 2.08426754e-02 8.67087385e-05 9.99782764e-01 8.69780098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.56 meters Centerline goodness [0,1] 0.9996668517490284 Centerline is valid? [True, True] Translation: X:76.54, Y:-20.06, Z:0.87 [[ 8.49077853e-01 5.27933236e-01 -1.87962079e-02 7.65364555e+01] [-5.27807353e-01 8.49285865e-01 1.15289741e-02 -2.00565459e+01] [ 2.20498823e-02 1.31780188e-04 9.99756863e-01 8.68050147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.59 meters Centerline goodness [0,1] 0.9998450161626001 Centerline is valid? [True, True] Translation: X:76.56, Y:-20.07, Z:0.87 [[ 8.47544922e-01 5.30395719e-01 -1.86544254e-02 7.65646376e+01] [-5.30272195e-01 8.47750167e-01 1.14478672e-02 -2.00703702e+01] [ 2.18861921e-02 1.89341379e-04 9.99760451e-01 8.68995639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.61999999999999 meters Centerline goodness [0,1] 0.9997570510413676 Centerline is valid? [True, True] Translation: X:76.59, Y:-20.08, Z:0.87 [[ 8.45196776e-01 5.34084764e-01 -1.98966100e-02 7.65939852e+01] [-5.33945105e-01 8.45430882e-01 1.22167497e-02 -2.00842166e+01] [ 2.33459884e-02 2.98140031e-04 9.99727401e-01 8.68746673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.64999999999999 meters Centerline goodness [0,1] 0.9999336826049473 Centerline is valid? [True, True] Translation: X:76.62, Y:-20.10, Z:0.87 [[ 8.43770253e-01 5.36326941e-01 -2.01289107e-02 7.66225870e+01] [-5.36184476e-01 8.44010239e-01 1.23662463e-02 -2.00993174e+01] [ 2.36213577e-02 3.58538686e-04 9.99720913e-01 8.70022895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.67999999999999 meters Centerline goodness [0,1] 0.9998227853709324 Centerline is valid? [True, True] Translation: X:76.65, Y:-20.11, Z:0.87 [[ 8.41981822e-01 5.39053466e-01 -2.20901024e-02 7.66517265e+01] [-5.38882696e-01 8.42271415e-01 1.35758366e-02 -2.01135695e+01] [ 2.59239636e-02 4.73366274e-04 9.99663806e-01 8.67481005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.71 meters Centerline goodness [0,1] 0.9997126436781609 Centerline is valid? [True, True] Translation: X:76.68, Y:-20.13, Z:0.87 [[ 8.41223053e-01 5.40183075e-01 -2.33670812e-02 7.66786811e+01] [-5.39992330e-01 8.41547360e-01 1.43639972e-02 -2.01282785e+01] [ 2.74236936e-02 5.34719042e-04 9.99623757e-01 8.65711500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.74 meters Centerline goodness [0,1] 0.9998445031876847 Centerline is valid? [True, True] Translation: X:76.71, Y:-20.14, Z:0.87 [[ 8.40575906e-01 5.41180482e-01 -2.35760866e-02 7.67060846e+01] [-5.40986522e-01 8.40906276e-01 1.44989180e-02 -2.01444217e+01] [ 2.76718106e-02 5.66903967e-04 9.99616901e-01 8.66471809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.77 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.73, Y:-20.16, Z:0.87 [[ 8.39702829e-01 5.42571334e-01 -2.27047596e-02 7.67344238e+01] [-5.42391735e-01 8.40009528e-01 1.39713717e-02 -2.01617802e+01] [ 2.66526802e-02 5.83073628e-04 9.99644584e-01 8.69396478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.8 meters Centerline goodness [0,1] 0.9998451704231271 Centerline is valid? [True, True] Translation: X:76.76, Y:-20.18, Z:0.87 [[ 8.39730982e-01 5.42491919e-01 -2.35455920e-02 7.67617187e+01] [-5.42298477e-01 8.40060810e-01 1.44981859e-02 -2.01810385e+01] [ 2.76448778e-02 5.94162787e-04 9.99617631e-01 8.68125764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.83 meters Centerline goodness [0,1] 0.9998669416539152 Centerline is valid? [True, True] Translation: X:76.79, Y:-20.20, Z:0.87 [[ 8.39532052e-01 5.42814741e-01 -2.31967635e-02 7.67897111e+01] [-5.42626865e-01 8.39852255e-01 1.42924559e-02 -2.01990566e+01] [ 2.72400098e-02 5.88212229e-04 9.99628749e-01 8.69305552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.86 meters Centerline goodness [0,1] 0.9998668826126506 Centerline is valid? [True, True] Translation: X:76.82, Y:-20.21, Z:0.87 [[ 8.39641393e-01 5.42688222e-01 -2.21771199e-02 7.68176227e+01] [-5.42516302e-01 8.39934038e-01 1.36701975e-02 -2.02124745e+01] [ 2.60459730e-02 5.53385358e-04 9.99660593e-01 8.68052072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.89 meters Centerline goodness [0,1] 0.9999556472179717 Centerline is valid? [True, True] Translation: X:76.84, Y:-20.23, Z:0.87 [[ 8.39500624e-01 5.42949108e-01 -2.10942744e-02 7.68419091e+01] [-5.42793509e-01 8.39765435e-01 1.30084653e-02 -2.02332586e+01] [ 2.47771772e-02 5.29220478e-04 9.99692859e-01 8.73363609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.92 meters Centerline goodness [0,1] 0.9999108793975447 Centerline is valid? [True, True] Translation: X:76.87, Y:-20.25, Z:0.87 [[ 8.39658326e-01 5.42736073e-01 -2.02842356e-02 7.68684077e+01] [-5.42591980e-01 8.39903154e-01 1.25154306e-02 -2.02501954e+01] [ 2.38293691e-02 4.97378054e-04 9.99715917e-01 8.73120925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.95 meters Centerline goodness [0,1] 0.9998003327787022 Centerline is valid? [True, True] Translation: X:76.90, Y:-20.27, Z:0.87 [[ 8.39534888e-01 5.42920390e-01 -2.04602848e-02 7.68960376e+01] [-5.42773704e-01 8.39784019e-01 1.26296562e-02 -2.02667569e+01] [ 2.40391181e-02 5.02267620e-04 9.99710892e-01 8.72241646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98 meters Centerline goodness [0,1] 0.9999556767058928 Centerline is valid? [True, True] Translation: X:76.92, Y:-20.28, Z:0.88 [[ 8.38898593e-01 5.43950187e-01 -1.91662647e-02 7.69232231e+01] [-5.43821608e-01 8.39117364e-01 1.18367200e-02 -2.02844089e+01] [ 2.25213315e-02 4.93221146e-04 9.99746241e-01 8.75626385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.00999999999999 meters Centerline goodness [0,1] 0.9998223485521407 Centerline is valid? [True, True] Translation: X:76.95, Y:-20.30, Z:0.88 [[ 8.38226493e-01 5.44974670e-01 -1.94667864e-02 7.69498809e+01] [-5.44842142e-01 8.38452345e-01 1.20293379e-02 -2.03016736e+01] [ 2.28776572e-02 5.23015904e-04 9.99738135e-01 8.75116801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.03999999999999 meters Centerline goodness [0,1] 0.9998004080546439 Centerline is valid? [True, True] Translation: X:76.98, Y:-20.32, Z:0.87 [[ 8.37842413e-01 5.45549262e-01 -1.99020809e-02 7.69766917e+01] [-5.45410750e-01 8.38078579e-01 1.23048264e-02 -2.03166887e+01] [ 2.33923966e-02 5.45303458e-04 9.99726212e-01 8.74420314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.07 meters Centerline goodness [0,1] 0.9998888295980078 Centerline is valid? [True, True] Translation: X:77.00, Y:-20.34, Z:0.88 [[ 8.37468743e-01 5.46133797e-01 -1.95954162e-02 7.70029565e+01] [-5.45999521e-01 8.37697783e-01 1.21221905e-02 -2.03359750e+01] [ 2.30353746e-02 5.47132196e-04 9.99734501e-01 8.76763533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.1 meters Centerline goodness [0,1] 0.9998667051740608 Centerline is valid? [True, True] Translation: X:77.03, Y:-20.35, Z:0.87 [[ 8.36869316e-01 5.47034966e-01 -2.00622558e-02 7.70308096e+01] [-5.46894301e-01 8.37109557e-01 1.24182459e-02 -2.03503386e+01] [ 2.35875208e-02 5.79484370e-04 9.99721608e-01 8.74709637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.13 meters Centerline goodness [0,1] 0.9997777679007956 Centerline is valid? [True, True] Translation: X:77.06, Y:-20.37, Z:0.87 [[ 8.36886198e-01 5.46994577e-01 -2.04554418e-02 7.70587529e+01] [-5.46848159e-01 8.37135946e-01 1.26687912e-02 -2.03683476e+01] [ 2.40537457e-02 5.83684221e-04 9.99710496e-01 8.74498366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.16 meters Centerline goodness [0,1] 0.9997997062358125 Centerline is valid? [True, True] Translation: X:77.08, Y:-20.39, Z:0.88 [[ 8.37087951e-01 5.46705299e-01 -1.99267998e-02 7.70834317e+01] [-5.46566108e-01 8.37324912e-01 1.23483603e-02 -2.03886817e+01] [ 2.34361199e-02 5.54649808e-04 9.99725183e-01 8.76165383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.19 meters Centerline goodness [0,1] 0.9997772034578023 Centerline is valid? [True, True] Translation: X:77.11, Y:-20.41, Z:0.88 [[ 8.37492094e-01 5.46080940e-01 -2.00648922e-02 7.71101578e+01] [-5.45939470e-01 8.37732249e-01 1.24408117e-02 -2.04069602e+01] [ 2.36026975e-02 5.35135171e-04 9.99721274e-01 8.76102998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.22 meters Centerline goodness [0,1] 0.9997547270781306 Centerline is valid? [True, True] Translation: X:77.14, Y:-20.43, Z:0.88 [[ 8.38112526e-01 5.45108585e-01 -2.05918355e-02 7.71365568e+01] [-5.44959119e-01 8.38365294e-01 1.27747013e-02 -2.04259740e+01] [ 2.42270795e-02 5.15071376e-04 9.99706349e-01 8.76233804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.25 meters Centerline goodness [0,1] 0.9998439589835042 Centerline is valid? [True, True] Translation: X:77.16, Y:-20.45, Z:0.88 [[ 8.39816921e-01 5.42505979e-01 -1.98696348e-02 7.71609423e+01] [-5.42365934e-01 8.40051836e-01 1.23331378e-02 -2.04452834e+01] [ 2.33823242e-02 4.19035250e-04 9.99726508e-01 8.76542439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.28 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.19, Y:-20.46, Z:0.88 [[ 8.40471606e-01 5.41536566e-01 -1.85910678e-02 7.71874785e+01] [-5.41413643e-01 8.40677118e-01 1.15434249e-02 -2.04642807e+01] [ 2.18802720e-02 3.63536855e-04 9.99760532e-01 8.79684450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.31 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.21, Y:-20.48, Z:0.88 [[ 8.42914012e-01 5.37759007e-01 -1.76413852e-02 7.72115099e+01] [-5.37647439e-01 8.43098564e-01 1.09564471e-02 -2.04847693e+01] [ 2.07653547e-02 2.49502770e-04 9.99784346e-01 8.80226148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.34 meters Centerline goodness [0,1] 0.9999100213699247 Centerline is valid? [True, True] Translation: X:77.24, Y:-20.51, Z:0.88 [[ 8.44506856e-01 5.35250264e-01 -1.77573931e-02 7.72372427e+01] [-5.35136608e-01 8.44693506e-01 1.10313524e-02 -2.05052681e+01] [ 2.09040890e-02 1.86578388e-04 9.99781468e-01 8.79686614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.36999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.26, Y:-20.52, Z:0.88 [[ 8.45523530e-01 5.33675962e-01 -1.67310502e-02 7.72625701e+01] [-5.33574689e-01 8.45689038e-01 1.03972393e-02 -2.05233049e+01] [ 1.96980225e-02 1.36154445e-04 9.99805966e-01 8.81592445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.39999999999999 meters Centerline goodness [0,1] 0.9998872426313059 Centerline is valid? [True, True] Translation: X:77.29, Y:-20.54, Z:0.88 [[ 8.47134749e-01 5.31094331e-01 -1.73645980e-02 7.72882269e+01] [-5.30984579e-01 8.47312697e-01 1.07967625e-02 -2.05431630e+01] [ 2.04473437e-02 7.40210285e-05 9.99790928e-01 8.80324563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.42999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.31, Y:-20.56, Z:0.88 [[ 8.49607116e-01 5.27182545e-01 -1.56943521e-02 7.73115072e+01] [-5.27092135e-01 8.49752060e-01 9.76308461e-03 -2.05638743e+01] [ 1.84832358e-02 -2.24166197e-05 9.99829170e-01 8.82473737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46 meters Centerline goodness [0,1] 0.9998639610021539 Centerline is valid? [True, True] Translation: X:77.34, Y:-20.58, Z:0.88 [[ 8.51370574e-01 5.24326436e-01 -1.58093129e-02 7.73364099e+01] [-5.24234126e-01 8.51517340e-01 9.83875252e-03 -2.05837476e+01] [ 1.86206221e-02 -8.86430483e-05 9.99826617e-01 8.81401670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.49 meters Centerline goodness [0,1] 0.9998637230853094 Centerline is valid? [True, True] Translation: X:77.36, Y:-20.61, Z:0.88 [[ 8.54288155e-01 5.19555368e-01 -1.59363425e-02 7.73596721e+01] [-5.19460662e-01 8.54436762e-01 9.92170166e-03 -2.06059485e+01] [ 1.87714703e-02 -1.97689168e-04 9.99823781e-01 8.81520772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.52 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.39, Y:-20.62, Z:0.88 [[ 8.54958604e-01 5.18466984e-01 -1.54198732e-02 7.73858365e+01] [-5.18378050e-01 8.55097620e-01 9.60512006e-03 -2.06243535e+01] [ 1.81654345e-02 -2.18656211e-04 9.99834971e-01 8.83658259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.55 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.41, Y:-20.64, Z:0.88 [[ 8.55619548e-01 5.17379728e-01 -1.52776559e-02 7.74107763e+01] [-5.17292163e-01 8.55755898e-01 9.52160224e-03 -2.06434501e+01] [ 1.80002282e-02 -2.43857316e-04 9.99837953e-01 8.83195499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.58 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.44, Y:-20.66, Z:0.88 [[ 8.54605339e-01 5.19060523e-01 -1.50295526e-02 7.74393914e+01] [-5.18975953e-01 8.54737462e-01 9.37182028e-03 -2.06582857e+01] [ 1.77108636e-02 -2.09231251e-04 9.99843128e-01 8.83891188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.61 meters Centerline goodness [0,1] 0.9999317716624971 Centerline is valid? [True, True] Translation: X:77.47, Y:-20.67, Z:0.88 [[ 8.53761162e-01 5.20424423e-01 -1.58207907e-02 7.74681021e+01] [-5.20330838e-01 8.53907712e-01 9.87107441e-03 -2.06748620e+01] [ 1.86466434e-02 -1.95494697e-04 9.99826117e-01 8.82845051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.64 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.50, Y:-20.69, Z:0.88 [[ 8.51978049e-01 5.23292299e-01 -1.72793099e-02 7.74955589e+01] [-5.23181117e-01 8.52153242e-01 1.07875559e-02 -2.06892192e+01] [ 2.03696649e-02 -1.50552142e-04 9.99792506e-01 8.81977016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.67 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.52, Y:-20.71, Z:0.88 [[ 8.51572620e-01 5.23924856e-01 -1.80781096e-02 7.75222868e+01] [-5.23803189e-01 8.51764477e-01 1.12914058e-02 -2.07061713e+01] [ 2.13141397e-02 -1.46080627e-04 9.99772817e-01 8.80665480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.7 meters Centerline goodness [0,1] 0.9998180205181866 Centerline is valid? [True, True] Translation: X:77.55, Y:-20.72, Z:0.88 [[ 8.51674054e-01 5.23708406e-01 -1.95144013e-02 7.75496048e+01] [-5.23566442e-01 8.51897575e-01 1.21944069e-02 -2.07232805e+01] [ 2.30105845e-02 -1.68574310e-04 9.99735207e-01 8.78792192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.73 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.58, Y:-20.74, Z:0.88 [[ 8.51414505e-01 5.24134555e-01 -1.93986957e-02 7.75769221e+01] [-5.23994218e-01 8.51635451e-01 1.21292148e-02 -2.07408928e+01] [ 2.28779576e-02 -1.62185056e-04 9.99738252e-01 8.81041359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.75999999999999 meters Centerline goodness [0,1] 0.9999087133141631 Centerline is valid? [True, True] Translation: X:77.60, Y:-20.76, Z:0.88 [[ 8.51678298e-01 5.23715966e-01 -1.91223287e-02 7.76043891e+01] [-5.23579327e-01 8.51892925e-01 1.19638014e-02 -2.07595192e+01] [ 2.25558104e-02 -1.77254074e-04 9.99745570e-01 8.80919287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.78999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.63, Y:-20.78, Z:0.88 [[ 8.51524655e-01 5.24009386e-01 -1.78864353e-02 7.76309621e+01] [-5.23889778e-01 8.51712473e-01 1.11966187e-02 -2.07760228e+01] [ 2.11012334e-02 -1.63676282e-04 9.99777331e-01 8.83917319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82 meters Centerline goodness [0,1] 0.9998639085465433 Centerline is valid? [True, True] Translation: X:77.66, Y:-20.79, Z:0.88 [[ 8.51568682e-01 5.23964123e-01 -1.70990694e-02 7.76586557e+01] [-5.23854688e-01 8.51740319e-01 1.07095483e-02 -2.07928842e+01] [ 2.01753859e-02 -1.62488282e-04 9.99796443e-01 8.84027187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.85 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.69, Y:-20.81, Z:0.89 [[ 8.50944518e-01 5.24998257e-01 -1.64395070e-02 7.76861414e+01] [-5.24897181e-01 8.51103291e-01 1.03023397e-02 -2.08087319e+01] [ 1.94004289e-02 -1.37668586e-04 9.99811784e-01 8.87110855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.88 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.71, Y:-20.82, Z:0.89 [[ 8.50042352e-01 5.26475810e-01 -1.58499981e-02 7.77133075e+01] [-5.26382015e-01 8.50190103e-01 9.93799419e-03 -2.08242983e+01] [ 1.87076250e-02 -1.04562027e-04 9.99824992e-01 8.87985589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.91 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.74, Y:-20.84, Z:0.89 [[ 8.49607692e-01 5.27182537e-01 -1.56634227e-02 7.77416624e+01] [-5.27090960e-01 8.49752060e-01 9.82630545e-03 -2.08409536e+01] [ 1.84902823e-02 -9.24562017e-05 9.99829036e-01 8.88215865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.94 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.77, Y:-20.86, Z:0.89 [[ 8.48873479e-01 5.28362799e-01 -1.57025555e-02 7.77699222e+01] [-5.28270871e-01 8.49018697e-01 9.85589199e-03 -2.08564361e+01] [ 1.85392499e-02 -7.12026579e-05 9.99828131e-01 8.87865291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.97 meters Centerline goodness [0,1] 0.9998419721871049 Centerline is valid? [True, True] Translation: X:77.80, Y:-20.87, Z:0.89 [[ 8.48952540e-01 5.28213790e-01 -1.64248952e-02 7.77973339e+01] [-5.28113089e-01 8.49111409e-01 1.03140754e-02 -2.08737640e+01] [ 1.93946027e-02 -8.19583753e-05 9.99811904e-01 8.85417473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.0 meters Centerline goodness [0,1] 0.9999097696871264 Centerline is valid? [True, True] Translation: X:77.83, Y:-20.89, Z:0.89 [[ 8.48595503e-01 5.28788187e-01 -1.63928529e-02 7.78255524e+01] [-5.28687868e-01 8.48753820e-01 1.03000042e-02 -2.08902653e+01] [ 1.93600171e-02 -7.38348435e-05 9.99812575e-01 8.87524021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.03 meters Centerline goodness [0,1] 0.9999773817063241 Centerline is valid? [True, True] Translation: X:77.85, Y:-20.91, Z:0.89 [[ 8.47834517e-01 5.29980565e-01 -1.72404089e-02 7.78540758e+01] [-5.29869707e-01 8.48009786e-01 1.08395566e-02 -2.09063916e+01] [ 2.03647898e-02 -5.49798223e-05 9.99792615e-01 8.88632198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.06 meters Centerline goodness [0,1] 0.9997960155028218 Centerline is valid? [True, True] Translation: X:77.88, Y:-20.92, Z:0.89 [[ 8.47784457e-01 5.30035824e-01 -1.79872299e-02 7.78819889e+01] [-5.29915008e-01 8.47975248e-01 1.13164598e-02 -2.09235979e+01] [ 2.12508548e-02 -6.22156847e-05 9.99774173e-01 8.86425173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.09 meters Centerline goodness [0,1] 0.9998421574817353 Centerline is valid? [True, True] Translation: X:77.91, Y:-20.94, Z:0.89 [[ 8.47069891e-01 5.31161748e-01 -1.84335851e-02 7.79098570e+01] [-5.31034994e-01 8.47270439e-01 1.16033796e-02 -2.09393814e+01] [ 2.17815031e-02 -3.99947283e-05 9.99762754e-01 8.85436847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.11999999999999 meters Centerline goodness [0,1] 0.9998196085505547 Centerline is valid? [True, True] Translation: X:77.94, Y:-20.96, Z:0.89 [[ 8.46746572e-01 5.31663048e-01 -1.88320588e-02 7.79378779e+01] [-5.31530741e-01 8.46955962e-01 1.18604025e-02 -2.09558733e+01] [ 2.22556622e-02 -3.29369652e-05 9.99752312e-01 8.86296390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.14999999999999 meters Centerline goodness [0,1] 0.9998426294372879 Centerline is valid? [True, True] Translation: X:77.97, Y:-20.97, Z:0.89 [[ 8.46358737e-01 5.32279591e-01 -1.88500777e-02 7.79651435e+01] [-5.32147021e-01 8.46568625e-01 1.18790345e-02 -2.09723341e+01] [ 2.22808520e-02 -2.29119827e-05 9.99751751e-01 8.86184064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.17999999999999 meters Centerline goodness [0,1] 0.9999097818977378 Centerline is valid? [True, True] Translation: X:77.99, Y:-20.99, Z:0.89 [[ 8.45976399e-01 5.32876317e-01 -1.91510476e-02 7.79920956e+01] [-5.32739471e-01 8.46193140e-01 1.20758495e-02 -2.09892440e+01] [ 2.26404193e-02 -1.33647487e-05 9.99743673e-01 8.87193994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.21 meters Centerline goodness [0,1] 0.9998651230751939 Centerline is valid? [True, True] Translation: X:78.02, Y:-21.01, Z:0.89 [[ 8.46051260e-01 5.32755807e-01 -1.91967409e-02 7.80184831e+01] [-5.32618116e-01 8.46269017e-01 1.21117056e-02 -2.10063193e+01] [ 2.26981885e-02 -2.25917891e-05 9.99742363e-01 8.86451279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.24 meters Centerline goodness [0,1] 0.999842384941007 Centerline is valid? [True, True] Translation: X:78.05, Y:-21.02, Z:0.89 [[ 8.46412728e-01 5.32184052e-01 -1.91214065e-02 7.80456520e+01] [-5.32047129e-01 8.46628687e-01 1.20714210e-02 -2.10245325e+01] [ 2.26129490e-02 -4.39149708e-05 9.99744294e-01 8.87550093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.27 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.07, Y:-21.04, Z:0.89 [[ 8.46006649e-01 5.32835400e-01 -1.89522264e-02 7.80729057e+01] [-5.32700887e-01 8.46218905e-01 1.19720225e-02 -2.10423579e+01] [ 2.24168497e-02 -3.25428351e-05 9.99748710e-01 8.90784936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.3 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.10, Y:-21.06, Z:0.89 [[ 8.46565222e-01 5.31947575e-01 -1.89499976e-02 7.80997170e+01] [-5.31812705e-01 8.46777287e-01 1.19780268e-02 -2.10606979e+01] [ 2.24181099e-02 -6.23314107e-05 9.99748681e-01 8.90946121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.33 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.13, Y:-21.08, Z:0.89 [[ 8.46777738e-01 5.31597709e-01 -1.92701289e-02 7.81259200e+01] [-5.31457986e-01 8.46996971e-01 1.21876897e-02 -2.10781329e+01] [ 2.28006888e-02 -7.90003858e-05 9.99740027e-01 8.90676002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.36 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.15, Y:-21.10, Z:0.89 [[ 8.47049419e-01 5.31153157e-01 -1.95858257e-02 7.81528249e+01] [-5.31008527e-01 8.47275819e-01 1.23947822e-02 -2.10962509e+01] [ 2.31781242e-02 -9.87526115e-05 9.99731346e-01 8.91143495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.39 meters Centerline goodness [0,1] 0.999864363866534 Centerline is valid? [True, True] Translation: X:78.18, Y:-21.12, Z:0.89 [[ 8.47994165e-01 5.29641132e-01 -1.96511310e-02 7.81798701e+01] [-5.29494950e-01 8.48221816e-01 1.24438193e-02 -2.11158873e+01] [ 2.32592766e-02 -1.47111557e-04 9.99729456e-01 8.90324184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.42 meters Centerline goodness [0,1] 0.999864363866534 Centerline is valid? [True, True] Translation: X:78.21, Y:-21.13, Z:0.89 [[ 8.47844931e-01 5.29880123e-01 -1.96476220e-02 7.82071955e+01] [-5.29733876e-01 8.48072540e-01 1.24493581e-02 -2.11332825e+01] [ 2.32592761e-02 -1.47114167e-04 9.99729456e-01 8.90678562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.45 meters Centerline goodness [0,1] 0.9998415249824546 Centerline is valid? [True, True] Translation: X:78.23, Y:-21.15, Z:0.89 [[ 8.48114476e-01 5.29460712e-01 -1.93181096e-02 7.82344068e+01] [-5.29319048e-01 8.48334443e-01 1.22481779e-02 -2.11519397e+01] [ 2.28731468e-02 -1.62413636e-04 9.99738362e-01 8.91393977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48 meters Centerline goodness [0,1] 0.9999547296226714 Centerline is valid? [True, True] Translation: X:78.26, Y:-21.17, Z:0.89 [[ 8.47920185e-01 5.29778318e-01 -1.91388142e-02 7.82619031e+01] [-5.29639180e-01 8.48136138e-01 1.21420893e-02 -2.11704761e+01] [ 2.26649357e-02 -1.58856753e-04 9.99743105e-01 8.93456573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.50999999999999 meters Centerline goodness [0,1] 0.9999773268336923 Centerline is valid? [True, True] Translation: X:78.29, Y:-21.19, Z:0.89 [[ 8.47636865e-01 5.30241620e-01 -1.88565600e-02 7.82882129e+01] [-5.30106511e-01 8.47846567e-01 1.19701944e-02 -2.11880229e+01] [ 2.23345649e-02 -1.50392813e-04 9.99750541e-01 8.94084256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.53999999999999 meters Centerline goodness [0,1] 0.9999547388431248 Centerline is valid? [True, True] Translation: X:78.32, Y:-21.21, Z:0.89 [[ 8.47093514e-01 5.31127532e-01 -1.83336295e-02 7.83151291e+01] [-5.30999881e-01 8.47291879e-01 1.16446741e-02 -2.12053279e+01] [ 2.17187424e-02 -1.28972772e-04 9.99764112e-01 8.94630433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.57 meters Centerline goodness [0,1] 0.9998868496684695 Centerline is valid? [True, True] Translation: X:78.34, Y:-21.22, Z:0.89 [[ 8.46820520e-01 5.31576271e-01 -1.79352755e-02 7.83423316e+01] [-5.31454075e-01 8.47010421e-01 1.13979421e-02 -2.12223686e+01] [ 2.12502408e-02 -1.20236062e-04 9.99774181e-01 8.94002809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.6 meters Centerline goodness [0,1] 0.9998186187820252 Centerline is valid? [True, True] Translation: X:78.37, Y:-21.24, Z:0.89 [[ 8.45474225e-01 5.33731397e-01 -1.74393539e-02 7.83701984e+01] [-5.33616197e-01 8.45654061e-01 1.10888653e-02 -2.12387787e+01] [ 2.06661360e-02 -6.94280458e-05 9.99786430e-01 8.93683108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.63 meters Centerline goodness [0,1] 0.9998411581837573 Centerline is valid? [True, True] Translation: X:78.40, Y:-21.26, Z:0.89 [[ 8.44503317e-01 5.35256116e-01 -1.77493096e-02 7.83981909e+01] [-5.35136982e-01 8.44689818e-01 1.12925360e-02 -2.12560588e+01] [ 2.10370601e-02 -3.82721314e-05 9.99778696e-01 8.94562379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.66 meters Centerline goodness [0,1] 0.9998179666879039 Centerline is valid? [True, True] Translation: X:78.43, Y:-21.27, Z:0.89 [[ 8.43730081e-01 5.36470071e-01 -1.78721268e-02 7.84253412e+01] [-5.36349409e-01 8.43919346e-01 1.13775578e-02 -2.12731105e+01] [ 2.11863528e-02 -1.38830708e-05 9.99775544e-01 8.94485062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.69 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.45, Y:-21.29, Z:0.90 [[ 8.41649099e-01 5.39713468e-01 -1.83348769e-02 7.84539212e+01] [-5.39587089e-01 8.41848780e-01 1.16792418e-02 -2.12900339e+01] [ 2.17386379e-02 6.34395223e-05 9.99763686e-01 8.97089106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.72 meters Centerline goodness [0,1] 0.9999545361551226 Centerline is valid? [True, True] Translation: X:78.48, Y:-21.31, Z:0.90 [[ 8.41218552e-01 5.40384921e-01 -1.83162414e-02 7.84812518e+01] [-5.40258800e-01 8.41417929e-01 1.16746726e-02 -2.13075348e+01] [ 2.17204309e-02 7.45594013e-05 9.99764081e-01 8.96816681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.75 meters Centerline goodness [0,1] 0.9998417113266852 Centerline is valid? [True, True] Translation: X:78.51, Y:-21.32, Z:0.90 [[ 8.40839150e-01 5.40968747e-01 -1.85024196e-02 7.85076762e+01] [-5.40840035e-01 8.41042691e-01 1.18003523e-02 -2.13245578e+01] [ 2.19449466e-02 8.46510704e-05 9.99759177e-01 8.95218192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.78 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.54, Y:-21.34, Z:0.90 [[ 8.39674881e-01 5.42773892e-01 -1.85093856e-02 7.85351029e+01] [-5.42645369e-01 8.39878852e-01 1.18117364e-02 -2.13426834e+01] [ 2.19567436e-02 1.26014029e-04 9.99758914e-01 8.97911021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.81 meters Centerline goodness [0,1] 0.999864084267754 Centerline is valid? [True, True] Translation: X:78.56, Y:-21.36, Z:0.90 [[ 8.39774035e-01 5.42598270e-01 -1.91491148e-02 7.85626082e+01] [-5.42460486e-01 8.39992324e-01 1.22277299e-02 -2.13614273e+01] [ 2.27198545e-02 1.19108075e-04 9.99741864e-01 8.95606989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.84 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.59, Y:-21.38, Z:0.90 [[ 8.39086251e-01 5.43664022e-01 -1.90707708e-02 7.85900487e+01] [-5.43527469e-01 8.39302932e-01 1.21852287e-02 -2.13792205e+01] [ 2.26308243e-02 1.41029898e-04 9.99743880e-01 8.97672265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.86999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.62, Y:-21.40, Z:0.90 [[ 8.39034564e-01 5.43713119e-01 -1.99259511e-02 7.86167872e+01] [-5.43563866e-01 8.39271126e-01 1.27396827e-02 -2.13982070e+01] [ 2.36500081e-02 1.41992885e-04 9.99720289e-01 8.97285573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.89999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.64, Y:-21.42, Z:0.90 [[ 8.39051590e-01 5.43692521e-01 -1.97705077e-02 7.86440993e+01] [-5.43545398e-01 8.39284472e-01 1.26481411e-02 -2.14167474e+01] [ 2.34697798e-02 1.33725524e-04 9.99724538e-01 8.97583251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.92999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.67, Y:-21.44, Z:0.90 [[ 8.39338375e-01 5.43288895e-01 -1.86619544e-02 7.86703478e+01] [-5.43157608e-01 8.39545808e-01 1.19435889e-02 -2.14362355e+01] [ 2.21563848e-02 1.11670031e-04 9.99754511e-01 8.98802017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96 meters Centerline goodness [0,1] 0.9998406846010287 Centerline is valid? [True, True] Translation: X:78.70, Y:-21.46, Z:0.90 [[ 8.39771186e-01 5.42622244e-01 -1.85864301e-02 7.86972337e+01] [-5.42491746e-01 8.39976840e-01 1.19001496e-02 -2.14557786e+01] [ 2.20694568e-02 8.95821824e-05 9.99756436e-01 8.97436561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.99 meters Centerline goodness [0,1] 0.9999542197907845 Centerline is valid? [True, True] Translation: X:78.72, Y:-21.47, Z:0.90 [[ 8.39657339e-01 5.42812205e-01 -1.81786484e-02 7.87237623e+01] [-5.42687258e-01 8.39854096e-01 1.16463088e-02 -2.14744528e+01] [ 2.15891708e-02 8.64122270e-05 9.99766923e-01 9.00422893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.02 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.75, Y:-21.49, Z:0.90 [[ 8.39284239e-01 5.43400678e-01 -1.78232754e-02 7.87498863e+01] [-5.43280556e-01 8.39473462e-01 1.14255792e-02 -2.14931359e+01] [ 2.11708342e-02 9.37303940e-05 9.99775868e-01 9.01067237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.05 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.78, Y:-21.51, Z:0.90 [[ 8.38909500e-01 5.43977528e-01 -1.78689496e-02 7.87765550e+01] [-5.43856772e-01 8.39099779e-01 1.14617970e-02 -2.15117180e+01] [ 2.12287917e-02 1.02738885e-04 9.99774639e-01 9.01833817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.08 meters Centerline goodness [0,1] 0.9998856672459526 Centerline is valid? [True, True] Translation: X:78.80, Y:-21.53, Z:0.90 [[ 8.38245447e-01 5.44997354e-01 -1.79570033e-02 7.88032700e+01] [-5.44875487e-01 8.38437755e-01 1.15253983e-02 -2.15306810e+01] [ 2.13371412e-02 1.23218263e-04 9.99772330e-01 9.00420873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.11 meters Centerline goodness [0,1] 0.9998397619320133 Centerline is valid? [True, True] Translation: X:78.83, Y:-21.55, Z:0.90 [[ 8.37630420e-01 5.45949383e-01 -1.77355825e-02 7.88308336e+01] [-5.45830569e-01 8.37818149e-01 1.13902577e-02 -2.15484781e+01] [ 2.10776970e-02 1.39796778e-04 9.99777831e-01 9.00186705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.14 meters Centerline goodness [0,1] 0.9999543024265412 Centerline is valid? [True, True] Translation: X:78.86, Y:-21.57, Z:0.90 [[ 8.36653794e-01 5.47441879e-01 -1.78274347e-02 7.88584502e+01] [-5.47322019e-01 8.36843689e-01 1.14563431e-02 -2.15658353e+01] [ 2.11904582e-02 1.72354648e-04 9.99775442e-01 9.01807960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.17 meters Centerline goodness [0,1] 0.999816795291639 Centerline is valid? [True, True] Translation: X:78.89, Y:-21.58, Z:0.90 [[ 8.36459287e-01 5.47704959e-01 -1.88451211e-02 7.88855499e+01] [-5.47570927e-01 8.36671527e-01 1.21175827e-02 -2.15835389e+01] [ 2.24040364e-02 1.83175826e-04 9.99748981e-01 9.00082498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.2 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.91, Y:-21.60, Z:0.90 [[ 8.35880054e-01 5.48585069e-01 -1.89461654e-02 7.89135001e+01] [-5.48449666e-01 8.36094720e-01 1.21894585e-02 -2.15994726e+01] [ 2.25277438e-02 2.02092890e-04 9.99746198e-01 9.01653210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.23 meters Centerline goodness [0,1] 0.9998395489032021 Centerline is valid? [True, True] Translation: X:78.94, Y:-21.62, Z:0.90 [[ 8.35859462e-01 5.48602646e-01 -1.93415744e-02 7.89416218e+01] [-5.48461363e-01 8.36083188e-01 1.24513921e-02 -2.16171591e+01] [ 2.30020318e-02 2.00492335e-04 9.99735398e-01 9.00054703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.25999999999999 meters Centerline goodness [0,1] 0.9998857273454462 Centerline is valid? [True, True] Translation: X:78.97, Y:-21.63, Z:0.90 [[ 8.35260923e-01 5.49499846e-01 -1.97258563e-02 7.89683565e+01] [-5.49353008e-01 8.35493787e-01 1.27044873e-02 -2.16323931e+01] [ 2.34619442e-02 2.24896718e-04 9.99724705e-01 9.00669639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.28999999999999 meters Centerline goodness [0,1] 0.9998630449669025 Centerline is valid? [True, True] Translation: X:79.00, Y:-21.65, Z:0.90 [[ 8.35313002e-01 5.49424012e-01 -1.96327365e-02 7.89958624e+01] [-5.49278400e-01 8.35543660e-01 1.26503390e-02 -2.16499017e+01] [ 2.33544085e-02 2.16845473e-04 9.99727225e-01 9.01034914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32 meters Centerline goodness [0,1] 0.999703033625731 Centerline is valid? [True, True] Translation: X:79.02, Y:-21.67, Z:0.90 [[ 8.35932007e-01 5.48480469e-01 -1.96686525e-02 7.90221825e+01] [-5.48333894e-01 8.36163346e-01 1.26806673e-02 -2.16673828e+01] [ 2.34013046e-02 1.84813115e-04 9.99726135e-01 9.00894617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.35 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.05, Y:-21.68, Z:0.90 [[ 8.35848027e-01 5.48646939e-01 -1.85637586e-02 7.90494086e+01] [-5.48516276e-01 8.36054129e-01 1.19744747e-02 -2.16847105e+01] [ 2.20900659e-02 1.73682684e-04 9.99755970e-01 9.04687654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.38 meters Centerline goodness [0,1] 0.9999543514482003 Centerline is valid? [True, True] Translation: X:79.08, Y:-21.70, Z:0.90 [[ 8.36390893e-01 5.47827356e-01 -1.83156455e-02 7.90758225e+01] [-5.47699830e-01 8.36591398e-01 1.18206902e-02 -2.17029219e+01] [ 2.17984089e-02 1.44758298e-04 9.99762376e-01 9.04896932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.41 meters Centerline goodness [0,1] 0.9999771339720577 Centerline is valid? [True, True] Translation: X:79.10, Y:-21.72, Z:0.91 [[ 8.37654198e-01 5.45927577e-01 -1.72778520e-02 7.91015153e+01] [-5.45813575e-01 8.37832366e-01 1.11565286e-02 -2.17207460e+01] [ 2.05666003e-02 8.51731494e-05 9.99788481e-01 9.06631952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.44 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.13, Y:-21.74, Z:0.91 [[ 8.38022622e-01 5.45375651e-01 -1.68370148e-02 7.91289349e+01] [-5.45267161e-01 8.38191741e-01 1.08778572e-02 -2.17393815e+01] [ 2.00451652e-02 6.47808853e-05 9.99799073e-01 9.08495254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.47 meters Centerline goodness [0,1] 0.9999770815667041 Centerline is valid? [True, True] Translation: X:79.16, Y:-21.76, Z:0.91 [[ 8.38681315e-01 5.44370083e-01 -1.65790528e-02 7.91563337e+01] [-5.44264564e-01 8.38845166e-01 1.07178706e-02 -2.17578117e+01] [ 1.97417464e-02 3.45131164e-05 9.99805112e-01 9.08414809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.5 meters Centerline goodness [0,1] 0.9998399268236908 Centerline is valid? [True, True] Translation: X:79.18, Y:-21.78, Z:0.91 [[ 8.39935799e-01 5.42427668e-01 -1.67355299e-02 7.91822901e+01] [-5.42319649e-01 8.40102508e-01 1.08246880e-02 -2.17767020e+01] [ 1.99311710e-02 -1.60362704e-05 9.99801354e-01 9.06286902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.53 meters Centerline goodness [0,1] 0.9999083808607618 Centerline is valid? [True, True] Translation: X:79.21, Y:-21.79, Z:0.91 [[ 8.40052939e-01 5.42264029e-01 -1.61487730e-02 7.92094586e+01] [-5.42163324e-01 8.40208142e-01 1.04502515e-02 -2.17945270e+01] [ 1.92351260e-02 -2.34920252e-05 9.99814988e-01 9.09260492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.56 meters Centerline goodness [0,1] 0.9999086424264572 Centerline is valid? [True, True] Translation: X:79.24, Y:-21.81, Z:0.91 [[ 8.40353716e-01 5.41784614e-01 -1.65850249e-02 7.92362256e+01] [-5.41678188e-01 8.40517359e-01 1.07382902e-02 -2.18124123e+01] [ 1.97578417e-02 -4.02158069e-05 9.99804794e-01 9.07288648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.59 meters Centerline goodness [0,1] 0.9997710098465766 Centerline is valid? [True, True] Translation: X:79.26, Y:-21.83, Z:0.91 [[ 8.40516802e-01 5.41511032e-01 -1.72425997e-02 7.92633132e+01] [-5.41395824e-01 8.40693642e-01 1.11697202e-02 -2.18303498e+01] [ 2.05442707e-02 -5.32660387e-05 9.99788943e-01 9.06157091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.61999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.29, Y:-21.85, Z:0.91 [[ 8.40279698e-01 5.41893210e-01 -1.67862263e-02 7.92900286e+01] [-5.41783968e-01 8.40447349e-01 1.08805196e-02 -2.18473930e+01] [ 2.00040191e-02 -4.81714215e-05 9.99799898e-01 9.09326147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.64999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.32, Y:-21.86, Z:0.91 [[ 8.40109111e-01 5.42143182e-01 -1.72468015e-02 7.93172717e+01] [-5.42027777e-01 8.40286122e-01 1.11857709e-02 -2.18649747e+01] [ 2.05565374e-02 -4.90225722e-05 9.99788691e-01 9.09244047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.67999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.34, Y:-21.88, Z:0.91 [[ 8.39759488e-01 5.42682542e-01 -1.73107271e-02 7.93443312e+01] [-5.42566258e-01 8.39937889e-01 1.12338560e-02 -2.18821444e+01] [ 2.06363531e-02 -4.15207737e-05 9.99787047e-01 9.09051743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.71 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.37, Y:-21.90, Z:0.91 [[ 8.39283876e-01 5.43420302e-01 -1.72322911e-02 7.93724327e+01] [-5.43305090e-01 8.39460764e-01 1.11894801e-02 -2.18985927e+01] [ 2.05464230e-02 -2.87587582e-05 9.99788900e-01 9.09285048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.74 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.40, Y:-21.92, Z:0.91 [[ 8.39025045e-01 5.43821024e-01 -1.71950056e-02 7.93999145e+01] [-5.43706254e-01 8.39201224e-01 1.11720742e-02 -2.19157483e+01] [ 2.05056786e-02 -2.46180042e-05 9.99789736e-01 9.09999013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.77 meters Centerline goodness [0,1] 0.9997264458476759 Centerline is valid? [True, True] Translation: X:79.43, Y:-21.93, Z:0.91 [[ 8.39408063e-01 5.43209014e-01 -1.78345245e-02 7.94266142e+01] [-5.43085261e-01 8.39597501e-01 1.15946254e-02 -2.19336718e+01] [ 2.12721273e-02 -4.69546273e-05 9.99773722e-01 9.07291944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.8 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.45, Y:-21.95, Z:0.91 [[ 8.39802144e-01 5.42625652e-01 -1.70223793e-02 7.94538326e+01] [-5.42512663e-01 8.39974641e-01 1.10730488e-02 -2.19513457e+01] [ 2.03068873e-02 -6.43137992e-05 9.99793792e-01 9.10787115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.83 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.48, Y:-21.97, Z:0.91 [[ 8.40233028e-01 5.41953217e-01 -1.71804767e-02 7.94811351e+01] [-5.41837837e-01 8.40408652e-01 1.11828394e-02 -2.19697376e+01] [ 2.04991971e-02 -8.71586819e-05 9.99789866e-01 9.10918422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.86 meters Centerline goodness [0,1] 0.9999314974654062 Centerline is valid? [True, True] Translation: X:79.51, Y:-21.99, Z:0.91 [[ 8.41641390e-01 5.39743716e-01 -1.77902496e-02 7.95070625e+01] [-5.39619358e-01 8.41829376e-01 1.15866082e-02 -2.19888675e+01] [ 2.12301537e-02 -1.51805918e-04 9.99774603e-01 9.09931600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.53, Y:-22.01, Z:0.91 [[ 8.41912413e-01 5.39334021e-01 -1.73868646e-02 7.95342495e+01] [-5.39215018e-01 8.42091911e-01 1.13303643e-02 -2.20072116e+01] [ 2.07521890e-02 -1.63915849e-04 9.99784637e-01 9.11696096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.92 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.56, Y:-22.03, Z:0.91 [[ 8.42242383e-01 5.38827620e-01 -1.71044986e-02 7.95616073e+01] [-5.38712207e-01 8.42416028e-01 1.11532183e-02 -2.20257003e+01] [ 2.04187658e-02 -1.79311003e-04 9.99791499e-01 9.12087761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.95 meters Centerline goodness [0,1] 0.9997942433872111 Centerline is valid? [True, True] Translation: X:79.59, Y:-22.04, Z:0.91 [[ 8.43354732e-01 5.37058755e-01 -1.79077770e-02 7.95870532e+01] [-5.36931703e-01 8.43544804e-01 1.16837434e-02 -2.20444043e+01] [ 2.13808689e-02 -2.38287095e-04 9.99771375e-01 9.10732998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.61, Y:-22.06, Z:0.91 [[ 8.43024313e-01 5.37612557e-01 -1.68150775e-02 7.96129841e+01] [-5.37500542e-01 8.43191966e-01 1.09760955e-02 -2.20616983e+01] [ 2.00792251e-02 -2.15002077e-04 9.99798369e-01 9.13543749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.00999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.64, Y:-22.08, Z:0.91 [[ 8.42551742e-01 5.38369027e-01 -1.62896657e-02 7.96393650e+01] [-5.38263946e-01 8.42709174e-01 1.06382381e-02 -2.20782135e+01] [ 1.94547487e-02 -1.95126288e-04 9.99810719e-01 9.14145197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.03999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.67, Y:-22.09, Z:0.92 [[ 8.41768312e-01 5.39602713e-01 -1.59694023e-02 7.96673862e+01] [-5.39501844e-01 8.41919761e-01 1.04343389e-02 -2.20945864e+01] [ 1.90753530e-02 -1.67773889e-04 9.99818035e-01 9.15416396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.69, Y:-22.11, Z:0.92 [[ 8.41099951e-01 5.40640850e-01 -1.60730737e-02 7.96937910e+01] [-5.40538767e-01 8.41253499e-01 1.05067352e-02 -2.21111036e+01] [ 1.92018998e-02 -1.49095035e-04 9.99815615e-01 9.15282532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.1 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.72, Y:-22.13, Z:0.92 [[ 8.39359812e-01 5.43338684e-01 -1.60680077e-02 7.97212995e+01] [-5.43237078e-01 8.39513589e-01 1.05076611e-02 -2.21267200e+01] [ 1.91985295e-02 -9.09708676e-05 9.99815687e-01 9.15082625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.13 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.75, Y:-22.14, Z:0.92 [[ 8.38480226e-01 5.44700527e-01 -1.58822810e-02 7.97481269e+01] [-5.44601393e-01 8.38630629e-01 1.03918516e-02 -2.21433498e+01] [ 1.89798143e-02 -6.38497143e-05 9.99819865e-01 9.15222201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.16 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.78, Y:-22.16, Z:0.92 [[ 8.37609362e-01 5.46038155e-01 -1.59025125e-02 7.97763273e+01] [-5.45938893e-01 8.37760307e-01 1.04112125e-02 -2.21606069e+01] [ 1.90074130e-02 -3.87290032e-05 9.99819342e-01 9.16187942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.19 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.80, Y:-22.18, Z:0.92 [[ 8.36798542e-01 5.47294589e-01 -1.53893638e-02 7.98043920e+01] [-5.47201730e-01 8.36940041e-01 1.00813761e-02 -2.21783334e+01] [ 1.83974574e-02 -1.49943500e-05 9.99830752e-01 9.17136806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.22 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.83, Y:-22.19, Z:0.92 [[ 8.35144002e-01 5.49826348e-01 -1.50160831e-02 7.98325330e+01] [-5.49738239e-01 8.35278987e-01 9.84289031e-03 -2.21948340e+01] [ 1.79544991e-02 3.46842495e-05 9.99838804e-01 9.18313097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.25 meters Centerline goodness [0,1] 0.9998409271673674 Centerline is valid? [True, True] Translation: X:79.86, Y:-22.21, Z:0.92 [[ 8.34504098e-01 5.50795849e-01 -1.50612850e-02 7.98594157e+01] [-5.50707259e-01 8.34640000e-01 9.87853614e-03 -2.22119415e+01] [ 1.80118076e-02 5.06800642e-05 9.99837773e-01 9.16341526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.28 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.89, Y:-22.23, Z:0.92 [[ 8.31938480e-01 5.54664012e-01 -1.50399163e-02 7.98878176e+01] [-5.54576202e-01 8.32074406e-01 9.87009818e-03 -2.22276457e+01] [ 1.79889176e-02 1.29465159e-04 9.99838178e-01 9.19235000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.31 meters Centerline goodness [0,1] 0.9998640380693405 Centerline is valid? [True, True] Translation: X:79.91, Y:-22.24, Z:0.92 [[ 8.31139618e-01 5.55847428e-01 -1.55103641e-02 7.99147053e+01] [-5.55754143e-01 8.31284315e-01 1.01842781e-02 -2.22440850e+01] [ 1.85544272e-02 1.55392142e-04 9.99827840e-01 9.16767047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.34 meters Centerline goodness [0,1] 0.9998640380693405 Centerline is valid? [True, True] Translation: X:79.94, Y:-22.26, Z:0.92 [[ 8.30983099e-01 5.56081467e-01 -1.55078107e-02 7.99417369e+01] [-5.55988150e-01 8.31127775e-01 1.01881651e-02 -2.22619304e+01] [ 1.85544220e-02 1.55965962e-04 9.99827840e-01 9.17121154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.36999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.97, Y:-22.28, Z:0.92 [[ 8.29601101e-01 5.58145558e-01 -1.53476148e-02 7.99695485e+01] [-5.58054405e-01 8.29743032e-01 1.00887567e-02 -2.22784113e+01] [ 1.83655711e-02 1.95160381e-04 9.99831320e-01 9.19475110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.39999999999999 meters Centerline goodness [0,1] 0.9999774016406409 Centerline is valid? [True, True] Translation: X:80.00, Y:-22.29, Z:0.92 [[ 8.28522636e-01 5.59733409e-01 -1.57719231e-02 7.99959016e+01] [-5.59637329e-01 8.28672708e-01 1.03731456e-02 -2.22948357e+01] [ 1.88759584e-02 2.32170986e-04 9.99821806e-01 9.18464506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.42999999999999 meters Centerline goodness [0,1] 0.9997733145940064 Centerline is valid? [True, True] Translation: X:80.02, Y:-22.31, Z:0.92 [[ 8.29198219e-01 5.58725248e-01 -1.60128168e-02 8.00221105e+01] [-5.58625918e-01 8.29352792e-01 1.05370662e-02 -2.23141472e+01] [ 1.91675993e-02 2.07857964e-04 9.99816263e-01 9.16378911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.05, Y:-22.33, Z:0.92 [[ 8.29199575e-01 5.58740917e-01 -1.53834899e-02 8.00479037e+01] [-5.58649163e-01 8.29342239e-01 1.01273502e-02 -2.23309426e+01] [ 1.84167429e-02 1.96379241e-04 9.99830378e-01 9.19755621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.49 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.07, Y:-22.35, Z:0.92 [[ 8.29886038e-01 5.57736099e-01 -1.48191870e-02 8.00743080e+01] [-5.57650750e-01 8.30018323e-01 9.75833205e-03 -2.23501264e+01] [ 1.77427708e-02 1.65627202e-04 9.99842571e-01 9.20969615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.52 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.10, Y:-22.37, Z:0.92 [[ 8.30942118e-01 5.56166700e-01 -1.46218410e-02 8.00994217e+01] [-5.56083312e-01 8.31070746e-01 9.63146322e-03 -2.23699621e+01] [ 1.75084834e-02 1.27773313e-04 9.99846707e-01 9.21936823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.55 meters Centerline goodness [0,1] 0.9999318352230124 Centerline is valid? [True, True] Translation: X:80.13, Y:-22.39, Z:0.92 [[ 8.31825716e-01 5.54847181e-01 -1.45114912e-02 8.01252427e+01] [-5.54764770e-01 8.31952280e-01 9.56308982e-03 -2.23881811e+01] [ 1.73789216e-02 9.56400405e-05 9.99848971e-01 9.20198999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.58 meters Centerline goodness [0,1] 0.9999318847489953 Centerline is valid? [True, True] Translation: X:80.15, Y:-22.41, Z:0.92 [[ 8.31803114e-01 5.54869782e-01 -1.49366753e-02 8.01523981e+01] [-5.54782398e-01 8.31937207e-01 9.84756736e-03 -2.24070807e+01] [ 1.78904935e-02 9.53673598e-05 9.99839948e-01 9.20895242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.61 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.18, Y:-22.43, Z:0.92 [[ 8.31336180e-01 5.55561188e-01 -1.52290041e-02 8.01793858e+01] [-5.55470350e-01 8.31475649e-01 1.00466121e-02 -2.24251805e+01] [ 1.82440539e-02 1.07148132e-04 9.99833558e-01 9.22520248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.64 meters Centerline goodness [0,1] 0.9998861877446964 Centerline is valid? [True, True] Translation: X:80.21, Y:-22.44, Z:0.92 [[ 8.31808649e-01 5.54838799e-01 -1.57568428e-02 8.02065711e+01] [-5.54741301e-01 8.31957871e-01 1.04014211e-02 -2.24439005e+01] [ 1.88801414e-02 8.89794366e-05 9.99821750e-01 9.20372348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.67 meters Centerline goodness [0,1] 0.9999317312943746 Centerline is valid? [True, True] Translation: X:80.23, Y:-22.46, Z:0.92 [[ 8.31637315e-01 5.55092367e-01 -1.58694560e-02 8.02333752e+01] [-5.54993396e-01 8.31788709e-01 1.04821190e-02 -2.24607158e+01] [ 1.90185786e-02 9.01219620e-05 9.99819126e-01 9.20771753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.7 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.26, Y:-22.48, Z:0.92 [[ 8.31374606e-01 5.55490668e-01 -1.56965375e-02 8.02610358e+01] [-5.55393798e-01 8.31522765e-01 1.03740319e-02 -2.24791776e+01] [ 1.88147061e-02 9.30529142e-05 9.99822983e-01 9.23258498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.73 meters Centerline goodness [0,1] 0.9998175224105289 Centerline is valid? [True, True] Translation: X:80.29, Y:-22.50, Z:0.92 [[ 8.32596618e-01 5.53670959e-01 -1.52099004e-02 8.02862945e+01] [-5.53579596e-01 8.32735532e-01 1.00580143e-02 -2.24970992e+01] [ 1.82346550e-02 4.56218609e-05 9.99833734e-01 9.21184010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.75999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.31, Y:-22.52, Z:0.92 [[ 8.32458688e-01 5.53897438e-01 -1.44969246e-02 8.03133988e+01] [-5.53814414e-01 8.32584906e-01 9.59006585e-03 -2.25151962e+01] [ 1.73818335e-02 4.52721638e-05 9.99848923e-01 9.24927071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.78999999999999 meters Centerline goodness [0,1] 0.9998406846010287 Centerline is valid? [True, True] Translation: X:80.34, Y:-22.53, Z:0.92 [[ 8.33648079e-01 5.52132466e-01 -1.34395146e-02 8.03391177e+01] [-5.52060841e-01 8.33756403e-01 8.89313882e-03 -2.25335825e+01] [ 1.61154720e-02 5.68163912e-06 9.99870137e-01 9.23388902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82 meters Centerline goodness [0,1] 0.9999084626298687 Centerline is valid? [True, True] Translation: X:80.37, Y:-22.55, Z:0.92 [[ 8.33748130e-01 5.51990623e-01 -1.30540512e-02 8.03664177e+01] [-5.51922957e-01 8.33850318e-01 8.64271572e-03 -2.25521994e+01] [ 1.56558227e-02 -1.01754524e-06 9.99877440e-01 9.24920225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.85 meters Centerline goodness [0,1] 0.9998402008903093 Centerline is valid? [True, True] Translation: X:80.39, Y:-22.57, Z:0.92 [[ 8.34090772e-01 5.51468065e-01 -1.32498208e-02 8.03938331e+01] [-5.51398204e-01 8.34196004e-01 8.77767043e-03 -2.25710188e+01] [ 1.58935525e-02 -1.54465382e-05 9.99873689e-01 9.24892424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.88 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.42, Y:-22.59, Z:0.93 [[ 8.33596208e-01 5.52202558e-01 -1.37730524e-02 8.04206477e+01] [-5.52127077e-01 8.33709982e-01 9.12992734e-03 -2.25887947e+01] [ 1.65243005e-02 -6.19766618e-06 9.99863464e-01 9.27399670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.91 meters Centerline goodness [0,1] 0.9998177302863913 Centerline is valid? [True, True] Translation: X:80.45, Y:-22.61, Z:0.92 [[ 8.34194458e-01 5.51303717e-01 -1.35579504e-02 8.04466930e+01] [-5.51230375e-01 8.34304627e-01 8.99236058e-03 -2.26065724e+01] [ 1.62689825e-02 -2.78232979e-05 9.99867651e-01 9.24704577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.94 meters Centerline goodness [0,1] 0.999909001979207 Centerline is valid? [True, True] Translation: X:80.47, Y:-22.62, Z:0.93 [[ 8.33421564e-01 5.52470492e-01 -1.35959885e-02 8.04744402e+01] [-5.52396811e-01 8.33532456e-01 9.02265295e-03 -2.26234725e+01] [ 1.63174472e-02 -9.29287331e-06 9.99866862e-01 9.26577281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.97 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.50, Y:-22.64, Z:0.93 [[ 8.32438631e-01 5.53944757e-01 -1.38250016e-02 8.05023758e+01] [-5.53868684e-01 8.32553425e-01 9.18014075e-03 -2.26407385e+01] [ 1.65953433e-02 1.53316558e-05 9.99862288e-01 9.29583848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.0 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.53, Y:-22.66, Z:0.93 [[ 8.31963025e-01 5.54659896e-01 -1.37813021e-02 8.05292662e+01] [-5.54584312e-01 8.32077159e-01 9.15654833e-03 -2.26571406e+01] [ 1.65458768e-02 2.49842858e-05 9.99863107e-01 9.28980354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.03 meters Centerline goodness [0,1] 0.9998400475287343 Centerline is valid? [True, True] Translation: X:80.56, Y:-22.67, Z:0.93 [[ 8.31921643e-01 5.54723908e-01 -1.37028122e-02 8.05572808e+01] [-5.54649103e-01 8.32034486e-01 9.10968962e-03 -2.26742378e+01] [ 1.64545749e-02 2.17045424e-05 9.99864614e-01 9.26849260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.06 meters Centerline goodness [0,1] 0.9998174016251256 Centerline is valid? [True, True] Translation: X:80.59, Y:-22.69, Z:0.93 [[ 8.31631765e-01 5.55158058e-01 -1.37163156e-02 8.05852953e+01] [-5.55083073e-01 8.31744871e-01 9.12427099e-03 -2.26922281e+01] [ 1.64738877e-02 2.56610254e-05 9.99864296e-01 9.26837489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.09 meters Centerline goodness [0,1] 0.9998634252936356 Centerline is valid? [True, True] Translation: X:80.61, Y:-22.71, Z:0.93 [[ 8.31233180e-01 5.55761262e-01 -1.34469036e-02 8.06122904e+01] [-5.55689185e-01 8.31341938e-01 8.95051345e-03 -2.27101251e+01] [ 1.61533236e-02 3.23351381e-05 9.99869526e-01 9.28116031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.11999999999999 meters Centerline goodness [0,1] 0.9998631074606434 Centerline is valid? [True, True] Translation: X:80.64, Y:-22.73, Z:0.93 [[ 8.31067485e-01 5.56005741e-01 -1.35812866e-02 8.06388033e+01] [-5.55932167e-01 8.31178450e-01 9.04492480e-03 -2.27278923e+01] [ 1.63175028e-02 3.33311828e-05 9.99866860e-01 9.28327627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.14999999999999 meters Centerline goodness [0,1] 0.9998636208660076 Centerline is valid? [True, True] Translation: X:80.66, Y:-22.75, Z:0.93 [[ 8.30859920e-01 5.56312759e-01 -1.37079208e-02 8.06649327e+01] [-5.56237781e-01 8.30972991e-01 9.13339361e-03 -2.27460279e+01] [ 1.64719353e-02 3.62927356e-05 9.99864328e-01 9.28563479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.17999999999999 meters Centerline goodness [0,1] 0.999863104337311 Centerline is valid? [True, True] Translation: X:80.69, Y:-22.76, Z:0.93 [[ 8.30612286e-01 5.56681879e-01 -1.37301495e-02 8.06922867e+01] [-5.56606618e-01 8.30725758e-01 9.15357583e-03 -2.27644658e+01] [ 1.65016186e-02 3.92195344e-05 9.99863838e-01 9.29244456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.21 meters Centerline goodness [0,1] 0.9998866855524079 Centerline is valid? [True, True] Translation: X:80.72, Y:-22.78, Z:0.93 [[ 8.30214828e-01 5.57270298e-01 -1.38979625e-02 8.07193060e+01] [-5.57193177e-01 8.30331146e-01 9.27101380e-03 -2.27820022e+01] [ 1.67063717e-02 4.69167285e-05 9.99860438e-01 9.29842343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.24 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.75, Y:-22.80, Z:0.93 [[ 8.29272054e-01 5.58676881e-01 -1.37113804e-02 8.07473217e+01] [-5.58601921e-01 8.29385397e-01 9.15183186e-03 -2.28000471e+01] [ 1.64849356e-02 6.98450391e-05 9.99864112e-01 9.33262010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.27 meters Centerline goodness [0,1] 0.9998412446420066 Centerline is valid? [True, True] Translation: X:80.77, Y:-22.82, Z:0.93 [[ 8.29271374e-01 5.58686650e-01 -1.33497280e-02 8.07746252e+01] [-5.58615508e-01 8.29378818e-01 8.91579005e-03 -2.28180998e+01] [ 1.60531145e-02 6.37556430e-05 9.99871138e-01 9.30475297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.3 meters Centerline goodness [0,1] 0.9998641181266419 Centerline is valid? [True, True] Translation: X:80.80, Y:-22.84, Z:0.93 [[ 8.27968165e-01 5.60620948e-01 -1.31480403e-02 8.08026979e+01] [-5.60552099e-01 8.28072547e-01 8.78637178e-03 -2.28353792e+01] [ 1.58133553e-02 9.53254776e-05 9.99874957e-01 9.31341735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.33 meters Centerline goodness [0,1] 0.999977335055869 Centerline is valid? [True, True] Translation: X:80.83, Y:-22.85, Z:0.93 [[ 8.26746641e-01 5.62414840e-01 -1.33992578e-02 8.08301117e+01] [-5.62343485e-01 8.26855206e-01 8.95953899e-03 -2.28523767e+01] [ 1.61182238e-02 1.27716591e-04 9.99870085e-01 9.33943077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.36 meters Centerline goodness [0,1] 0.9999096596427038 Centerline is valid? [True, True] Translation: X:80.86, Y:-22.87, Z:0.93 [[ 8.25128412e-01 5.64791578e-01 -1.31748518e-02 8.08575208e+01] [-5.64722825e-01 8.25233570e-01 8.81399468e-03 -2.28668628e+01] [ 1.58504000e-02 1.67462111e-04 9.99874360e-01 9.32334352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.39 meters Centerline goodness [0,1] 0.9997962233392202 Centerline is valid? [True, True] Translation: X:80.88, Y:-22.88, Z:0.93 [[ 8.24283863e-01 5.66019872e-01 -1.33273681e-02 8.08840115e+01] [-5.65949605e-01 8.24391575e-01 8.92053664e-03 -2.28841453e+01] [ 1.60361710e-02 1.89564338e-04 9.99871394e-01 9.31095361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.42 meters Centerline goodness [0,1] 0.9999097411828418 Centerline is valid? [True, True] Translation: X:80.91, Y:-22.90, Z:0.93 [[ 8.22949828e-01 5.67962790e-01 -1.31091445e-02 8.09117236e+01] [-5.67894979e-01 8.23054203e-01 8.77906135e-03 -2.29008836e+01] [ 1.57757166e-02 2.19890296e-04 9.99875531e-01 9.32760143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.45 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.94, Y:-22.92, Z:0.93 [[ 8.20223096e-01 5.71868075e-01 -1.41766814e-02 8.09406655e+01] [-5.71789282e-01 8.20345540e-01 9.49798563e-03 -2.29154206e+01] [ 1.70613721e-02 3.15607296e-04 9.99854394e-01 9.33966683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.48 meters Centerline goodness [0,1] 0.9997971465278247 Centerline is valid? [True, True] Translation: X:80.97, Y:-22.93, Z:0.93 [[ 8.19622486e-01 5.72701607e-01 -1.52265834e-02 8.09676325e+01] [-5.72610796e-01 8.19763834e-01 1.02045750e-02 -2.29321536e+01] [ 1.83263789e-02 3.55006935e-04 9.99831995e-01 9.29757999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.50999999999999 meters Centerline goodness [0,1] 0.9998418507975239 Centerline is valid? [True, True] Translation: X:80.99, Y:-22.95, Z:0.93 [[ 8.18500912e-01 5.74296095e-01 -1.55000492e-02 8.09943280e+01] [-5.74202173e-01 8.18647568e-01 1.03934730e-02 -2.29494156e+01] [ 1.86580085e-02 3.93094802e-04 9.99825847e-01 9.29967093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.53999999999999 meters Centerline goodness [0,1] 0.9999548532731377 Centerline is valid? [True, True] Translation: X:81.02, Y:-22.96, Z:0.93 [[ 8.16655205e-01 5.76883084e-01 -1.67386978e-02 8.10221316e+01] [-5.76773967e-01 8.16826588e-01 1.12301809e-02 -2.29636772e+01] [ 2.01511148e-02 4.83259417e-04 9.99796829e-01 9.29899216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.57 meters Centerline goodness [0,1] 0.9998647430117222 Centerline is valid? [True, True] Translation: X:81.05, Y:-22.98, Z:0.93 [[ 8.16314133e-01 5.77347230e-01 -1.73612436e-02 8.10485215e+01] [-5.77229820e-01 8.16498572e-01 1.16540463e-02 -2.29826113e+01] [ 2.09038620e-02 5.08064817e-04 9.99781361e-01 9.28606750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.6 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.08, Y:-23.00, Z:0.93 [[ 8.15362025e-01 5.78687787e-01 -1.74703610e-02 8.10750077e+01] [-5.78569099e-01 8.15548988e-01 1.17322566e-02 -2.29995599e+01] [ 2.10372489e-02 5.41774530e-04 9.99778546e-01 9.31362446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.63 meters Centerline goodness [0,1] 0.999887046491664 Centerline is valid? [True, True] Translation: X:81.10, Y:-23.02, Z:0.93 [[ 8.15715855e-01 5.78163486e-01 -1.82928455e-02 8.11004254e+01] [-5.78033111e-01 8.15920757e-01 1.22898297e-02 -2.30190711e+01] [ 2.20310431e-02 5.48861411e-04 9.99757136e-01 9.29080449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.66 meters Centerline goodness [0,1] 0.9997285436366105 Centerline is valid? [True, True] Translation: X:81.13, Y:-23.04, Z:0.93 [[ 8.16142468e-01 5.77548945e-01 -1.86732024e-02 8.11258896e+01] [-5.77412781e-01 8.16355883e-01 1.25520316e-02 -2.30375409e+01] [ 2.24933912e-02 5.37899665e-04 9.99746847e-01 9.27735806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.69 meters Centerline goodness [0,1] 0.9998189061934082 Centerline is valid? [True, True] Translation: X:81.15, Y:-23.06, Z:0.93 [[ 8.17026924e-01 5.76323187e-01 -1.78490697e-02 8.11498555e+01] [-5.76198383e-01 8.17221730e-01 1.20028081e-02 -2.30573106e+01] [ 2.15041443e-02 4.77987712e-04 9.99768645e-01 9.30000335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.72 meters Centerline goodness [0,1] 0.9997056692628147 Centerline is valid? [True, True] Translation: X:81.18, Y:-23.08, Z:0.93 [[ 8.17779456e-01 5.75260076e-01 -1.76806871e-02 8.11751468e+01] [-5.75137262e-01 8.17970445e-01 1.18945608e-02 -2.30777841e+01] [ 2.13047454e-02 4.41694495e-04 9.99772931e-01 9.30410474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.75 meters Centerline goodness [0,1] 0.9998865441343318 Centerline is valid? [True, True] Translation: X:81.20, Y:-23.10, Z:0.93 [[ 8.18347772e-01 5.74485713e-01 -1.65253981e-02 8.11998093e+01] [-5.74378152e-01 8.18514517e-01 1.11231546e-02 -2.30979015e+01] [ 1.99163716e-02 3.89218849e-04 9.99801574e-01 9.34124747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.78 meters Centerline goodness [0,1] 0.9997958026091889 Centerline is valid? [True, True] Translation: X:81.23, Y:-23.12, Z:0.93 [[ 8.19627478e-01 5.72670445e-01 -1.61046035e-02 8.12250579e+01] [-5.72567850e-01 8.19785613e-01 1.08446166e-02 -2.31162304e+01] [ 1.94127137e-02 3.32432453e-04 9.99811500e-01 9.33427965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.81 meters Centerline goodness [0,1] 0.9998407425945306 Centerline is valid? [True, True] Translation: X:81.25, Y:-23.14, Z:0.94 [[ 8.21650735e-01 5.69802935e-01 -1.46521307e-02 8.12483577e+01] [-5.69717490e-01 8.21781333e-01 9.87029922e-03 -2.31384500e+01] [ 1.76649730e-02 2.37636501e-04 9.99843934e-01 9.36191728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.84 meters Centerline goodness [0,1] 0.999931675321126 Centerline is valid? [True, True] Translation: X:81.27, Y:-23.16, Z:0.94 [[ 8.22292556e-01 5.68899799e-01 -1.37102776e-02 8.12738408e+01] [-5.68824784e-01 8.22406821e-01 9.24047379e-03 -2.31568027e+01] [ 1.65323295e-02 2.00372876e-04 9.99863312e-01 9.38106310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.86999999999999 meters Centerline goodness [0,1] 0.999749943168902 Centerline is valid? [True, True] Translation: X:81.30, Y:-23.18, Z:0.94 [[ 8.23047358e-01 5.67800220e-01 -1.39984618e-02 8.12999223e+01] [-5.67721777e-01 8.23166373e-01 9.43956140e-03 -2.31762909e+01] [ 1.68828481e-02 1.78025541e-04 9.99857459e-01 9.37035210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.89999999999999 meters Centerline goodness [0,1] 0.9997256076646925 Centerline is valid? [True, True] Translation: X:81.33, Y:-23.20, Z:0.94 [[ 8.23518287e-01 5.67111707e-01 -1.42106406e-02 8.13253987e+01] [-5.67030678e-01 8.23640872e-01 9.58775199e-03 -2.31952972e+01] [ 1.71417908e-02 1.62180088e-04 9.99853056e-01 9.37994908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.92999999999999 meters Centerline goodness [0,1] 0.9997947922841899 Centerline is valid? [True, True] Translation: X:81.35, Y:-23.21, Z:0.94 [[ 8.23388452e-01 5.67299235e-01 -1.42490285e-02 8.13523327e+01] [-5.67217706e-01 8.23511719e-01 9.61887909e-03 -2.32127748e+01] [ 1.71910247e-02 1.62227293e-04 9.99852210e-01 9.38341606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96 meters Centerline goodness [0,1] 0.9998630105710176 Centerline is valid? [True, True] Translation: X:81.38, Y:-23.23, Z:0.94 [[ 8.22987412e-01 5.67864577e-01 -1.48842639e-02 8.13793514e+01] [-5.67775600e-01 8.23121978e-01 1.00536910e-02 -2.32307554e+01] [ 1.79606997e-02 1.76860700e-04 9.99838678e-01 9.38927615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.99 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.41, Y:-23.25, Z:0.94 [[ 8.21988413e-01 5.69277899e-01 -1.60537475e-02 8.14067248e+01] [-5.69174532e-01 8.22145136e-01 1.08501781e-02 -2.32474866e+01] [ 1.93752770e-02 2.18663507e-04 9.99812258e-01 9.39998089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.02 meters Centerline goodness [0,1] 0.9998181239485291 Centerline is valid? [True, True] Translation: X:81.43, Y:-23.26, Z:0.94 [[ 8.22060214e-01 5.69133617e-01 -1.74336135e-02 8.14332794e+01] [-5.69011538e-01 8.22245021e-01 1.17896169e-02 -2.32644814e+01] [ 2.10445692e-02 2.28152218e-04 9.99778512e-01 9.35250587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.05 meters Centerline goodness [0,1] 0.9998860424833622 Centerline is valid? [True, True] Translation: X:81.46, Y:-23.28, Z:0.94 [[ 8.21726552e-01 5.69598712e-01 -1.79661137e-02 8.14601144e+01] [-5.69469018e-01 8.21922897e-01 1.21568064e-02 -2.32826522e+01] [ 2.16912614e-02 2.41574516e-04 9.99764688e-01 9.35780046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.08 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.49, Y:-23.30, Z:0.94 [[ 8.21058428e-01 5.70557703e-01 -1.80821990e-02 8.14868424e+01] [-5.70426401e-01 8.21257474e-01 1.22426432e-02 -2.33011402e+01] [ 2.18352755e-02 2.62638324e-04 9.99761547e-01 9.38045716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.11 meters Centerline goodness [0,1] 0.9997491162048124 Centerline is valid? [True, True] Translation: X:81.51, Y:-23.32, Z:0.93 [[ 8.21427661e-01 5.69995264e-01 -1.90261914e-02 8.15134836e+01] [-5.69849563e-01 8.21647938e-01 1.28895816e-02 -2.33194883e+01] [ 2.29798314e-02 2.54208014e-04 9.99735896e-01 9.34498145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.14 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.54, Y:-23.34, Z:0.94 [[ 8.21022732e-01 5.70643468e-01 -1.69619129e-02 8.15395808e+01] [-5.70527687e-01 8.21197891e-01 1.14970765e-02 -2.33376354e+01] [ 2.04898187e-02 2.37879724e-04 9.99790033e-01 9.40220326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.17 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.57, Y:-23.36, Z:0.94 [[ 8.21101178e-01 5.70548795e-01 -1.63379471e-02 8.15655373e+01] [-5.70441243e-01 8.21263675e-01 1.10799578e-02 -2.33558935e+01] [ 1.97394190e-02 2.22072470e-04 9.99805134e-01 9.41570748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.2 meters Centerline goodness [0,1] 0.9998633755351125 Centerline is valid? [True, True] Translation: X:81.59, Y:-23.37, Z:0.94 [[ 8.21667551e-01 5.69739641e-01 -1.60989988e-02 8.15914472e+01] [-5.69634943e-01 8.21825227e-01 1.09237482e-02 -2.33740663e+01] [ 1.94542557e-02 1.94862801e-04 9.99810729e-01 9.39685840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.23 meters Centerline goodness [0,1] 0.9998633755351125 Centerline is valid? [True, True] Translation: X:81.62, Y:-23.39, Z:0.94 [[ 8.21504411e-01 5.69974928e-01 -1.60960921e-02 8.16182051e+01] [-5.69870192e-01 8.21662061e-01 1.09280299e-02 -2.33923140e+01] [ 1.94542513e-02 1.95258312e-04 9.99810729e-01 9.40040031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.25999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.64, Y:-23.41, Z:0.94 [[ 8.21219529e-01 5.70416051e-01 -1.49670728e-02 8.16448724e+01] [-5.70325461e-01 8.21355887e-01 1.01673361e-02 -2.34104781e+01] [ 1.80929051e-02 1.86487747e-04 9.99836293e-01 9.43527412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.28999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.67, Y:-23.43, Z:0.94 [[ 8.21268956e-01 5.70357126e-01 -1.44931528e-02 8.16722975e+01] [-5.70272074e-01 8.21396809e-01 9.85102546e-03 -2.34293143e+01] [ 1.75232320e-02 1.74698921e-04 9.99846441e-01 9.43846129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.70, Y:-23.45, Z:0.94 [[ 8.21279430e-01 5.70361542e-01 -1.37043207e-02 8.16994415e+01] [-5.70285409e-01 8.21393746e-01 9.32023729e-03 -2.34487229e+01] [ 1.65725482e-02 1.60854963e-04 9.99862653e-01 9.44961040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.35 meters Centerline goodness [0,1] 0.9998629511192325 Centerline is valid? [True, True] Translation: X:81.73, Y:-23.47, Z:0.94 [[ 8.21473365e-01 5.70076308e-01 -1.39467691e-02 8.17267129e+01] [-5.69997319e-01 8.21591735e-01 9.49088647e-03 -2.34678438e+01] [ 1.68690797e-02 1.53110544e-04 9.99857695e-01 9.43327727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.38 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.75, Y:-23.49, Z:0.95 [[ 8.20737402e-01 5.71153627e-01 -1.31776816e-02 8.17537208e+01] [-5.71083166e-01 8.20843169e-01 8.97273328e-03 -2.34865626e+01] [ 1.59416191e-02 1.61294331e-04 9.99872911e-01 9.47052280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.41 meters Centerline goodness [0,1] 0.9998858525671758 Centerline is valid? [True, True] Translation: X:81.78, Y:-23.50, Z:0.94 [[ 8.20522457e-01 5.71450322e-01 -1.36904069e-02 8.17808676e+01] [-5.71374217e-01 8.20636644e-01 9.32754413e-03 -2.35029630e+01] [ 1.65650777e-02 1.68886078e-04 9.99862775e-01 9.44118879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.44 meters Centerline goodness [0,1] 0.9999772033009621 Centerline is valid? [True, True] Translation: X:81.81, Y:-23.52, Z:0.95 [[ 8.19911665e-01 5.72311617e-01 -1.42924534e-02 8.18075929e+01] [-5.72228706e-01 8.20036205e-01 9.74322869e-03 -2.35207846e+01] [ 1.72964922e-02 1.89965244e-04 9.99850386e-01 9.45103351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.47 meters Centerline goodness [0,1] 0.9998176679733796 Centerline is valid? [True, True] Translation: X:81.83, Y:-23.54, Z:0.94 [[ 8.19939060e-01 5.72232988e-01 -1.57906954e-02 8.18346106e+01] [-5.72131648e-01 8.20091072e-01 1.07708343e-02 -2.35390646e+01] [ 1.91132350e-02 2.02928884e-04 9.99817305e-01 9.40888407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.5 meters Centerline goodness [0,1] 0.9998396848662514 Centerline is valid? [True, True] Translation: X:81.86, Y:-23.56, Z:0.94 [[ 8.19837158e-01 5.72372185e-01 -1.60348509e-02 8.18610243e+01] [-5.72267585e-01 8.19993927e-01 1.09439736e-02 -2.35578965e+01] [ 1.94125065e-02 2.03949204e-04 9.99811539e-01 9.41514301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.53 meters Centerline goodness [0,1] 0.9998627159363918 Centerline is valid? [True, True] Translation: X:81.89, Y:-23.58, Z:0.94 [[ 8.19894725e-01 5.72290187e-01 -1.60182045e-02 8.18871107e+01] [-5.72185663e-01 8.20051159e-01 1.09390553e-02 -2.35757204e+01] [ 1.93960612e-02 1.96513209e-04 9.99811859e-01 9.41683230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.56 meters Centerline goodness [0,1] 0.9998856959970738 Centerline is valid? [True, True] Translation: X:81.91, Y:-23.59, Z:0.94 [[ 8.19957808e-01 5.72199896e-01 -1.60147293e-02 8.19141788e+01] [-5.72095280e-01 8.20114165e-01 1.09429460e-02 -2.35948822e+01] [ 1.93954589e-02 1.89197009e-04 9.99811872e-01 9.42564049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.59 meters Centerline goodness [0,1] 0.9997718874036224 Centerline is valid? [True, True] Translation: X:81.94, Y:-23.61, Z:0.94 [[ 8.21147970e-01 5.70494843e-01 -1.58633221e-02 8.19395507e+01] [-5.70391761e-01 8.21301171e-01 1.08454902e-02 -2.36145929e+01] [ 1.92158613e-02 1.42555948e-04 9.99815348e-01 9.42624898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.61999999999999 meters Centerline goodness [0,1] 0.999817075959208 Centerline is valid? [True, True] Translation: X:81.97, Y:-23.63, Z:0.94 [[ 8.22357378e-01 5.68762304e-01 -1.54202539e-02 8.19650758e+01] [-5.68664493e-01 8.22501935e-01 1.05480289e-02 -2.36334596e+01] [ 1.86825099e-02 9.47015208e-05 9.99825462e-01 9.43360818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.64999999999999 meters Centerline goodness [0,1] 0.9997945299301402 Centerline is valid? [True, True] Translation: X:81.99, Y:-23.65, Z:0.94 [[ 8.23576826e-01 5.67006367e-01 -1.49997105e-02 8.19903173e+01] [-5.66913434e-01 8.23713408e-01 1.02654867e-02 -2.36523247e+01] [ 1.81760590e-02 4.91204071e-05 9.99834801e-01 9.43750895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.67999999999999 meters Centerline goodness [0,1] 0.9998171428571428 Centerline is valid? [True, True] Translation: X:82.01, Y:-23.67, Z:0.95 [[ 8.25000468e-01 5.64983598e-01 -1.29522981e-02 8.20147587e+01] [-5.64913993e-01 8.25102135e-01 8.86827804e-03 -2.36725334e+01] [ 1.56974004e-02 6.00887870e-07 9.99876788e-01 9.47521567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.71 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.04, Y:-23.69, Z:0.95 [[ 8.24841993e-01 5.65227142e-01 -1.24082523e-02 8.20417906e+01] [-5.65163221e-01 8.24935318e-01 8.50031844e-03 -2.36917542e+01] [ 1.50406163e-02 1.26825700e-06 9.99886884e-01 9.51218411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.74 meters Centerline goodness [0,1] 0.9999313815187557 Centerline is valid? [True, True] Translation: X:82.07, Y:-23.71, Z:0.95 [[ 8.25043357e-01 5.64925480e-01 -1.27538926e-02 8.20686501e+01] [-5.64857828e-01 8.25141929e-01 8.74254442e-03 -2.37101003e+01] [ 1.54626576e-02 -8.84214115e-06 9.99880446e-01 9.49683781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.77 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.10, Y:-23.73, Z:0.95 [[ 8.24644508e-01 5.65493863e-01 -1.33463843e-02 8.20956909e+01] [-5.65419762e-01 8.24752503e-01 9.15433171e-03 -2.37271146e+01] [ 1.61841823e-02 -2.75993109e-06 9.99869028e-01 9.49040740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.8 meters Centerline goodness [0,1] 0.9998623853211009 Centerline is valid? [True, True] Translation: X:82.12, Y:-23.75, Z:0.95 [[ 8.24512850e-01 5.65665677e-01 -1.41740234e-02 8.21234242e+01] [-5.65582024e-01 8.24634672e-01 9.72791176e-03 -2.37450348e+01] [ 1.71911369e-02 -4.21540526e-06 9.99852221e-01 9.46268912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.83 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.15, Y:-23.76, Z:0.95 [[ 8.23056513e-01 5.67766712e-01 -1.47965403e-02 8.21507100e+01] [-5.67675776e-01 8.23189504e-01 1.01614060e-02 -2.37619218e+01] [ 1.79496648e-02 3.62260800e-05 9.99838891e-01 9.47526785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.86 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.18, Y:-23.78, Z:0.95 [[ 8.22198021e-01 5.68999406e-01 -1.51687280e-02 8.21784640e+01] [-5.68903933e-01 8.22337931e-01 1.04231908e-02 -2.37801254e+01] [ 1.84046098e-02 5.96221946e-05 9.99830619e-01 9.48270250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.21, Y:-23.80, Z:0.95 [[ 8.21186309e-01 5.70445587e-01 -1.56486006e-02 8.22061290e+01] [-5.70344113e-01 8.21335391e-01 1.07595649e-02 -2.37981222e+01] [ 1.89904958e-02 8.94798866e-05 9.99819660e-01 9.48791436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.92 meters Centerline goodness [0,1] 0.99972611494043 Centerline is valid? [True, True] Translation: X:82.23, Y:-23.81, Z:0.94 [[ 8.19738430e-01 5.72480986e-01 -1.71588952e-02 8.22337494e+01] [-5.72359275e-01 8.19917984e-01 1.18050925e-02 -2.38143803e+01] [ 2.08270777e-02 1.43964829e-04 9.99783083e-01 9.44988522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.95 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.26, Y:-23.83, Z:0.95 [[ 8.18676630e-01 5.74025584e-01 -1.62235795e-02 8.22612451e+01] [-5.73916963e-01 8.18837347e-01 1.11677636e-02 -2.38318453e+01] [ 1.96950548e-02 1.68200385e-04 9.99806019e-01 9.48963774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.98 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.29, Y:-23.85, Z:0.95 [[ 8.18237004e-01 5.74663808e-01 -1.58023328e-02 8.22883051e+01] [-5.74560768e-01 8.18389564e-01 1.08832760e-02 -2.38487819e+01] [ 1.91866891e-02 1.74301304e-04 9.99815903e-01 9.48734915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.00999999999999 meters Centerline goodness [0,1] 0.9999772809887314 Centerline is valid? [True, True] Translation: X:82.31, Y:-23.87, Z:0.95 [[ 8.18410689e-01 5.74432226e-01 -1.52171460e-02 8.23143653e+01] [-5.74336572e-01 8.18552132e-01 1.04837790e-02 -2.38656356e+01] [ 1.84782478e-02 1.59726642e-04 9.99829250e-01 9.48346589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.03999999999999 meters Centerline goodness [0,1] 0.9998633537543556 Centerline is valid? [True, True] Translation: X:82.34, Y:-23.88, Z:0.95 [[ 8.18989275e-01 5.73613726e-01 -1.49619916e-02 8.23400846e+01] [-5.73521045e-01 8.19125921e-01 1.03119584e-02 -2.38849499e+01] [ 1.81708360e-02 1.35633722e-04 9.99834888e-01 9.48113733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.36, Y:-23.91, Z:0.95 [[ 8.20328226e-01 5.71735690e-01 -1.34127930e-02 8.23641992e+01] [-5.71660886e-01 8.20437867e-01 9.24864901e-03 -2.39050053e+01] [ 1.62921460e-02 8.06413020e-05 9.99867271e-01 9.52813864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.1 meters Centerline goodness [0,1] 0.999886021701468 Centerline is valid? [True, True] Translation: X:82.39, Y:-23.93, Z:0.95 [[ 8.21504258e-01 5.70043388e-01 -1.34643667e-02 8.23906393e+01] [-5.69967701e-01 8.21614589e-01 9.28907876e-03 -2.39254525e+01] [ 1.63576980e-02 4.32363611e-05 9.99866203e-01 9.51994387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.13 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.42, Y:-23.94, Z:0.95 [[ 8.22455505e-01 5.68691082e-01 -1.25457654e-02 8.24156703e+01] [-5.68625148e-01 8.22551186e-01 8.65949857e-03 -2.39443553e+01] [ 1.52441138e-02 1.17854522e-05 9.99883802e-01 9.54983606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.16 meters Centerline goodness [0,1] 0.9998860372885991 Centerline is valid? [True, True] Translation: X:82.44, Y:-23.96, Z:0.95 [[ 8.23730019e-01 5.66843150e-01 -1.25578386e-02 8.24419987e+01] [-5.66776825e-01 8.23825736e-01 8.67111474e-03 -2.39639024e+01] [ 1.52606326e-02 -2.51655961e-05 9.99883549e-01 9.53333973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.19 meters Centerline goodness [0,1] 0.999840397637885 Centerline is valid? [True, True] Translation: X:82.47, Y:-23.98, Z:0.95 [[ 8.25926337e-01 5.63642361e-01 -1.23683224e-02 8.24663186e+01] [-5.63577598e-01 8.26018936e-01 8.54454977e-03 -2.39834436e+01] [ 1.50325387e-02 -8.66592650e-05 9.99887001e-01 9.52128792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.22 meters Centerline goodness [0,1] 0.9999315474832291 Centerline is valid? [True, True] Translation: X:82.49, Y:-24.00, Z:0.95 [[ 8.26747241e-01 5.62439886e-01 -1.22627152e-02 8.24932003e+01] [-5.62376046e-01 8.26838172e-01 8.47471075e-03 -2.40024352e+01] [ 1.49057964e-02 -1.10186442e-04 9.99888896e-01 9.53944900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.25 meters Centerline goodness [0,1] 0.9999314348402432 Centerline is valid? [True, True] Translation: X:82.52, Y:-24.02, Z:0.95 [[ 8.27595949e-01 5.61179701e-01 -1.27392248e-02 8.25186686e+01] [-5.61110572e-01 8.27693979e-01 8.80927545e-03 -2.40214141e+01] [ 1.54877662e-02 -1.42406965e-04 9.99880047e-01 9.53915686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.28 meters Centerline goodness [0,1] 0.9999311025882461 Centerline is valid? [True, True] Translation: X:82.54, Y:-24.04, Z:0.95 [[ 8.29765815e-01 5.57922418e-01 -1.45350680e-02 8.25436446e+01] [-5.57831821e-01 8.29893077e-01 1.00568472e-02 -2.40415512e+01] [ 1.76734928e-02 -2.36704538e-04 9.99843784e-01 9.52303657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.31 meters Centerline goodness [0,1] 0.9999771224634532 Centerline is valid? [True, True] Translation: X:82.57, Y:-24.06, Z:0.95 [[ 8.30597702e-01 5.56661896e-01 -1.53294202e-02 8.25694228e+01] [-5.56560804e-01 8.30739101e-01 1.06121656e-02 -2.40608581e+01] [ 1.86421369e-02 -2.82685930e-04 9.99826180e-01 9.52813406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.34 meters Centerline goodness [0,1] 0.9999770341960821 Centerline is valid? [True, True] Translation: X:82.60, Y:-24.08, Z:0.95 [[ 8.31558680e-01 5.55213811e-01 -1.57412159e-02 8.25957932e+01] [-5.55106844e-01 8.31707590e-01 1.09030212e-02 -2.40798586e+01] [ 1.91455967e-02 -3.28445249e-04 9.99816652e-01 9.52881015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.36999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.62, Y:-24.10, Z:0.95 [[ 8.32570651e-01 5.53695475e-01 -1.57299506e-02 8.26206207e+01] [-5.53588284e-01 8.32719152e-01 1.09007557e-02 -2.40988233e+01] [ 1.91343302e-02 -3.67732886e-04 9.99816854e-01 9.53276689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.39999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.65, Y:-24.12, Z:0.95 [[ 8.34691081e-01 5.50497481e-01 -1.55987924e-02 8.26460823e+01] [-5.50391411e-01 8.34836707e-01 1.08151095e-02 -2.41174884e+01] [ 1.89761351e-02 -4.41834117e-04 9.99819839e-01 9.54564759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.42999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.67, Y:-24.14, Z:0.96 [[ 8.35552087e-01 5.49213585e-01 -1.47359597e-02 8.26718857e+01] [-5.49118636e-01 8.35681899e-01 1.02218911e-02 -2.41360282e+01] [ 1.79285762e-02 -4.49132361e-04 9.99839169e-01 9.55925775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46 meters Centerline goodness [0,1] 0.9999315833884467 Centerline is valid? [True, True] Translation: X:82.70, Y:-24.15, Z:0.96 [[ 8.37423083e-01 5.46412630e-01 -1.24826694e-02 8.26963703e+01] [-5.46344134e-01 8.37515999e-01 8.66246861e-03 -2.41544898e+01] [ 1.51877176e-02 -4.34317953e-04 9.99884566e-01 9.57054225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.49 meters Centerline goodness [0,1] 0.9998859410999841 Centerline is valid? [True, True] Translation: X:82.72, Y:-24.17, Z:0.96 [[ 8.37957055e-01 5.45605301e-01 -1.19511061e-02 8.27226446e+01] [-5.45542388e-01 8.38042164e-01 8.29667734e-03 -2.41733669e+01] [ 1.45422420e-02 -4.32424341e-04 9.99894163e-01 9.57633855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.52 meters Centerline goodness [0,1] 0.9999543608233308 Centerline is valid? [True, True] Translation: X:82.75, Y:-24.19, Z:0.96 [[ 8.38129053e-01 5.45360498e-01 -1.10280385e-02 8.27481382e+01] [-5.45306861e-01 8.38201505e-01 7.65926547e-03 -2.41914588e+01] [ 1.34207793e-02 -4.05787875e-04 9.99909855e-01 9.59767702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.55 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.78, Y:-24.21, Z:0.96 [[ 8.37628364e-01 5.46143676e-01 -1.02863233e-02 8.27759565e+01] [-5.46097044e-01 8.37691440e-01 7.14626391e-03 -2.42082510e+01] [ 1.25196518e-02 -3.68582623e-04 9.99921558e-01 9.61632068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.58 meters Centerline goodness [0,1] 0.9998865544311839 Centerline is valid? [True, True] Translation: X:82.80, Y:-24.23, Z:0.96 [[ 8.36933071e-01 5.47197491e-01 -1.08600186e-02 8.28021389e+01] [-5.47145547e-01 8.37003443e-01 7.54889881e-03 -2.42259065e+01] [ 1.32206114e-02 -3.75912272e-04 9.99912533e-01 9.59516491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.61 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.83, Y:-24.24, Z:0.96 [[ 8.35677587e-01 5.49111869e-01 -1.09144415e-02 8.28305633e+01] [-5.49059520e-01 8.35748785e-01 7.59017359e-03 -2.42421934e+01] [ 1.32895857e-02 -3.50259921e-04 9.99911628e-01 9.61211114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.64 meters Centerline goodness [0,1] 0.9999322630901578 Centerline is valid? [True, True] Translation: X:82.86, Y:-24.25, Z:0.96 [[ 8.32884109e-01 5.53308567e-01 -1.23971974e-02 8.28588611e+01] [-5.53241462e-01 8.32976306e-01 8.62314333e-03 -2.42545444e+01] [ 1.50978308e-02 -3.23435434e-04 9.99885969e-01 9.57867099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.67 meters Centerline goodness [0,1] 0.9999096086052608 Centerline is valid? [True, True] Translation: X:82.89, Y:-24.27, Z:0.96 [[ 8.31349962e-01 5.55593768e-01 -1.31455470e-02 8.28881554e+01] [-5.55518553e-01 8.31453832e-01 9.14672825e-03 -2.42684150e+01] [ 1.60117806e-02 -3.01536939e-04 9.99871758e-01 9.57024114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.7 meters Centerline goodness [0,1] 0.9999321941958231 Centerline is valid? [True, True] Translation: X:82.92, Y:-24.28, Z:0.96 [[ 8.28317720e-01 5.60066338e-01 -1.46782580e-02 8.29164320e+01] [-5.59973156e-01 8.28447727e-01 1.02189643e-02 -2.42832397e+01] [ 1.78834674e-02 -2.45118801e-04 9.99840048e-01 9.56239802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.73 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.94, Y:-24.30, Z:0.96 [[ 8.26872596e-01 5.62188975e-01 -1.50088348e-02 8.29445443e+01] [-5.62091797e-01 8.27008774e-01 1.04546221e-02 -2.42995766e+01] [ 1.82899114e-02 -2.08297597e-04 9.99832704e-01 9.57719739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.75999999999999 meters Centerline goodness [0,1] 0.9999775296047457 Centerline is valid? [True, True] Translation: X:82.97, Y:-24.32, Z:0.96 [[ 8.25784289e-01 5.63786489e-01 -1.50034145e-02 8.29719568e+01] [-5.63689546e-01 8.25920555e-01 1.04562167e-02 -2.43164872e+01] [ 1.82867022e-02 -1.77311570e-04 9.99832769e-01 9.57694789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.78999999999999 meters Centerline goodness [0,1] 0.9998877942595543 Centerline is valid? [True, True] Translation: X:83.00, Y:-24.33, Z:0.96 [[ 8.24351637e-01 5.65897102e-01 -1.43124897e-02 8.29991096e+01] [-5.65809116e-01 8.24475866e-01 9.97951691e-03 -2.43324213e+01] [ 1.74476820e-02 -1.28493954e-04 9.99847769e-01 9.56921862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82 meters Centerline goodness [0,1] 0.9999551539341212 Centerline is valid? [True, True] Translation: X:83.03, Y:-24.35, Z:0.96 [[ 8.23402044e-01 5.67298283e-01 -1.34807989e-02 8.30258529e+01] [-5.67220342e-01 8.23512385e-01 9.40399004e-03 -2.43496465e+01] [ 1.64364723e-02 -9.66812295e-05 9.99864907e-01 9.58948919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.85 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.05, Y:-24.37, Z:0.96 [[ 8.21404387e-01 5.70219609e-01 -1.20179052e-02 8.30543147e+01] [-5.70157932e-01 8.21492298e-01 8.38670350e-03 -2.43657959e+01] [ 1.46548793e-02 -3.67710906e-05 9.99892611e-01 9.62114201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.88 meters Centerline goodness [0,1] 0.9999329384151112 Centerline is valid? [True, True] Translation: X:83.08, Y:-24.38, Z:0.96 [[ 8.20372629e-01 5.71716091e-01 -1.13780898e-02 8.30818551e+01] [-5.71660920e-01 8.20451529e-01 7.94236128e-03 -2.43831344e+01] [ 1.38759469e-02 -1.12865051e-05 9.99903724e-01 9.60642199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.91 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.11, Y:-24.40, Z:0.96 [[ 8.18873786e-01 5.73865253e-01 -1.11532291e-02 8.31100497e+01] [-5.73812377e-01 8.18949736e-01 7.79004850e-03 -2.44007701e+01] [ 1.36043722e-02 2.07944157e-05 9.99907456e-01 9.62698348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.94 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.14, Y:-24.42, Z:0.96 [[ 8.16258027e-01 5.77602936e-01 -9.88341940e-03 8.31383783e+01] [-5.77561643e-01 8.16317857e-01 6.90687738e-03 -2.44169017e+01] [ 1.20574444e-02 7.04898474e-05 9.99927304e-01 9.63811649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.97 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.17, Y:-24.43, Z:0.96 [[ 8.14801008e-01 5.79659647e-01 -9.69595441e-03 8.31651465e+01] [-5.79620005e-01 8.14858690e-01 6.77980374e-03 -2.44337176e+01] [ 1.18308113e-02 9.57782227e-05 9.99930009e-01 9.64416515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.0 meters Centerline goodness [0,1] 0.999844031995722 Centerline is valid? [True, True] Translation: X:83.19, Y:-24.45, Z:0.96 [[ 8.12582621e-01 5.82750763e-01 -1.05372230e-02 8.31926059e+01] [-5.82704151e-01 8.12650925e-01 7.37196116e-03 -2.44500149e+01] [ 1.28591000e-02 1.49756088e-04 9.99917307e-01 9.60672695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.03 meters Centerline goodness [0,1] 0.9996876115672974 Centerline is valid? [True, True] Translation: X:83.22, Y:-24.47, Z:0.96 [[ 8.11351915e-01 5.84441302e-01 -1.16805384e-02 8.32195942e+01] [-5.84384134e-01 8.11435966e-01 8.17655799e-03 -2.44673476e+01] [ 1.42567272e-02 1.91855330e-04 9.99898349e-01 9.58865096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.06 meters Centerline goodness [0,1] 0.9999776156153467 Centerline is valid? [True, True] Translation: X:83.25, Y:-24.48, Z:0.96 [[ 8.09725228e-01 5.86689423e-01 -1.18565024e-02 8.32458503e+01] [-5.86630697e-01 8.09811995e-01 8.30410402e-03 -2.44832945e+01] [ 1.44734679e-02 2.31345751e-04 9.99895227e-01 9.62091042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.09 meters Centerline goodness [0,1] 0.9997764064037206 Centerline is valid? [True, True] Translation: X:83.27, Y:-24.50, Z:0.96 [[ 8.08173816e-01 5.88782641e-01 -1.37871023e-02 8.32728772e+01] [-5.88703445e-01 8.08291350e-01 9.66160823e-03 -2.45004673e+01] [ 1.68325827e-02 3.08255805e-04 9.99858275e-01 9.57480850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.11999999999999 meters Centerline goodness [0,1] 0.9999330342195138 Centerline is valid? [True, True] Translation: X:83.30, Y:-24.52, Z:0.96 [[ 8.07836676e-01 5.89251303e-01 -1.35205892e-02 8.33000562e+01] [-5.89175120e-01 8.07949755e-01 9.48002011e-03 -2.45193023e+01] [ 1.65100709e-02 3.07686824e-04 9.99863652e-01 9.59425264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.14999999999999 meters Centerline goodness [0,1] 0.9999330342195138 Centerline is valid? [True, True] Translation: X:83.33, Y:-24.54, Z:0.96 [[ 8.07669852e-01 5.89480005e-01 -1.35179032e-02 8.33265390e+01] [-5.89403790e-01 8.07782910e-01 9.48384895e-03 -2.45379712e+01] [ 1.65100705e-02 3.07684523e-04 9.99863652e-01 9.59779675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.17999999999999 meters Centerline goodness [0,1] 0.9998659996426658 Centerline is valid? [True, True] Translation: X:83.35, Y:-24.56, Z:0.96 [[ 8.07812991e-01 5.89279207e-01 -1.37181918e-02 8.33529004e+01] [-5.89200592e-01 8.07929406e-01 9.63007873e-03 -2.45562394e+01] [ 1.67581357e-02 3.03464020e-04 9.99859527e-01 9.58795842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.21 meters Centerline goodness [0,1] 0.9997984051608279 Centerline is valid? [True, True] Translation: X:83.38, Y:-24.58, Z:0.96 [[ 8.07880281e-01 5.89187749e-01 -1.36838954e-02 8.33786901e+01] [-5.89109420e-01 8.07996107e-01 9.61154286e-03 -2.45763839e+01] [ 1.67195375e-02 2.96335745e-04 9.99860175e-01 9.58703160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.24 meters Centerline goodness [0,1] 0.9996870809119356 Centerline is valid? [True, True] Translation: X:83.40, Y:-24.60, Z:0.96 [[ 8.08820465e-01 5.87898190e-01 -1.36078329e-02 8.34031130e+01] [-5.87820468e-01 8.08934885e-01 9.56291430e-03 -2.45960584e+01] [ 1.66298708e-02 2.64281933e-04 9.99861679e-01 9.58695389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.27 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.43, Y:-24.62, Z:0.96 [[ 8.08824324e-01 5.87903523e-01 -1.31400560e-02 8.34292620e+01] [-5.87830995e-01 8.08931013e-01 9.23779886e-03 -2.46157418e+01] [ 1.60603333e-02 2.52375751e-04 9.99870993e-01 9.63575647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.3 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.45, Y:-24.64, Z:0.96 [[ 8.10301894e-01 5.85871986e-01 -1.28396451e-02 8.34537133e+01] [-5.85802401e-01 8.10403588e-01 9.03171079e-03 -2.46358135e+01] [ 1.56967208e-02 2.03082598e-04 9.99876778e-01 9.63266596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.33 meters Centerline goodness [0,1] 0.9999776010751484 Centerline is valid? [True, True] Translation: X:83.48, Y:-24.66, Z:0.96 [[ 8.11226544e-01 5.84596505e-01 -1.25865279e-02 8.34778569e+01] [-5.84529413e-01 8.11324162e-01 8.85823736e-03 -2.46565315e+01] [ 1.53902488e-02 1.71158483e-04 9.99881548e-01 9.63812365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.36 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.50, Y:-24.68, Z:0.97 [[ 8.13250847e-01 5.81796085e-01 -1.16779699e-02 8.35014412e+01] [-5.81737982e-01 8.13334681e-01 8.22293437e-03 -2.46783634e+01] [ 1.42821689e-02 1.06210292e-04 9.99897999e-01 9.66064392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.39 meters Centerline goodness [0,1] 0.9998418936621946 Centerline is valid? [True, True] Translation: X:83.53, Y:-24.70, Z:0.96 [[ 8.14360129e-01 5.80249127e-01 -1.13371307e-02 8.35262739e+01] [-5.80194158e-01 8.14439037e-01 7.98709771e-03 -2.46989801e+01] [ 1.38679083e-02 7.33630721e-05 9.99903833e-01 9.64030048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.42 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.55, Y:-24.72, Z:0.97 [[ 8.14794920e-01 5.79647070e-01 -1.08863687e-02 8.35512355e+01] [-5.79596278e-01 8.14867640e-01 7.67354076e-03 -2.47187901e+01] [ 1.33188950e-02 5.73367543e-05 9.99911298e-01 9.68597712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.45 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.58, Y:-24.74, Z:0.97 [[ 8.16194297e-01 5.77689000e-01 -1.01138539e-02 8.35751856e+01] [-5.77644964e-01 8.16256957e-01 7.13278168e-03 -2.47398790e+01] [ 1.23760331e-02 2.04810133e-05 9.99923414e-01 9.70355444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.47999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.60, Y:-24.76, Z:0.97 [[ 8.16931092e-01 5.76649625e-01 -9.93987419e-03 8.36004133e+01] [-5.76606969e-01 8.16991561e-01 7.01375012e-03 -2.47591303e+01] [ 1.21652697e-02 1.65019261e-06 9.99926000e-01 9.70440481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.50999999999999 meters Centerline goodness [0,1] 0.9999093361136925 Centerline is valid? [True, True] Translation: X:83.63, Y:-24.78, Z:0.97 [[ 8.18362379e-01 5.74614820e-01 -1.00411648e-02 8.36261534e+01] [-5.74571088e-01 8.18423978e-01 7.08926683e-03 -2.47798902e+01] [ 1.22915278e-02 -3.22262800e-05 9.99924456e-01 9.67811488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.53999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.65, Y:-24.80, Z:0.97 [[ 8.18732933e-01 5.74082881e-01 -1.02581811e-02 8.36512575e+01] [-5.74037141e-01 8.18797193e-01 7.24687902e-03 -2.47987815e+01] [ 1.25596791e-02 -4.46815450e-05 9.99921123e-01 9.70265337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.68, Y:-24.82, Z:0.97 [[ 8.19813766e-01 5.72511166e-01 -1.16771171e-02 8.36763871e+01] [-5.72451664e-01 8.19896919e-01 8.25429768e-03 -2.48186083e+01] [ 1.42997099e-02 -8.24017517e-05 9.99897751e-01 9.69480528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.6 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.70, Y:-24.84, Z:0.97 [[ 8.20181585e-01 5.71979766e-01 -1.18875704e-02 8.37026991e+01] [-5.71917978e-01 8.20267723e-01 8.40765684e-03 -2.48381437e+01] [ 1.45599999e-02 -9.70900586e-05 9.99893993e-01 9.69675494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.63 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.73, Y:-24.86, Z:0.97 [[ 8.20317785e-01 5.71773991e-01 -1.23788256e-02 8.37289941e+01] [-5.71706884e-01 8.20411172e-01 8.76055950e-03 -2.48580323e+01] [ 1.51647869e-02 -1.09382918e-04 9.99885002e-01 9.70481413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.66 meters Centerline goodness [0,1] 0.9999093196708304 Centerline is valid? [True, True] Translation: X:83.76, Y:-24.88, Z:0.97 [[ 8.20551535e-01 5.71436574e-01 -1.24667252e-02 8.37550803e+01] [-5.71368390e-01 8.20646225e-01 8.82811250e-03 -2.48773596e+01] [ 1.52754774e-02 -1.20828542e-04 9.99883316e-01 9.69175122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.69 meters Centerline goodness [0,1] 0.999909403877514 Centerline is valid? [True, True] Translation: X:83.78, Y:-24.90, Z:0.97 [[ 8.20169942e-01 5.71978303e-01 -1.27313059e-02 8.37807426e+01] [-5.71907175e-01 8.20268741e-01 9.02088285e-03 -2.48954718e+01] [ 1.56028415e-02 -1.17531802e-04 9.99878261e-01 9.69422380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.72 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.81, Y:-24.91, Z:0.97 [[ 8.19504291e-01 5.72930558e-01 -1.27785636e-02 8.38083094e+01] [-5.72858935e-01 8.19603907e-01 9.05957926e-03 -2.49141130e+01] [ 1.56638704e-02 -1.04049764e-04 9.99877309e-01 9.72151939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.83, Y:-24.93, Z:0.97 [[ 8.18626337e-01 5.74189623e-01 -1.25378441e-02 8.38339461e+01] [-5.74120744e-01 8.18722340e-01 8.89388074e-03 -2.49312288e+01] [ 1.53717871e-02 -8.25286435e-05 9.99881844e-01 9.72763062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.78 meters Centerline goodness [0,1] 0.9999321021184139 Centerline is valid? [True, True] Translation: X:83.86, Y:-24.95, Z:0.97 [[ 8.18068473e-01 5.74988091e-01 -1.23558665e-02 8.38609783e+01] [-5.74921220e-01 8.18161775e-01 8.76929322e-03 -2.49495964e+01] [ 1.51513369e-02 -7.02324455e-05 9.99885209e-01 9.71883342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.81 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.89, Y:-24.97, Z:0.97 [[ 8.17082987e-01 5.76394343e-01 -1.20396583e-02 8.38874374e+01] [-5.76330929e-01 8.17171683e-01 8.54987785e-03 -2.49675625e+01] [ 1.47665690e-02 -4.71322911e-05 9.99890967e-01 9.74020482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.84 meters Centerline goodness [0,1] 0.9997968534862199 Centerline is valid? [True, True] Translation: X:83.92, Y:-24.99, Z:0.97 [[ 8.15211849e-01 5.79017518e-01 -1.29751576e-02 8.39159487e+01] [-5.78944109e-01 8.15315101e-01 9.21981874e-03 -2.49850972e+01] [ 1.59172785e-02 -4.21444717e-06 9.99873312e-01 9.70504243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.86999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.94, Y:-25.00, Z:0.97 [[ 8.13678493e-01 5.81179349e-01 -1.25648038e-02 8.39439535e+01] [-5.81110686e-01 8.13775499e-01 8.93348688e-03 -2.50025465e+01] [ 1.54168875e-02 3.25555969e-05 9.99881152e-01 9.74236216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.89999999999999 meters Centerline goodness [0,1] 0.9999550743519475 Centerline is valid? [True, True] Translation: X:83.97, Y:-25.02, Z:0.97 [[ 8.10874499e-01 5.85083454e-01 -1.26450648e-02 8.39711667e+01] [-5.85014305e-01 8.10973083e-01 8.99563634e-03 -2.50172962e+01] [ 1.55180052e-02 1.03211692e-04 9.99879583e-01 9.72511014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.92999999999999 meters Centerline goodness [0,1] 0.9998873340994615 Centerline is valid? [True, True] Translation: X:84.00, Y:-25.03, Z:0.97 [[ 8.09354700e-01 5.87176858e-01 -1.29733339e-02 8.39979331e+01] [-5.87104267e-01 8.09458656e-01 9.23380673e-03 -2.50345824e+01] [ 1.59232551e-02 1.43274839e-04 9.99873207e-01 9.71407139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.03, Y:-25.05, Z:0.97 [[ 8.07386811e-01 5.89881845e-01 -1.28820080e-02 8.40254411e+01] [-5.89810540e-01 8.07489549e-01 9.17354700e-03 -2.50516141e+01] [ 1.58133957e-02 1.91343240e-04 9.99874942e-01 9.74485524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.99 meters Centerline goodness [0,1] 0.9997750635445487 Centerline is valid? [True, True] Translation: X:84.05, Y:-25.07, Z:0.97 [[ 8.06285708e-01 5.91367531e-01 -1.37040666e-02 8.40527107e+01] [-5.91286961e-01 8.06402127e-01 9.76419317e-03 -2.50694093e+01] [ 1.68252153e-02 2.30306480e-04 9.99858420e-01 9.70258866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.02 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.08, Y:-25.09, Z:0.98 [[ 8.03685752e-01 5.94916359e-01 -1.27960279e-02 8.40799335e+01] [-5.94846491e-01 8.03787563e-01 9.12170974e-03 -2.50869090e+01] [ 1.57119424e-02 2.80684126e-04 9.99876520e-01 9.75523319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.05 meters Centerline goodness [0,1] 0.9998874456925466 Centerline is valid? [True, True] Translation: X:84.11, Y:-25.11, Z:0.97 [[ 8.02926446e-01 5.95939357e-01 -1.28609980e-02 8.41058042e+01] [-5.95868832e-01 8.03029386e-01 9.17285338e-03 -2.51051639e+01] [ 1.57942237e-02 2.98341284e-04 9.99875219e-01 9.73213128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.08 meters Centerline goodness [0,1] 0.9999095656892225 Centerline is valid? [True, True] Translation: X:84.13, Y:-25.12, Z:0.97 [[ 8.01379338e-01 5.98004703e-01 -1.34734123e-02 8.41323954e+01] [-5.97927506e-01 8.01492516e-01 9.61485093e-03 -2.51233695e+01] [ 1.65485652e-02 3.50980950e-04 9.99863002e-01 9.73003213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.11 meters Centerline goodness [0,1] 0.9997965871849926 Centerline is valid? [True, True] Translation: X:84.16, Y:-25.14, Z:0.97 [[ 8.00862806e-01 5.98679521e-01 -1.41984892e-02 8.41586479e+01] [-5.98593801e-01 8.00988569e-01 1.01377935e-02 -2.51420877e+01] [ 1.74421169e-02 3.80145873e-04 9.99847802e-01 9.71295803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.14 meters Centerline goodness [0,1] 0.9999097595090918 Centerline is valid? [True, True] Translation: X:84.18, Y:-25.16, Z:0.97 [[ 8.00394356e-01 5.99295435e-01 -1.46238418e-02 8.41841970e+01] [-5.99204521e-01 8.00527839e-01 1.04461270e-02 -2.51605492e+01] [ 1.79671087e-02 4.01651056e-04 9.99838498e-01 9.71870435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.17 meters Centerline goodness [0,1] 0.9997508268019752 Centerline is valid? [True, True] Translation: X:84.21, Y:-25.18, Z:0.97 [[ 8.00675862e-01 5.98891656e-01 -1.57146090e-02 8.42102753e+01] [-5.98786501e-01 8.00829950e-01 1.12301807e-02 -2.51814149e+01] [ 1.93103910e-02 4.17961127e-04 9.99813450e-01 9.69410614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.2 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.23, Y:-25.20, Z:0.97 [[ 8.00997546e-01 5.98459114e-01 -1.57993960e-02 8.42346114e+01] [-5.98352616e-01 8.01153247e-01 1.12969700e-02 -2.52013292e+01] [ 1.94185120e-02 4.04764698e-04 9.99811361e-01 9.73115124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.22999999999999 meters Centerline goodness [0,1] 0.9998191150202365 Centerline is valid? [True, True] Translation: X:84.26, Y:-25.22, Z:0.97 [[ 8.01806452e-01 5.97337413e-01 -1.71589262e-02 8.42593999e+01] [-5.97211406e-01 8.01989932e-01 1.22754058e-02 -2.52214146e+01] [ 2.10938452e-02 4.05006902e-04 9.99777418e-01 9.69018407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.25999999999999 meters Centerline goodness [0,1] 0.999932042133877 Centerline is valid? [True, True] Translation: X:84.28, Y:-25.24, Z:0.97 [[ 8.01925280e-01 5.97176382e-01 -1.72108729e-02 8.42846755e+01] [-5.97049431e-01 8.02109850e-01 1.23192860e-02 -2.52417634e+01] [ 2.11617973e-02 3.96595006e-04 9.99775985e-01 9.71389487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.28999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.31, Y:-25.26, Z:0.97 [[ 8.02555914e-01 5.96306600e-01 -1.79567411e-02 8.43088015e+01] [-5.96168030e-01 8.02756683e-01 1.28603494e-02 -2.52632502e+01] [ 2.20836051e-02 3.84085479e-04 9.99756054e-01 9.72554706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.34, Y:-25.28, Z:0.97 [[ 8.02773260e-01 5.96006894e-01 -1.81899651e-02 8.43350865e+01] [-5.95864462e-01 8.02979229e-01 1.30346301e-02 -2.52830269e+01] [ 2.23748935e-02 3.74901276e-04 9.99749580e-01 9.72250774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.35 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.36, Y:-25.30, Z:0.97 [[ 8.02863758e-01 5.95877769e-01 -1.84247243e-02 8.43617481e+01] [-5.95731422e-01 8.03075058e-01 1.32107682e-02 -2.53030224e+01] [ 2.26684396e-02 3.69740169e-04 9.99742970e-01 9.72453571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.38 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.39, Y:-25.32, Z:0.97 [[ 8.03135778e-01 5.95512006e-01 -1.83948957e-02 8.43869458e+01] [-5.95365877e-01 8.03346330e-01 1.31964679e-02 -2.53214052e+01] [ 2.26361270e-02 3.53137649e-04 9.99743708e-01 9.72576096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.41 meters Centerline goodness [0,1] 0.9999090474999431 Centerline is valid? [True, True] Translation: X:84.41, Y:-25.34, Z:0.97 [[ 8.04195982e-01 5.94077808e-01 -1.84494068e-02 8.44120920e+01] [-5.93930335e-01 8.04407522e-01 1.32399255e-02 -2.53423396e+01] [ 2.27063876e-02 3.10167453e-04 9.99742129e-01 9.72041537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.44 meters Centerline goodness [0,1] 0.9998636425617018 Centerline is valid? [True, True] Translation: X:84.44, Y:-25.36, Z:0.97 [[ 8.04621823e-01 5.93495214e-01 -1.86320373e-02 8.44374355e+01] [-5.93344545e-01 8.04837465e-01 1.33755527e-02 -2.53611431e+01] [ 2.29340882e-02 2.92956080e-04 9.99736936e-01 9.71804733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.47 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.46, Y:-25.38, Z:0.98 [[ 8.04699109e-01 5.93424591e-01 -1.75099527e-02 8.44622744e+01] [-5.93291383e-01 8.04889547e-01 1.25758334e-02 -2.53794194e+01] [ 2.15563867e-02 2.68742090e-04 9.99767598e-01 9.75929091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.5 meters Centerline goodness [0,1] 0.9998634190758025 Centerline is valid? [True, True] Translation: X:84.49, Y:-25.40, Z:0.98 [[ 8.06296683e-01 5.91248308e-01 -1.76379812e-02 8.44874590e+01] [-5.91112486e-01 8.06489551e-01 1.26741143e-02 -2.53993350e+01] [ 2.17183962e-02 2.06934552e-04 9.99764106e-01 9.75026911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.53 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.51, Y:-25.42, Z:0.98 [[ 8.06481020e-01 5.91025297e-01 -1.66572249e-02 8.45131982e+01] [-5.90903993e-01 8.06653001e-01 1.19752414e-02 -2.54167607e+01] [ 2.05142711e-02 1.85015787e-04 9.99789543e-01 9.77773845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.54, Y:-25.44, Z:0.98 [[ 8.07821497e-01 5.89202976e-01 -1.62567439e-02 8.45382007e+01] [-5.89086950e-01 8.07985047e-01 1.16931306e-02 -2.54363119e+01] [ 2.00248333e-02 1.30673388e-04 9.99799474e-01 9.80244430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.59 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.56, Y:-25.46, Z:0.98 [[ 8.08653143e-01 5.88075963e-01 -1.57084507e-02 8.45636439e+01] [-5.87967307e-01 8.08805695e-01 1.13045700e-02 -2.54556494e+01] [ 1.93530303e-02 9.45794392e-05 9.99812708e-01 9.81390521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.61999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.59, Y:-25.48, Z:0.98 [[ 8.09754177e-01 5.86553500e-01 -1.59111286e-02 8.45889170e+01] [-5.86441624e-01 8.09910482e-01 1.14557146e-02 -2.54752416e+01] [ 1.96059794e-02 5.46353245e-05 9.99807783e-01 9.81817522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.64999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.61, Y:-25.50, Z:0.98 [[ 8.12731427e-01 5.82422884e-01 -1.58496533e-02 8.46139767e+01] [-5.82310977e-01 8.12885959e-01 1.14168156e-02 -2.54965466e+01] [ 1.95333753e-02 -4.93777936e-05 9.99809204e-01 9.82238179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.67999999999999 meters Centerline goodness [0,1] 0.9999318274780712 Centerline is valid? [True, True] Translation: X:84.64, Y:-25.52, Z:0.98 [[ 8.14652427e-01 5.79726684e-01 -1.60746353e-02 8.46388644e+01] [-5.79610922e-01 8.14810995e-01 1.15854166e-02 -2.55164507e+01] [ 1.98141647e-02 -1.21053516e-04 9.99803673e-01 9.80623884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.71 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.66, Y:-25.54, Z:0.98 [[ 8.16138923e-01 5.77641127e-01 -1.57475837e-02 8.46633127e+01] [-5.77529530e-01 8.16290817e-01 1.13553320e-02 -2.55362612e+01] [ 1.94139147e-02 -1.72833881e-04 9.99811517e-01 9.82766069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.74 meters Centerline goodness [0,1] 0.9999544616225324 Centerline is valid? [True, True] Translation: X:84.69, Y:-25.56, Z:0.98 [[ 8.19716795e-01 5.72553856e-01 -1.56989736e-02 8.46872597e+01] [-5.72441905e-01 8.19867058e-01 1.13257249e-02 -2.55569048e+01] [ 1.93556588e-02 -2.97136588e-04 9.99812618e-01 9.82550085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.77 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.71, Y:-25.58, Z:0.98 [[ 8.21106056e-01 5.70563886e-01 -1.55465760e-02 8.47121364e+01] [-5.70453634e-01 8.21253148e-01 1.12213561e-02 -2.55770191e+01] [ 1.91701750e-02 -3.45322692e-04 9.99816176e-01 9.84242915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.8 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.74, Y:-25.60, Z:0.98 [[ 8.23652654e-01 5.66853082e-01 -1.65495753e-02 8.47367035e+01] [-5.66727266e-01 8.23818771e-01 1.19515261e-02 -2.55971303e+01] [ 2.04086102e-02 -4.64810635e-04 9.99791615e-01 9.84012092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.83 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.76, Y:-25.62, Z:0.98 [[ 8.24392825e-01 5.65762394e-01 -1.70112858e-02 8.47622789e+01] [-5.65629096e-01 8.24568161e-01 1.22911811e-02 -2.56163558e+01] [ 2.09808528e-02 -5.10683294e-04 9.99779747e-01 9.83191277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.86 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.79, Y:-25.63, Z:0.98 [[ 8.24948263e-01 5.64933402e-01 -1.76242744e-02 8.47880849e+01] [-5.64789988e-01 8.25136317e-01 1.27407799e-02 -2.56348808e+01] [ 2.17401210e-02 -5.56470520e-04 9.99763501e-01 9.83077011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.89 meters Centerline goodness [0,1] 0.9998406918525262 Centerline is valid? [True, True] Translation: X:84.81, Y:-25.65, Z:0.98 [[ 8.24759767e-01 5.65184493e-01 -1.83797497e-02 8.48149881e+01] [-5.65028412e-01 8.24964334e-01 1.32944176e-02 -2.56532056e+01] [ 2.26764367e-02 -5.79619981e-04 9.99742689e-01 9.80872410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.92 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.84, Y:-25.67, Z:0.98 [[ 8.23760056e-01 5.66656307e-01 -1.78885170e-02 8.48417994e+01] [-5.66508650e-01 8.23954093e-01 1.29461054e-02 -2.56707116e+01] [ 2.20753091e-02 -5.30484889e-04 9.99756170e-01 9.83323563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.95 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.87, Y:-25.69, Z:0.98 [[ 8.21414855e-01 5.70068652e-01 -1.73022670e-02 8.48685204e+01] [-5.69931145e-01 8.21596950e-01 1.25276470e-02 -2.56865046e+01] [ 2.13571086e-02 -4.29294470e-04 9.99771819e-01 9.83031706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.97999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.90, Y:-25.70, Z:0.98 [[ 8.19885587e-01 5.72283325e-01 -1.67158726e-02 8.48968387e+01] [-5.72155364e-01 8.20055891e-01 1.21067803e-02 -2.57028367e+01] [ 2.06364583e-02 -3.62098458e-04 9.99786980e-01 9.84659074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.00999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.92, Y:-25.72, Z:0.99 [[ 8.18154797e-01 5.74767999e-01 -1.62627224e-02 8.49246740e+01] [-5.74647294e-01 8.18316357e-01 1.17825068e-02 -2.57185376e+01] [ 2.00802596e-02 -2.94585077e-04 9.99798328e-01 9.85800742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.03999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.95, Y:-25.74, Z:0.99 [[ 8.17991903e-01 5.74999889e-01 -1.62596125e-02 8.49508616e+01] [-5.74879144e-01 8.18153434e-01 1.17867973e-02 -2.57376023e+01] [ 2.00802650e-02 -2.94192640e-04 9.99798328e-01 9.86154961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.07 meters Centerline goodness [0,1] 0.9999320636789782 Centerline is valid? [True, True] Translation: X:84.98, Y:-25.75, Z:0.98 [[ 8.14286373e-01 5.80238807e-01 -1.61440399e-02 8.49798896e+01] [-5.80120667e-01 8.14446375e-01 1.17095496e-02 -2.57515099e+01] [ 1.99427899e-02 -1.69435502e-04 9.99801108e-01 9.84554965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.1 meters Centerline goodness [0,1] 0.9999326569094011 Centerline is valid? [True, True] Translation: X:85.01, Y:-25.77, Z:0.98 [[ 8.12228372e-01 5.83118852e-01 -1.60460849e-02 8.50064344e+01] [-5.83002606e-01 8.12386850e-01 1.16433250e-02 -2.57673991e+01] [ 1.98250706e-02 -1.02129624e-04 9.99803459e-01 9.84334148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.13 meters Centerline goodness [0,1] 0.9998431372549019 Centerline is valid? [True, True] Translation: X:85.04, Y:-25.78, Z:0.98 [[ 8.08491876e-01 5.88287984e-01 -1.60665621e-02 8.50357359e+01] [-5.88172367e-01 8.08651500e-01 1.16627103e-02 -2.57814361e+01] [ 1.98532819e-02 2.07013269e-05 9.99802904e-01 9.83518411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.16 meters Centerline goodness [0,1] 0.9998655100531235 Centerline is valid? [True, True] Translation: X:85.06, Y:-25.80, Z:0.98 [[ 8.06592343e-01 5.90911189e-01 -1.52564522e-02 8.50640345e+01] [-5.90807299e-01 8.06736612e-01 1.10803955e-02 -2.57986959e+01] [ 1.88554682e-02 7.62611544e-05 9.99822217e-01 9.84238469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.19 meters Centerline goodness [0,1] 0.9999328783980311 Centerline is valid? [True, True] Translation: X:85.09, Y:-25.81, Z:0.99 [[ 8.04548858e-01 5.93695139e-01 -1.50737026e-02 8.50911782e+01] [-5.93594103e-01 8.04690042e-01 1.09533995e-02 -2.58146647e+01] [ 1.86326384e-02 1.35115931e-04 9.99826388e-01 9.85470193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.22 meters Centerline goodness [0,1] 0.9999552342368556 Centerline is valid? [True, True] Translation: X:85.12, Y:-25.83, Z:0.99 [[ 8.01238884e-01 5.98166098e-01 -1.46140379e-02 8.51196498e+01] [-5.98071784e-01 8.01372116e-01 1.06241685e-02 -2.58291110e+01] [ 1.80662999e-02 2.27746869e-04 9.99836765e-01 9.86459756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.25 meters Centerline goodness [0,1] 0.9998430985789214 Centerline is valid? [True, True] Translation: X:85.15, Y:-25.85, Z:0.99 [[ 8.00079367e-01 5.99706288e-01 -1.50124902e-02 8.51456377e+01] [-5.99606933e-01 8.00220156e-01 1.09191581e-02 -2.58474719e+01] [ 1.85615850e-02 2.65400080e-04 9.99827684e-01 9.85377354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.28 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.17, Y:-25.86, Z:0.99 [[ 7.97281082e-01 6.03436540e-01 -1.43951317e-02 8.51734059e+01] [-6.03345701e-01 7.97410955e-01 1.04753774e-02 -2.58642059e+01] [ 1.78000612e-02 3.33420575e-04 9.99841511e-01 9.88633426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.31 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.20, Y:-25.88, Z:0.99 [[ 7.96434214e-01 6.04552849e-01 -1.44359513e-02 8.51990534e+01] [-6.04461583e-01 7.96564955e-01 1.05103512e-02 -2.58826468e+01] [ 1.78532357e-02 3.55174657e-04 9.99840555e-01 9.88612500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.34 meters Centerline goodness [0,1] 0.9998880454983095 Centerline is valid? [True, True] Translation: X:85.22, Y:-25.90, Z:0.99 [[ 7.96050242e-01 6.05031349e-01 -1.55267122e-02 8.52249718e+01] [-6.04925747e-01 7.96201555e-01 1.13103929e-02 -2.59019340e+01] [ 1.92055346e-02 3.88866942e-04 9.99815481e-01 9.86169994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.36999999999999 meters Centerline goodness [0,1] 0.9998651564185544 Centerline is valid? [True, True] Translation: X:85.25, Y:-25.92, Z:0.98 [[ 7.95134594e-01 6.06202127e-01 -1.67319707e-02 8.52499922e+01] [-6.06079619e-01 7.95310495e-01 1.21947785e-02 -2.59198715e+01] [ 2.06996126e-02 4.44416142e-04 9.99785641e-01 9.84399833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.39999999999999 meters Centerline goodness [0,1] 0.9998197995269738 Centerline is valid? [True, True] Translation: X:85.27, Y:-25.94, Z:0.98 [[ 7.94505060e-01 6.06997193e-01 -1.77796686e-02 8.52745544e+01] [-6.06858910e-01 7.94703824e-01 1.29651136e-02 -2.59399006e+01] [ 2.19993582e-02 4.88901939e-04 9.99757865e-01 9.84205907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.42999999999999 meters Centerline goodness [0,1] 0.9999550733427679 Centerline is valid? [True, True] Translation: X:85.30, Y:-25.96, Z:0.99 [[ 7.93627781e-01 6.08160445e-01 -1.71993764e-02 8.53000861e+01] [-6.08031177e-01 7.93813973e-01 1.25484529e-02 -2.59590050e+01] [ 2.12845780e-02 4.98956219e-04 9.99773333e-01 9.86240842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.46 meters Centerline goodness [0,1] 0.9997982379447172 Centerline is valid? [True, True] Translation: X:85.33, Y:-25.98, Z:0.98 [[ 7.92971511e-01 6.08975612e-01 -1.85711460e-02 8.53255394e+01] [-6.08824958e-01 7.93188751e-01 1.35563962e-02 -2.59776543e+01] [ 2.29859388e-02 5.56741163e-04 9.99735633e-01 9.83598926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.49 meters Centerline goodness [0,1] 0.9999549620555318 Centerline is valid? [True, True] Translation: X:85.35, Y:-26.00, Z:0.99 [[ 7.91891497e-01 6.10377751e-01 -1.86241272e-02 8.53503647e+01] [-6.10226471e-01 7.92110250e-01 1.36016705e-02 -2.59972535e+01] [ 2.30545191e-02 5.93888174e-04 9.99734033e-01 9.85220313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.52 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.38, Y:-26.02, Z:0.99 [[ 7.91405128e-01 6.11023678e-01 -1.81104373e-02 8.53751360e+01] [-6.10880687e-01 7.91612099e-01 1.32314803e-02 -2.60156428e+01] [ 2.24211890e-02 5.91855014e-04 9.99748438e-01 9.86433962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.55 meters Centerline goodness [0,1] 0.9997962602435821 Centerline is valid? [True, True] Translation: X:85.40, Y:-26.04, Z:0.98 [[ 7.92018687e-01 6.10208295e-01 -1.87679511e-02 8.53981331e+01] [-6.10054377e-01 7.92240806e-01 1.37172166e-02 -2.60368169e+01] [ 2.32390961e-02 5.85178811e-04 9.99729764e-01 9.83629465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.58 meters Centerline goodness [0,1] 0.9998870286269459 Centerline is valid? [True, True] Translation: X:85.42, Y:-26.06, Z:0.99 [[ 7.92328148e-01 6.09826488e-01 -1.81041721e-02 8.54215280e+01] [-6.09683021e-01 7.92534765e-01 1.32385776e-02 -2.60583678e+01] [ 2.24214211e-02 5.48508718e-04 9.99748458e-01 9.86015115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.61 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.45, Y:-26.08, Z:0.99 [[ 7.92601464e-01 6.09491673e-01 -1.74017226e-02 8.54459733e+01] [-6.09358902e-01 7.92792304e-01 1.27315138e-02 -2.60797389e+01] [ 2.15557034e-02 5.12878057e-04 9.99767517e-01 9.89158808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.64 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.47, Y:-26.10, Z:0.99 [[ 7.94479255e-01 6.07049796e-01 -1.71247843e-02 8.54700988e+01] [-6.06920514e-01 7.94663675e-01 1.25352629e-02 -2.60997212e+01] [ 2.12179729e-02 4.34376556e-04 9.99774779e-01 9.88506109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.67 meters Centerline goodness [0,1] 0.9999772727272728 Centerline is valid? [True, True] Translation: X:85.49, Y:-26.12, Z:0.99 [[ 7.95279759e-01 6.05998491e-01 -1.72027302e-02 8.54943581e+01] [-6.05867691e-01 7.95465691e-01 1.25966555e-02 -2.61217762e+01] [ 2.13177358e-02 4.04713268e-04 9.99772669e-01 9.89603150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.7 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.52, Y:-26.14, Z:0.99 [[ 7.95704415e-01 6.05440544e-01 -1.72113820e-02 8.55212382e+01] [-6.05309388e-01 7.95890443e-01 1.26074385e-02 -2.61385124e+01] [ 2.13314289e-02 3.86416666e-04 9.99772385e-01 9.88827524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.72999999999999 meters Centerline goodness [0,1] 0.9998868471078121 Centerline is valid? [True, True] Translation: X:85.55, Y:-26.16, Z:0.99 [[ 7.95984290e-01 6.05048392e-01 -1.80403528e-02 8.55467034e+01] [-6.04904025e-01 7.96188604e-01 1.32222232e-02 -2.61595985e+01] [ 2.23636082e-02 3.88000091e-04 9.99749828e-01 9.87645981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.75999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.57, Y:-26.18, Z:0.99 [[ 7.95254739e-01 6.06026635e-01 -1.73671632e-02 8.55737139e+01] [-6.05892921e-01 7.95444255e-01 1.27359814e-02 -2.61759255e+01] [ 2.15329542e-02 3.94291667e-04 9.99768061e-01 9.88505349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.78999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.60, Y:-26.20, Z:0.99 [[ 7.94379664e-01 6.07158170e-01 -1.78858915e-02 8.55991315e+01] [-6.07016477e-01 7.94580877e-01 1.31235103e-02 -2.61955452e+01] [ 2.21798338e-02 4.31981140e-04 9.99753904e-01 9.88843987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.82 meters Centerline goodness [0,1] 0.9999773555852449 Centerline is valid? [True, True] Translation: X:85.62, Y:-26.21, Z:0.99 [[ 7.93912175e-01 6.07755163e-01 -1.83608288e-02 8.56248064e+01] [-6.07605842e-01 7.94124332e-01 1.34791084e-02 -2.62148170e+01] [ 2.27727787e-02 4.54918599e-04 9.99740563e-01 9.88610135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.85 meters Centerline goodness [0,1] 0.9999773422453835 Centerline is valid? [True, True] Translation: X:85.65, Y:-26.23, Z:0.99 [[ 7.93145579e-01 6.08755217e-01 -1.83623534e-02 8.56508184e+01] [-6.08606016e-01 7.93357962e-01 1.34856011e-02 -2.62319566e+01] [ 2.27773493e-02 4.79393814e-04 9.99740448e-01 9.88035176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.88 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.68, Y:-26.25, Z:0.99 [[ 7.92521573e-01 6.09580039e-01 -1.79369040e-02 8.56770254e+01] [-6.09437755e-01 7.92724378e-01 1.31789183e-02 -2.62524864e+01] [ 2.22526266e-02 4.86849400e-04 9.99752261e-01 9.90228225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.91 meters Centerline goodness [0,1] 0.9998867958703134 Centerline is valid? [True, True] Translation: X:85.70, Y:-26.27, Z:0.99 [[ 7.92640829e-01 6.09419214e-01 -1.81311397e-02 8.57037498e+01] [-6.09273616e-01 7.92848025e-01 1.33292968e-02 -2.62700971e+01] [ 2.24983679e-02 4.81480171e-04 9.99746764e-01 9.87611766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.94 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.73, Y:-26.29, Z:0.99 [[ 7.91556265e-01 6.10874497e-01 -1.64629264e-02 8.57304860e+01] [-6.10754651e-01 7.91727307e-01 1.21090081e-02 -2.62885128e+01] [ 2.04312326e-02 4.69847627e-04 9.99791150e-01 9.92074170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.97 meters Centerline goodness [0,1] 0.9999546865441693 Centerline is valid? [True, True] Translation: X:85.76, Y:-26.31, Z:0.99 [[ 7.91457256e-01 6.11002921e-01 -1.64573083e-02 8.57570704e+01] [-6.10883050e-01 7.91628203e-01 1.21114246e-02 -2.63071858e+01] [ 2.04281852e-02 4.67815866e-04 9.99791213e-01 9.91551705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.0 meters Centerline goodness [0,1] 0.9997505725493753 Centerline is valid? [True, True] Translation: X:85.78, Y:-26.33, Z:0.99 [[ 7.91531757e-01 6.10891078e-01 -1.70167047e-02 8.57829418e+01] [-6.10762735e-01 7.91714510e-01 1.25306068e-02 -2.63280439e+01] [ 2.11272079e-02 4.74795856e-04 9.99776683e-01 9.90704828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.03 meters Centerline goodness [0,1] 0.999909440796921 Centerline is valid? [True, True] Translation: X:85.81, Y:-26.35, Z:0.99 [[ 7.91139513e-01 6.11431396e-01 -1.58088493e-02 8.58099784e+01] [-6.11320603e-01 7.91297319e-01 1.16478765e-02 -2.63472683e+01] [ 1.96313774e-02 4.49179952e-04 9.99807185e-01 9.93094270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.06 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.84, Y:-26.37, Z:1.00 [[ 7.90645056e-01 6.12092021e-01 -1.49583784e-02 8.58367700e+01] [-6.11992830e-01 7.90786424e-01 1.10276004e-02 -2.63663208e+01] [ 1.85787887e-02 4.35502576e-04 9.99827305e-01 9.95659746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.09 meters Centerline goodness [0,1] 0.9999546937296122 Centerline is valid? [True, True] Translation: X:85.86, Y:-26.38, Z:1.00 [[ 7.90938453e-01 6.11719024e-01 -1.47037095e-02 8.58621867e+01] [-6.11623010e-01 7.91075005e-01 1.08457141e-02 -2.63848522e+01] [ 1.82662667e-02 4.14834747e-04 9.99833072e-01 9.95438434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.11999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.89, Y:-26.40, Z:1.00 [[ 7.90919926e-01 6.11779270e-01 -1.31071003e-02 8.58876207e+01] [-6.11702913e-01 7.91028438e-01 9.67244643e-03 -2.64042893e+01] [ 1.62854913e-02 3.67520812e-04 9.99867315e-01 9.98128124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.14999999999999 meters Centerline goodness [0,1] 0.9998639239788628 Centerline is valid? [True, True] Translation: X:85.91, Y:-26.42, Z:1.00 [[ 7.91613499e-01 6.10875172e-01 -1.34012089e-02 8.59126043e+01] [-6.10795136e-01 7.91726847e-01 9.89456650e-03 -2.64226909e+01] [ 1.66544419e-02 3.52720784e-04 9.99861243e-01 9.96083007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.17999999999999 meters Centerline goodness [0,1] 0.999705755867907 Centerline is valid? [True, True] Translation: X:85.94, Y:-26.44, Z:0.99 [[ 7.91974258e-01 6.10399140e-01 -1.37719048e-02 8.59377761e+01] [-6.10314455e-01 7.92093914e-01 1.01733728e-02 -2.64419830e+01] [ 1.71184600e-02 3.48143185e-04 9.99853408e-01 9.94746302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.21 meters Centerline goodness [0,1] 0.9998184912081679 Centerline is valid? [True, True] Translation: X:85.96, Y:-26.46, Z:1.00 [[ 7.92083143e-01 6.10263261e-01 -1.35295020e-02 8.59638866e+01] [-6.10181425e-01 7.92198611e-01 9.99943223e-03 -2.64611559e+01] [ 1.68203388e-02 3.35069097e-04 9.99858472e-01 9.95731508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.24 meters Centerline goodness [0,1] 0.9999320390548898 Centerline is valid? [True, True] Translation: X:85.99, Y:-26.48, Z:1.00 [[ 7.92775813e-01 6.09366002e-01 -1.34009804e-02 8.59883416e+01] [-6.09285513e-01 7.92889009e-01 9.90877563e-03 -2.64796546e+01] [ 1.66635610e-02 3.09585539e-04 9.99861105e-01 9.96361807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.27 meters Centerline goodness [0,1] 0.9998192376347245 Centerline is valid? [True, True] Translation: X:86.01, Y:-26.50, Z:0.99 [[ 7.93546187e-01 6.08347375e-01 -1.40684361e-02 8.60131704e+01] [-6.08258439e-01 7.93670827e-01 1.04062575e-02 -2.64992757e+01] [ 1.74963267e-02 2.99399042e-04 9.99846883e-01 9.94864149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.3 meters Centerline goodness [0,1] 0.9999773965326281 Centerline is valid? [True, True] Translation: X:86.04, Y:-26.52, Z:1.00 [[ 7.93715932e-01 6.08138892e-01 -1.34946706e-02 8.60386289e+01] [-6.08056951e-01 7.93830593e-01 9.98670040e-03 -2.65189574e+01] [ 1.67857833e-02 2.78925041e-04 9.99859070e-01 9.97251891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.33 meters Centerline goodness [0,1] 0.9999318259288718 Centerline is valid? [True, True] Translation: X:86.06, Y:-26.54, Z:1.00 [[ 7.95343116e-01 6.06010370e-01 -1.34447051e-02 8.60621901e+01] [-6.05928646e-01 7.95456711e-01 9.95473850e-03 -2.65407830e+01] [ 1.67273556e-02 2.29099192e-04 9.99860062e-01 9.96903169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.36 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.09, Y:-26.56, Z:1.00 [[ 7.95514617e-01 6.05802612e-01 -1.26367877e-02 8.60873638e+01] [-6.05730318e-01 7.95614952e-01 9.36107545e-03 -2.65586735e+01] [ 1.57249812e-02 2.07613080e-04 9.99876333e-01 9.98105497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.39 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.11, Y:-26.58, Z:1.00 [[ 7.96698309e-01 6.04247656e-01 -1.25130202e-02 8.61106484e+01] [-6.04176509e-01 7.96796549e-01 9.27386180e-03 -2.65803524e+01] [ 1.55740406e-02 1.71602868e-04 9.99878703e-01 9.98871741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.42 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.14, Y:-26.60, Z:1.00 [[ 7.97115340e-01 6.03689840e-01 -1.28728966e-02 8.61356102e+01] [-6.03614387e-01 7.97219261e-01 9.54574659e-03 -2.66014353e+01] [ 1.60251914e-02 1.61204573e-04 9.99871575e-01 9.99186712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.45 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.16, Y:-26.62, Z:1.00 [[ 7.97580758e-01 6.03062437e-01 -1.34399285e-02 8.61611944e+01] [-6.02979999e-01 7.97693973e-01 9.97230012e-03 -2.66217503e+01] [ 1.67348696e-02 1.50293377e-04 9.99859951e-01 9.98705741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.47999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.19, Y:-26.64, Z:1.00 [[ 7.98303294e-01 6.02066649e-01 -1.50864330e-02 8.61861984e+01] [-6.01962461e-01 7.98445822e-01 1.12011042e-02 -2.66430457e+01] [ 1.87895107e-02 1.39587973e-04 9.99823452e-01 9.96588409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.50999999999999 meters Centerline goodness [0,1] 0.9997946986632602 Centerline is valid? [True, True] Translation: X:86.21, Y:-26.66, Z:0.99 [[ 7.99079896e-01 6.00997532e-01 -1.65313877e-02 8.62106993e+01] [-6.00872046e-01 7.99250869e-01 1.22813673e-02 -2.66633816e+01] [ 2.05937974e-02 1.19455090e-04 9.99787918e-01 9.93087479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.53999999999999 meters Centerline goodness [0,1] 0.9999317235257972 Centerline is valid? [True, True] Translation: X:86.24, Y:-26.68, Z:0.99 [[ 7.98716983e-01 6.01479848e-01 -1.65279648e-02 8.62354322e+01] [-6.01354382e-01 7.98887963e-01 1.22853889e-02 -2.66827221e+01] [ 2.05934060e-02 1.26615304e-04 9.99787925e-01 9.94670328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.26, Y:-26.70, Z:1.00 [[ 7.98153947e-01 6.02213797e-01 -1.69946879e-02 8.62608926e+01] [-6.02081162e-01 7.98334844e-01 1.26392929e-02 -2.67035855e+01] [ 2.11790081e-02 1.44079913e-04 9.99775689e-01 9.95831765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.6 meters Centerline goodness [0,1] 0.9999313061000183 Centerline is valid? [True, True] Translation: X:86.29, Y:-26.72, Z:1.00 [[ 7.98382054e-01 6.01910350e-01 -1.70301837e-02 8.62867575e+01] [-6.01776933e-01 7.98563657e-01 1.26731754e-02 -2.67244808e+01] [ 2.12278012e-02 1.30335908e-04 9.99774656e-01 9.95854481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.63 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.31, Y:-26.74, Z:1.00 [[ 7.97781298e-01 6.02724608e-01 -1.63721830e-02 8.63120157e+01] [-6.02601332e-01 7.97949264e-01 1.21904575e-02 -2.67431742e+01] [ 2.04116601e-02 1.40580268e-04 9.99791650e-01 9.98012695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.66 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.34, Y:-26.76, Z:1.00 [[ 7.97031011e-01 6.03769888e-01 -1.42649963e-02 8.63379062e+01] [-6.03676377e-01 7.97158643e-01 1.06268046e-02 -2.67621558e+01] [ 1.77876097e-02 1.41548463e-04 9.99841778e-01 1.00059843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.69 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.36, Y:-26.78, Z:1.00 [[ 7.96710427e-01 6.04215422e-01 -1.32747173e-02 8.63645097e+01] [-6.04134424e-01 7.96820999e-01 9.89411994e-03 -2.67803100e+01] [ 1.65557534e-02 1.36965186e-04 9.99862935e-01 1.00119766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.72 meters Centerline goodness [0,1] 0.9998631948561266 Centerline is valid? [True, True] Translation: X:86.39, Y:-26.80, Z:1.00 [[ 7.96828548e-01 6.04067197e-01 -1.29261727e-02 8.63901592e+01] [-6.03990290e-01 7.96933376e-01 9.63972030e-03 -2.68007023e+01] [ 1.61243373e-02 1.26078469e-04 9.99869986e-01 1.00096426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.75 meters Centerline goodness [0,1] 0.9998632665618377 Centerline is valid? [True, True] Translation: X:86.42, Y:-26.82, Z:1.00 [[ 7.96544161e-01 6.04458780e-01 -1.21236931e-02 8.64156261e+01] [-6.04391094e-01 7.96636409e-01 9.04634288e-03 -2.68192293e+01] [ 1.51263167e-02 1.21640526e-04 9.99885583e-01 1.00177307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.78 meters Centerline goodness [0,1] 0.9998861436866674 Centerline is valid? [True, True] Translation: X:86.44, Y:-26.84, Z:1.00 [[ 7.96099702e-01 6.05054435e-01 -1.15928835e-02 8.64421712e+01] [-6.04992542e-01 7.96184096e-01 8.65502773e-03 -2.68389971e+01] [ 1.44668324e-02 1.23343040e-04 9.99895342e-01 1.00300312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.81 meters Centerline goodness [0,1] 0.9998176347223489 Centerline is valid? [True, True] Translation: X:86.47, Y:-26.86, Z:1.00 [[ 7.96052774e-01 6.05106500e-01 -1.20873978e-02 8.64683911e+01] [-6.05039136e-01 7.96144527e-01 9.02969927e-03 -2.68577104e+01] [ 1.50872453e-02 1.25231568e-04 9.99886173e-01 1.00161505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.84 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.50, Y:-26.88, Z:1.00 [[ 7.95127618e-01 6.06332254e-01 -1.15442133e-02 8.64953182e+01] [-6.06270871e-01 7.95211405e-01 8.62862530e-03 -2.68768599e+01] [ 1.44119039e-02 1.38061992e-04 9.99896134e-01 1.00380516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.86999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.52, Y:-26.90, Z:1.00 [[ 7.94909801e-01 6.06591267e-01 -1.28624960e-02 8.65210816e+01] [-6.06514998e-01 7.95013844e-01 9.62007796e-03 -2.68965699e+01] [ 1.60613176e-02 1.54202452e-04 9.99870997e-01 1.00265491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.89999999999999 meters Centerline goodness [0,1] 0.9997727685875295 Centerline is valid? [True, True] Translation: X:86.55, Y:-26.92, Z:1.00 [[ 7.95662955e-01 6.05569055e-01 -1.43729482e-02 8.65465671e+01] [-6.05473533e-01 7.95792749e-01 1.07564894e-02 -2.69154866e+01] [ 1.79516851e-02 1.43899634e-04 9.99838845e-01 9.98859044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.92999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.57, Y:-26.94, Z:1.00 [[ 7.94642078e-01 6.06908483e-01 -1.43548460e-02 8.65724104e+01] [-6.06813309e-01 7.94771706e-01 1.07490950e-02 -2.69352975e+01] [ 1.79325424e-02 1.69028424e-04 9.99839185e-01 1.00195919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.60, Y:-26.95, Z:1.00 [[ 7.94468014e-01 6.07136395e-01 -1.43517638e-02 8.65982902e+01] [-6.07041184e-01 7.94597615e-01 1.07532091e-02 -2.69547706e+01] [ 1.79325419e-02 1.69030975e-04 9.99839185e-01 1.00231355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.99 meters Centerline goodness [0,1] 0.9998407570863097 Centerline is valid? [True, True] Translation: X:86.62, Y:-26.97, Z:1.00 [[ 7.95230286e-01 6.06112522e-01 -1.53753938e-02 8.66233175e+01] [-6.06002936e-01 7.95378896e-01 1.15262110e-02 -2.69743389e+01] [ 1.92154446e-02 1.51541676e-04 9.99815355e-01 9.99879969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.02 meters Centerline goodness [0,1] 0.9998179625457938 Centerline is valid? [True, True] Translation: X:86.65, Y:-26.99, Z:1.00 [[ 7.95482776e-01 6.05776910e-01 -1.55398972e-02 8.66489818e+01] [-6.05664796e-01 7.95634537e-01 1.16550162e-02 -2.69942513e+01] [ 1.94244186e-02 1.40603998e-04 9.99811318e-01 9.99716938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.05 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.67, Y:-27.01, Z:1.00 [[ 7.95590616e-01 6.05646296e-01 -1.51041548e-02 8.66735675e+01] [-6.05540261e-01 7.95733968e-01 1.13333602e-02 -2.70134025e+01] [ 1.88828967e-02 1.29458805e-04 9.99821694e-01 1.00197092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.08 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.70, Y:-27.03, Z:1.00 [[ 7.95967012e-01 6.05153153e-01 -1.50391632e-02 8.66984631e+01] [-6.05047857e-01 7.96109068e-01 1.12890722e-02 -2.70332150e+01] [ 1.88044319e-02 1.13684374e-04 9.99823175e-01 1.00208966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.11 meters Centerline goodness [0,1] 0.9997033588901059 Centerline is valid? [True, True] Translation: X:86.72, Y:-27.05, Z:1.00 [[ 7.97366827e-01 6.03286605e-01 -1.58560538e-02 8.67232695e+01] [-6.03169051e-01 7.97524462e-01 1.19091977e-02 -2.70543238e+01] [ 1.98302502e-02 6.78817656e-05 9.99803359e-01 9.99791197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.14 meters Centerline goodness [0,1] 0.9998173515981735 Centerline is valid? [True, True] Translation: X:86.75, Y:-27.08, Z:1.00 [[ 7.98476009e-01 6.01851176e-01 -1.45335581e-02 8.67469269e+01] [-6.01752075e-01 7.98608265e-01 1.09215014e-02 -2.70750574e+01] [ 1.81797381e-02 2.50418769e-05 9.99834735e-01 1.00186179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.17 meters Centerline goodness [0,1] 0.9999771804116654 Centerline is valid? [True, True] Translation: X:86.77, Y:-27.09, Z:1.00 [[ 7.98260272e-01 6.02153088e-01 -1.38635070e-02 8.67718656e+01] [-6.02062873e-01 7.98380647e-01 1.04230192e-02 -2.70945342e+01] [ 1.73446089e-02 2.64207203e-05 9.99849571e-01 1.00339422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.2 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.80, Y:-27.12, Z:1.01 [[ 7.98216782e-01 6.02213834e-01 -1.37283360e-02 8.67979566e+01] [-6.02125281e-01 7.98334828e-01 1.03271067e-02 -2.71150574e+01] [ 1.71789352e-02 2.29082863e-05 9.99852431e-01 1.00506054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.22999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.82, Y:-27.14, Z:1.01 [[ 7.98462924e-01 6.01897022e-01 -1.33016213e-02 8.68243261e+01] [-6.01813748e-01 7.98573713e-01 1.00119031e-02 -2.71351820e+01] [ 1.66484598e-02 1.09651035e-05 9.99861405e-01 1.00565143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.25999999999999 meters Centerline goodness [0,1] 0.9999771151337621 Centerline is valid? [True, True] Translation: X:86.85, Y:-27.15, Z:1.01 [[ 7.98741187e-01 6.01540119e-01 -1.27280122e-02 8.68495919e+01] [-6.01463741e-01 7.98842591e-01 9.58553793e-03 -2.71540835e+01] [ 1.59337638e-02 -9.26121906e-07 9.99873050e-01 1.00533266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.28999999999999 meters Centerline goodness [0,1] 0.9998854235889915 Centerline is valid? [True, True] Translation: X:86.88, Y:-27.17, Z:1.00 [[ 7.98884516e-01 6.01346373e-01 -1.28868067e-02 8.68759248e+01] [-6.01267964e-01 7.98988448e-01 9.71061913e-03 -2.71738700e+01] [ 1.61358553e-02 -9.23923401e-06 9.99869809e-01 1.00471213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32 meters Centerline goodness [0,1] 0.9998630480929447 Centerline is valid? [True, True] Translation: X:86.90, Y:-27.19, Z:1.00 [[ 7.98647441e-01 6.01655681e-01 -1.31417824e-02 8.69022614e+01] [-6.01574083e-01 7.98755558e-01 9.90862240e-03 -2.71930963e+01] [ 1.64586507e-02 -7.74023541e-06 9.99864547e-01 1.00475598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.35 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.93, Y:-27.21, Z:1.01 [[ 7.97603073e-01 6.03042276e-01 -1.30135105e-02 8.69278096e+01] [-6.02962357e-01 7.97709229e-01 9.81745815e-03 -2.72117943e+01] [ 1.63013397e-02 1.62221530e-05 9.99867124e-01 1.00695232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.38 meters Centerline goodness [0,1] 0.9997723858515045 Centerline is valid? [True, True] Translation: X:86.95, Y:-27.23, Z:1.00 [[ 7.97925392e-01 6.02598239e-01 -1.37996615e-02 8.69537395e+01] [-6.02508202e-01 7.98044712e-01 1.04165384e-02 -2.72314638e+01] [ 1.72897346e-02 2.78869295e-06 9.99850521e-01 1.00470560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.41 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.98, Y:-27.25, Z:1.01 [[ 7.96211009e-01 6.04857989e-01 -1.39585947e-02 8.69805701e+01] [-6.04766105e-01 7.96333354e-01 1.05426938e-02 -2.72503595e+01] [ 1.74925271e-02 4.74760436e-05 9.99846993e-01 1.00771084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.44 meters Centerline goodness [0,1] 0.9999083430718819 Centerline is valid? [True, True] Translation: X:87.01, Y:-27.27, Z:1.01 [[ 7.96197934e-01 6.04868148e-01 -1.42608750e-02 8.70072226e+01] [-6.04772127e-01 7.96325638e-01 1.07774166e-02 -2.72703895e+01] [ 1.78752164e-02 4.36228908e-05 9.99840225e-01 1.00678026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.47 meters Centerline goodness [0,1] 0.9998396665063332 Centerline is valid? [True, True] Translation: X:87.03, Y:-27.29, Z:1.01 [[ 7.96492990e-01 6.04471898e-01 -1.45822087e-02 8.70333969e+01] [-6.04371314e-01 7.96626464e-01 1.10268428e-02 -2.72905608e+01] [ 1.82819900e-02 3.02656573e-05 9.99832870e-01 1.00641894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.5 meters Centerline goodness [0,1] 0.9999313548268998 Centerline is valid? [True, True] Translation: X:87.06, Y:-27.31, Z:1.01 [[ 7.96479596e-01 6.04491105e-01 -1.45174929e-02 8.70598655e+01] [-6.04391297e-01 7.96611890e-01 1.09844014e-02 -2.73108008e+01] [ 1.82047804e-02 2.53947447e-05 9.99834279e-01 1.00785332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.53 meters Centerline goodness [0,1] 0.9998632042133102 Centerline is valid? [True, True] Translation: X:87.08, Y:-27.33, Z:1.01 [[ 7.97127190e-01 6.03655915e-01 -1.37032669e-02 8.70849793e+01] [-6.03566766e-01 7.97244967e-01 1.03741455e-02 -2.73301121e+01] [ 1.71872749e-02 1.32304549e-06 9.99852288e-01 1.00745795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.11, Y:-27.35, Z:1.01 [[ 7.96625390e-01 6.04336247e-01 -1.28720401e-02 8.71111588e+01] [-6.04257610e-01 7.96729377e-01 9.74887408e-03 -2.73495312e+01] [ 1.61471305e-02 1.18275701e-05 9.99869627e-01 1.01023786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.59 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.14, Y:-27.37, Z:1.01 [[ 7.96295420e-01 6.04778848e-01 -1.24959419e-02 8.71368844e+01] [-6.04704751e-01 7.96393461e-01 9.46679275e-03 -2.73689691e+01] [ 1.56770024e-02 1.79917196e-05 9.99877108e-01 1.01053445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.61999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.16, Y:-27.39, Z:1.01 [[ 7.96762515e-01 6.04165198e-01 -1.24060008e-02 8.71626253e+01] [-6.04092007e-01 7.96859093e-01 9.40387634e-03 -2.73888088e+01] [ 1.55673293e-02 1.70974910e-06 9.99878822e-01 1.01085457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.64999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.19, Y:-27.41, Z:1.01 [[ 7.97250082e-01 6.03516190e-01 -1.26694494e-02 8.71889728e+01] [-6.03439686e-01 7.97350743e-01 9.60924523e-03 -2.74089402e+01] [ 1.59013300e-02 -1.57229520e-05 9.99873566e-01 1.01056259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.67999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.21, Y:-27.43, Z:1.01 [[ 7.97329879e-01 6.03409176e-01 -1.27448017e-02 8.72139312e+01] [-6.03331665e-01 7.97431731e-01 9.67143915e-03 -2.74280786e+01] [ 1.59989444e-02 -2.19850043e-05 9.99872008e-01 1.01045610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.71 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.24, Y:-27.45, Z:1.01 [[ 7.96605391e-01 6.04361193e-01 -1.29383192e-02 8.72406001e+01] [-6.04281364e-01 7.96710455e-01 9.82264961e-03 -2.74480412e+01] [ 1.62445224e-02 -6.39044441e-06 9.99868049e-01 1.01151799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.74 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.27, Y:-27.47, Z:1.01 [[ 7.96305882e-01 6.04745548e-01 -1.34076211e-02 8.72663615e+01] [-6.04659776e-01 7.96418748e-01 1.01849507e-02 -2.74674694e+01] [ 1.68373844e-02 -3.28699963e-06 9.99858241e-01 1.01182427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.77 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.29, Y:-27.49, Z:1.01 [[ 7.95974706e-01 6.05176242e-01 -1.36375715e-02 8.72918779e+01] [-6.05087467e-01 7.96091525e-01 1.03653745e-02 -2.74864169e+01] [ 1.71296335e-02 1.34763588e-06 9.99853277e-01 1.01152712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.8 meters Centerline goodness [0,1] 0.9998633599781376 Centerline is valid? [True, True] Translation: X:87.32, Y:-27.51, Z:1.01 [[ 7.96083642e-01 6.05018321e-01 -1.42711596e-02 8.73170481e+01] [-6.04920972e-01 7.96211549e-01 1.08529735e-02 -2.75054618e+01] [ 1.79291099e-02 -6.95094906e-06 9.99839261e-01 1.00937899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.83 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.34, Y:-27.52, Z:1.01 [[ 7.94963102e-01 6.06490236e-01 -1.42569124e-02 8.73446862e+01] [-6.06393208e-01 7.95090934e-01 1.08482161e-02 -2.75242065e+01] [ 1.79148789e-02 2.13633339e-05 9.99839515e-01 1.01195655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.86 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.37, Y:-27.54, Z:1.01 [[ 7.94528506e-01 6.07065704e-01 -1.39887210e-02 8.73711976e+01] [-6.06972272e-01 7.94651641e-01 1.06504027e-02 -2.75433828e+01] [ 1.75816543e-02 2.87172114e-05 9.99845430e-01 1.01231785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.89 meters Centerline goodness [0,1] 0.9998861125663394 Centerline is valid? [True, True] Translation: X:87.40, Y:-27.56, Z:1.01 [[ 7.94817105e-01 6.06689820e-01 -1.39008072e-02 8.73975167e+01] [-6.06597392e-01 7.94938653e-01 1.05897093e-02 -2.75631558e+01] [ 1.74749578e-02 1.53113060e-05 9.99847301e-01 1.01082081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.92 meters Centerline goodness [0,1] 0.9998859645121562 Centerline is valid? [True, True] Translation: X:87.42, Y:-27.58, Z:1.01 [[ 7.94490767e-01 6.07121890e-01 -1.36905855e-02 8.74235061e+01] [-6.07032199e-01 7.94608715e-01 1.04355090e-02 -2.75823305e+01] [ 1.72142845e-02 1.97106969e-05 9.99851823e-01 1.01058354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.95 meters Centerline goodness [0,1] 0.9999544916719759 Centerline is valid? [True, True] Translation: X:87.45, Y:-27.60, Z:1.01 [[ 7.93325477e-01 6.08647630e-01 -1.35184849e-02 8.74498750e+01] [-6.08560303e-01 7.93440647e-01 1.03100689e-02 -2.76015621e+01] [ 1.70013144e-02 4.75729622e-05 9.99855466e-01 1.01342074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.97999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.48, Y:-27.62, Z:1.01 [[ 7.92883427e-01 6.09224799e-01 -1.34542164e-02 8.74756197e+01] [-6.09138285e-01 7.92997567e-01 1.02668576e-02 -2.76204737e+01] [ 1.69239851e-02 5.50570800e-05 9.99856778e-01 1.01406030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.00999999999999 meters Centerline goodness [0,1] 0.999909329948318 Centerline is valid? [True, True] Translation: X:87.50, Y:-27.64, Z:1.01 [[ 7.92757127e-01 6.09394292e-01 -1.32187342e-02 8.75016001e+01] [-6.09310724e-01 7.92867325e-01 1.00919251e-02 -2.76394129e+01] [ 1.66306640e-02 5.38709661e-05 9.99861699e-01 1.01364890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.03999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.53, Y:-27.66, Z:1.01 [[ 7.91038130e-01 6.11613829e-01 -1.36821650e-02 8.75289114e+01] [-6.11524576e-01 7.91156441e-01 1.04488847e-02 -2.76570212e+01] [ 1.72154153e-02 1.01513942e-04 9.99851799e-01 1.01436295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.07 meters Centerline goodness [0,1] 0.9999772933696639 Centerline is valid? [True, True] Translation: X:87.55, Y:-27.67, Z:1.01 [[ 7.89989578e-01 6.12956602e-01 -1.41658448e-02 8.75546807e+01] [-6.12861084e-01 7.90116565e-01 1.08215025e-02 -2.76738000e+01] [ 1.78257800e-02 1.32820802e-04 9.99841099e-01 1.01335261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.1 meters Centerline goodness [0,1] 0.999909329948318 Centerline is valid? [True, True] Translation: X:87.58, Y:-27.69, Z:1.01 [[ 7.87767043e-01 6.15792318e-01 -1.49300835e-02 8.75815930e+01] [-6.15686615e-01 7.87908485e-01 1.14110609e-02 -2.76911724e+01] [ 1.87903831e-02 2.02994893e-04 9.99823425e-01 1.01381236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.13 meters Centerline goodness [0,1] 0.9999321619971508 Centerline is valid? [True, True] Translation: X:87.61, Y:-27.71, Z:1.01 [[ 7.86884824e-01 6.16914582e-01 -1.51219137e-02 8.76077453e+01] [-6.16806239e-01 7.87030079e-01 1.15636445e-02 -2.77098766e+01] [ 1.90351819e-02 2.28034311e-04 9.99818789e-01 1.01313365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.16 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.63, Y:-27.73, Z:1.01 [[ 7.85428524e-01 6.18756084e-01 -1.55865602e-02 8.76341289e+01] [-6.18641219e-01 7.85583116e-01 1.19251983e-02 -2.77279692e+01] [ 1.96233275e-02 2.76097671e-04 9.99807406e-01 1.01385135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.19 meters Centerline goodness [0,1] 0.9999773011008966 Centerline is valid? [True, True] Translation: X:87.66, Y:-27.75, Z:1.01 [[ 7.83823780e-01 6.20773248e-01 -1.61510717e-02 8.76607760e+01] [-6.20650206e-01 7.83990092e-01 1.23635878e-02 -2.77455624e+01] [ 2.03372648e-02 3.33291882e-04 9.99793121e-01 1.01370961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.22 meters Centerline goodness [0,1] 0.9999094612947035 Centerline is valid? [True, True] Translation: X:87.69, Y:-27.76, Z:1.01 [[ 7.83259922e-01 6.21484870e-01 -1.61384971e-02 8.76860609e+01] [-6.21362068e-01 7.83426088e-01 1.23589866e-02 -2.77637860e+01] [ 2.03242428e-02 3.47551070e-04 9.99793381e-01 1.01360984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.25 meters Centerline goodness [0,1] 0.9999773314594006 Centerline is valid? [True, True] Translation: X:87.71, Y:-27.78, Z:1.01 [[ 7.82789429e-01 6.22081195e-01 -1.59904827e-02 8.77118528e+01] [-6.21960656e-01 7.82952655e-01 1.22508147e-02 -2.77841021e+01] [ 2.01407924e-02 3.55642843e-04 9.99797090e-01 1.01458156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.28 meters Centerline goodness [0,1] 0.9999317670070735 Centerline is valid? [True, True] Translation: X:87.74, Y:-27.80, Z:1.01 [[ 7.83068145e-01 6.21748930e-01 -1.52495369e-02 8.77373553e+01] [-6.21639119e-01 7.83216548e-01 1.16895088e-02 -2.78042527e+01] [ 1.92116293e-02 3.26026755e-04 9.99815386e-01 1.01470218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.31 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.76, Y:-27.82, Z:1.02 [[ 7.82962234e-01 6.21899844e-01 -1.45163358e-02 8.77635659e+01] [-6.21800257e-01 7.83096730e-01 1.11333812e-02 -2.78245191e+01] [ 1.82915432e-02 3.09244340e-04 9.99832648e-01 1.01701652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.34 meters Centerline goodness [0,1] 0.9999091672911415 Centerline is valid? [True, True] Translation: X:87.79, Y:-27.84, Z:1.02 [[ 7.83546841e-01 6.21173747e-01 -1.40543183e-02 8.77884667e+01] [-6.21080178e-01 7.83672826e-01 1.07849335e-02 -2.78444721e+01] [ 1.77133049e-02 2.78357937e-04 9.99843068e-01 1.01624163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.36999999999999 meters Centerline goodness [0,1] 0.9998419757545658 Centerline is valid? [True, True] Translation: X:87.81, Y:-27.86, Z:1.02 [[ 7.83950827e-01 6.20669010e-01 -1.38231628e-02 8.78126948e+01] [-6.20578325e-01 7.84072645e-01 1.06127439e-02 -2.78639731e+01] [ 1.74253651e-02 2.58485822e-04 9.99848133e-01 1.01657282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.39999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.84, Y:-27.89, Z:1.02 [[ 7.84278706e-01 6.20271773e-01 -1.30321949e-02 8.78364120e+01] [-6.20191038e-01 7.84386941e-01 1.00101377e-02 -2.78852042e+01] [ 1.64312894e-02 2.31712662e-04 9.99864970e-01 1.02043670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.42999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.86, Y:-27.90, Z:1.02 [[ 7.84504131e-01 6.19989387e-01 -1.29007177e-02 8.78608529e+01] [-6.19910154e-01 7.84610166e-01 9.91405667e-03 -2.79042411e+01] [ 1.62686442e-02 2.19667507e-04 9.99867633e-01 1.02054419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46 meters Centerline goodness [0,1] 0.9998178381947765 Centerline is valid? [True, True] Translation: X:87.89, Y:-27.92, Z:1.02 [[ 7.85032100e-01 6.19306587e-01 -1.35629507e-02 8.78852709e+01] [-6.19218820e-01 7.85149225e-01 1.04281827e-02 -2.79244348e+01] [ 1.71071824e-02 2.11976197e-04 9.99853639e-01 1.01835013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.49 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.91, Y:-27.94, Z:1.02 [[ 7.84603597e-01 6.19862727e-01 -1.29381214e-02 8.79106547e+01] [-6.19782855e-01 7.84710237e-01 9.95275612e-03 -2.79433162e+01] [ 1.63220188e-02 2.09857550e-04 9.99866765e-01 1.02045180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.52 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.94, Y:-27.96, Z:1.02 [[ 7.84311046e-01 6.20207239e-01 -1.41125435e-02 8.79362285e+01] [-6.20112153e-01 7.84437969e-01 1.08623456e-02 -2.79627716e+01] [ 1.78073203e-02 2.31902069e-04 9.99841410e-01 1.01881632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.55 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.96, Y:-27.98, Z:1.02 [[ 7.84148440e-01 6.20391221e-01 -1.50318567e-02 8.79620871e+01] [-6.20283252e-01 7.84292466e-01 1.15764942e-02 -2.79830756e+01] [ 1.89713273e-02 2.46319035e-04 9.99819998e-01 1.01817507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.58 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.99, Y:-28.00, Z:1.02 [[ 7.83615704e-01 6.21028857e-01 -1.64190915e-02 8.79870969e+01] [-6.20900032e-01 7.83787650e-01 1.26518567e-02 -2.80029247e+01] [ 2.07262493e-02 2.80420794e-04 9.99785149e-01 1.01724074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.61 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.01, Y:-28.02, Z:1.02 [[ 7.83176582e-01 6.21572077e-01 -1.68105598e-02 8.80125993e+01] [-6.21437014e-01 7.83356921e-01 1.29603985e-02 -2.80231099e+01] [ 2.12244901e-02 2.96423498e-04 9.99774691e-01 1.01732253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.64 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.04, Y:-28.04, Z:1.02 [[ 7.82722804e-01 6.22123315e-01 -1.75383411e-02 8.80377389e+01] [-6.21976276e-01 7.82919204e-01 1.35289402e-02 -2.80436575e+01] [ 2.21477731e-02 3.19022101e-04 9.99754657e-01 1.01782754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.67 meters Centerline goodness [0,1] 0.9998183964405702 Centerline is valid? [True, True] Translation: X:88.06, Y:-28.06, Z:1.01 [[ 7.82440900e-01 6.22433598e-01 -1.90434804e-02 8.80623681e+01] [-6.22260147e-01 7.82672533e-01 1.46974819e-02 -2.80624276e+01] [ 2.40530156e-02 3.50087939e-04 9.99710623e-01 1.01474294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.7 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.09, Y:-28.08, Z:1.02 [[ 7.81578477e-01 6.23542490e-01 -1.81617004e-02 8.80886750e+01] [-6.23384864e-01 7.81789379e-01 1.40241908e-02 -2.80827725e+01] [ 2.29433034e-02 3.60723425e-04 9.99736703e-01 1.01737464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.72999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.11, Y:-28.10, Z:1.02 [[ 7.81293632e-01 6.23899770e-01 -1.81476650e-02 8.81138712e+01] [-6.23742305e-01 7.81504283e-01 1.40211692e-02 -2.81023880e+01] [ 2.29302821e-02 3.64816238e-04 9.99737000e-01 1.01765359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.75999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.14, Y:-28.12, Z:1.02 [[ 7.81083241e-01 6.24185242e-01 -1.73710560e-02 8.81394238e+01] [-6.24040889e-01 7.81276301e-01 1.34279618e-02 -2.81221617e+01] [ 2.19531300e-02 3.51893300e-04 9.99758939e-01 1.01865751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.78999999999999 meters Centerline goodness [0,1] 0.9998402738163149 Centerline is valid? [True, True] Translation: X:88.16, Y:-28.14, Z:1.02 [[ 7.80850928e-01 6.24504947e-01 -1.62911062e-02 8.81644456e+01] [-6.24377957e-01 7.81020780e-01 1.25979291e-02 -2.81407785e+01] [ 2.05911615e-02 3.34702978e-04 9.99787924e-01 1.01798631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.19, Y:-28.16, Z:1.02 [[ 7.80044695e-01 6.25557740e-01 -1.44148649e-02 8.81904656e+01] [-6.25458425e-01 7.80177809e-01 1.11510289e-02 -2.81597323e+01] [ 1.82217702e-02 3.17597747e-04 9.99833919e-01 1.02144790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.85 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.22, Y:-28.18, Z:1.02 [[ 7.79876253e-01 6.25767789e-01 -1.44119636e-02 8.82160336e+01] [-6.25668441e-01 7.80009342e-01 1.11547778e-02 -2.81796369e+01] [ 1.82217669e-02 3.17764497e-04 9.99833919e-01 1.02180223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.88 meters Centerline goodness [0,1] 0.9998181446204906 Centerline is valid? [True, True] Translation: X:88.24, Y:-28.20, Z:1.02 [[ 7.80114605e-01 6.25481846e-01 -1.39162792e-02 8.82404313e+01] [-6.25389070e-01 7.80238664e-01 1.07768026e-02 -2.82010621e+01] [ 1.75987135e-02 2.95947849e-04 9.99845087e-01 1.02125733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.91 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.27, Y:-28.22, Z:1.02 [[ 7.80023516e-01 6.25635473e-01 -1.19819978e-02 8.82659027e+01] [-6.25566649e-01 7.80115498e-01 9.28317666e-03 -2.82209034e+01] [ 1.51552268e-02 2.54442136e-04 9.99885121e-01 1.02490772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.94 meters Centerline goodness [0,1] 0.9998410716312862 Centerline is valid? [True, True] Translation: X:88.29, Y:-28.24, Z:1.02 [[ 7.80472518e-01 6.25071423e-01 -1.21805611e-02 8.82910572e+01] [-6.25000155e-01 7.80567523e-01 9.44183733e-03 -2.82399279e+01] [ 1.54095731e-02 2.43758007e-04 9.99881236e-01 1.02247520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.97 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.32, Y:-28.26, Z:1.03 [[ 7.79686794e-01 6.26056002e-01 -1.19324999e-02 8.83168852e+01] [-6.25987657e-01 7.79778056e-01 9.25397589e-03 -2.82591584e+01] [ 1.50982088e-02 2.54394870e-04 9.99885983e-01 1.02509633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.0 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.34, Y:-28.28, Z:1.02 [[ 7.78717817e-01 6.27249609e-01 -1.25095778e-02 8.83431293e+01] [-6.27174565e-01 7.78818237e-01 9.70666157e-03 -2.82782696e+01] [ 1.58311870e-02 2.86938682e-04 9.99874638e-01 1.02493781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.03 meters Centerline goodness [0,1] 0.9999319063939897 Centerline is valid? [True, True] Translation: X:88.37, Y:-28.30, Z:1.02 [[ 7.78162742e-01 6.27917335e-01 -1.35117338e-02 8.83689602e+01] [-6.27829788e-01 7.78279974e-01 1.04899587e-02 -2.82976101e+01] [ 1.71027387e-02 3.20173955e-04 9.99853686e-01 1.02342543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.06 meters Centerline goodness [0,1] 0.9999546711391143 Centerline is valid? [True, True] Translation: X:88.39, Y:-28.32, Z:1.02 [[ 7.77344788e-01 6.28920276e-01 -1.39415637e-02 8.83944524e+01] [-6.28827134e-01 7.77469719e-01 1.08292036e-02 -2.83151495e+01] [ 1.76498493e-02 3.48808602e-04 9.99844168e-01 1.02317457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.09 meters Centerline goodness [0,1] 0.9998866367387657 Centerline is valid? [True, True] Translation: X:88.42, Y:-28.33, Z:1.02 [[ 7.76680786e-01 6.29705066e-01 -1.54429999e-02 8.84206436e+01] [-6.29590812e-01 7.76834196e-01 1.20017190e-02 -2.83340825e+01] [ 1.95541937e-02 4.01266280e-04 9.99808718e-01 1.02135366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.11999999999999 meters Centerline goodness [0,1] 0.9999321435841759 Centerline is valid? [True, True] Translation: X:88.45, Y:-28.35, Z:1.02 [[ 7.76542191e-01 6.29866574e-01 -1.58216213e-02 8.84468766e+01] [-6.29746545e-01 7.76703245e-01 1.23027988e-02 -2.83539870e+01] [ 2.00378263e-02 4.09968998e-04 9.99799139e-01 1.02173759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.14999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.47, Y:-28.37, Z:1.02 [[ 7.76464232e-01 6.29964062e-01 -1.57663025e-02 8.84725087e+01] [-6.29844747e-01 7.76624179e-01 1.22669982e-02 -2.83744916e+01] [ 1.99722597e-02 4.05437474e-04 9.99800452e-01 1.02282703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.17999999999999 meters Centerline goodness [0,1] 0.9999774205202312 Centerline is valid? [True, True] Translation: X:88.50, Y:-28.39, Z:1.02 [[ 7.76827411e-01 6.29503361e-01 -1.62693533e-02 8.84970679e+01] [-6.29376066e-01 7.76997656e-01 1.26653166e-02 -2.83931114e+01] [ 2.06141088e-02 4.00776489e-04 9.99787426e-01 1.02176489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.21 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.52, Y:-28.42, Z:1.02 [[ 7.78145265e-01 6.27865260e-01 -1.65879707e-02 8.85198221e+01] [-6.27732422e-01 7.78321968e-01 1.29197867e-02 -2.84160605e+01] [ 2.10226672e-02 3.59336146e-04 9.99778935e-01 1.02355884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.24 meters Centerline goodness [0,1] 0.9998176887491169 Centerline is valid? [True, True] Translation: X:88.54, Y:-28.44, Z:1.02 [[ 7.79485881e-01 6.26179664e-01 -1.73432970e-02 8.85434700e+01] [-6.26033877e-01 7.79678731e-01 1.35151945e-02 -2.84374853e+01] [ 2.19851397e-02 3.22588163e-04 9.99758246e-01 1.02215732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.27 meters Centerline goodness [0,1] 0.9998409054751244 Centerline is valid? [True, True] Translation: X:88.57, Y:-28.46, Z:1.02 [[ 7.80457907e-01 6.24963767e-01 -1.74855864e-02 8.85673816e+01] [-6.24815122e-01 7.80653706e-01 1.36328689e-02 -2.84580022e+01] [ 2.21702369e-02 2.85378520e-04 9.99754169e-01 1.02227337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.3 meters Centerline goodness [0,1] 0.9999544107590609 Centerline is valid? [True, True] Translation: X:88.59, Y:-28.48, Z:1.02 [[ 7.81282385e-01 6.23951285e-01 -1.68115767e-02 8.85914923e+01] [-6.23813511e-01 7.81463201e-01 1.31136927e-02 -2.84797644e+01] [ 2.13199340e-02 2.41791631e-04 9.99772675e-01 1.02441486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.33 meters Centerline goodness [0,1] 0.9999086820537406 Centerline is valid? [True, True] Translation: X:88.61, Y:-28.50, Z:1.03 [[ 7.83963496e-01 6.20583881e-01 -1.66398319e-02 8.86134614e+01] [-6.20448007e-01 7.84140055e-01 1.29862898e-02 -2.85032559e+01] [ 2.11070408e-02 1.43373393e-04 9.99777211e-01 1.02521068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.36 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.64, Y:-28.53, Z:1.03 [[ 7.85074283e-01 6.19203376e-01 -1.56700119e-02 8.86375977e+01] [-6.19082521e-01 7.85230648e-01 1.22336494e-02 -2.85252893e+01] [ 1.98796906e-02 9.67069641e-05 9.99802375e-01 1.02817399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.39 meters Centerline goodness [0,1] 0.9998857795545403 Centerline is valid? [True, True] Translation: X:88.66, Y:-28.55, Z:1.03 [[ 7.86857278e-01 6.16944436e-01 -1.53358198e-02 8.86603028e+01] [-6.16828179e-01 7.87006710e-01 1.19764583e-02 -2.85464922e+01] [ 1.94582024e-02 3.58023827e-05 9.99810671e-01 1.02749490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.42 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.68, Y:-28.57, Z:1.03 [[ 7.89400356e-01 6.13715328e-01 -1.41624296e-02 8.86823398e+01] [-6.13615569e-01 7.89527386e-01 1.10652680e-02 -2.85703254e+01] [ 1.79725506e-02 -4.46392211e-05 9.99838480e-01 1.03149797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.45 meters Centerline goodness [0,1] 0.99986209432748 Centerline is valid? [True, True] Translation: X:88.71, Y:-28.59, Z:1.03 [[ 7.91261367e-01 6.11309575e-01 -1.43545558e-02 8.87059847e+01] [-6.11206588e-01 7.91391554e-01 1.12211516e-02 -2.85922519e+01] [ 1.82196717e-02 -1.05264629e-04 9.99834002e-01 1.03010837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.47999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.73, Y:-28.61, Z:1.03 [[ 7.92200154e-01 6.10102795e-01 -1.39103054e-02 8.87305160e+01] [-6.10005797e-01 7.92322259e-01 1.08795999e-02 -2.86138978e+01] [ 1.76591189e-02 -1.33453803e-04 9.99844057e-01 1.03275734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.50999999999999 meters Centerline goodness [0,1] 0.999930921734325 Centerline is valid? [True, True] Translation: X:88.75, Y:-28.63, Z:1.03 [[ 7.94430827e-01 6.07194200e-01 -1.39594055e-02 8.87538217e+01] [-6.07095962e-01 7.94553436e-01 1.09238722e-02 -2.86345022e+01] [ 1.77244055e-02 -2.03562155e-04 9.99842890e-01 1.03134725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.53999999999999 meters Centerline goodness [0,1] 0.9999079147290391 Centerline is valid? [True, True] Translation: X:88.78, Y:-28.65, Z:1.03 [[ 7.95271005e-01 6.06089205e-01 -1.41387500e-02 8.87786985e+01] [-6.05988155e-01 7.95396643e-01 1.10695594e-02 -2.86548012e+01] [ 1.79550547e-02 -2.35384627e-04 9.99838767e-01 1.03112967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.80, Y:-28.67, Z:1.03 [[ 7.95699211e-01 6.05523854e-01 -1.42698658e-02 8.88038659e+01] [-6.05420729e-01 7.95827115e-01 1.11778210e-02 -2.86748320e+01] [ 1.81247834e-02 -2.54910788e-04 9.99835700e-01 1.03363502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.6 meters Centerline goodness [0,1] 0.9998618625532405 Centerline is valid? [True, True] Translation: X:88.83, Y:-28.69, Z:1.03 [[ 7.96981278e-01 6.03817744e-01 -1.49991561e-02 8.88284130e+01] [-6.03703411e-01 7.97122346e-01 1.17539885e-02 -2.86948331e+01] [ 1.90534293e-02 -3.12667080e-04 9.99818418e-01 1.03199180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.63 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.85, Y:-28.72, Z:1.03 [[ 7.98190683e-01 6.02204355e-01 -1.55418670e-02 8.88536098e+01] [-6.02081201e-01 7.98341894e-01 1.21839133e-02 -2.87150120e+01] [ 1.97449292e-02 -3.67620103e-04 9.99804982e-01 1.03414037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.66 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.88, Y:-28.74, Z:1.03 [[ 7.99008569e-01 6.01124957e-01 -1.53000677e-02 8.88771177e+01] [-6.01005295e-01 7.99154949e-01 1.20001661e-02 -2.87357294e+01] [ 1.94407241e-02 -3.92813835e-04 9.99810934e-01 1.03377010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.69 meters Centerline goodness [0,1] 0.9998850706815309 Centerline is valid? [True, True] Translation: X:88.90, Y:-28.75, Z:1.03 [[ 8.00304038e-01 5.99396783e-01 -1.53929760e-02 8.89025149e+01] [-5.99275228e-01 8.00451936e-01 1.20788771e-02 -2.87547906e+01] [ 1.95613775e-02 -4.42144939e-04 9.99808560e-01 1.03290842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.72 meters Centerline goodness [0,1] 0.9999309646539027 Centerline is valid? [True, True] Translation: X:88.93, Y:-28.77, Z:1.03 [[ 8.02073737e-01 5.97035492e-01 -1.50446295e-02 8.89278502e+01] [-5.96918852e-01 8.02214671e-01 1.18112960e-02 -2.87749843e+01] [ 1.91207854e-02 -4.93107355e-04 9.99817059e-01 1.03400424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.95, Y:-28.79, Z:1.04 [[ 8.02376471e-01 5.96636618e-01 -1.47222392e-02 8.89532461e+01] [-5.96524751e-01 8.02511371e-01 1.15638112e-02 -2.87947741e+01] [ 1.87141575e-02 -4.96349958e-04 9.99824752e-01 1.03593619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.78 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.98, Y:-28.82, Z:1.04 [[ 8.02895861e-01 5.95944773e-01 -1.44244065e-02 8.89786867e+01] [-5.95837173e-01 8.03025261e-01 1.13354716e-02 -2.88150316e+01] [ 1.83384778e-02 -5.06605602e-04 9.99831708e-01 1.03619778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.81 meters Centerline goodness [0,1] 0.9998624011007912 Centerline is valid? [True, True] Translation: X:89.00, Y:-28.83, Z:1.03 [[ 8.03477899e-01 5.95134284e-01 -1.54418477e-02 8.90045810e+01] [-5.95010694e-01 8.03626071e-01 1.21413110e-02 -2.88336788e+01] [ 1.96351818e-02 -5.67210485e-04 9.99807050e-01 1.03484864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.84 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.03, Y:-28.85, Z:1.04 [[ 8.02369729e-01 5.96629046e-01 -1.53817869e-02 8.90305790e+01] [-5.96506571e-01 8.02516976e-01 1.21001274e-02 -2.88523403e+01] [ 1.95634326e-02 -5.33438989e-04 9.99808475e-01 1.03726778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.86999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.06, Y:-28.87, Z:1.04 [[ 8.01471336e-01 5.97837264e-01 -1.53069542e-02 8.90562121e+01] [-5.97716081e-01 8.01617333e-01 1.20472866e-02 -2.88707981e+01] [ 1.94726366e-02 -5.06342188e-04 9.99810262e-01 1.03756710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.89999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.08, Y:-28.89, Z:1.04 [[ 7.98790520e-01 6.01412477e-01 -1.53862507e-02 8.90847360e+01] [-6.01290582e-01 7.98938578e-01 1.21154927e-02 -2.88853544e+01] [ 1.95790777e-02 -4.26133082e-04 9.99808221e-01 1.03737492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.92999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.11, Y:-28.90, Z:1.04 [[ 7.96996152e-01 6.03795278e-01 -1.51127978e-02 8.91108323e+01] [-6.03678018e-01 7.97139342e-01 1.19046348e-02 -2.89020119e+01] [ 1.92349679e-02 -3.64684352e-04 9.99814924e-01 1.03719996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.14, Y:-28.92, Z:1.04 [[ 7.95023577e-01 6.06395505e-01 -1.48997845e-02 8.91383874e+01] [-6.06281900e-01 7.95163128e-01 1.17412860e-02 -2.89190245e+01] [ 1.89676223e-02 -3.01129514e-04 9.99820053e-01 1.03751577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.99 meters Centerline goodness [0,1] 0.9999774118497436 Centerline is valid? [True, True] Translation: X:89.17, Y:-28.93, Z:1.04 [[ 7.91194773e-01 6.11401881e-01 -1.40915167e-02 8.91676317e+01] [-6.11300960e-01 7.91320232e-01 1.11097930e-02 -2.89337406e+01] [ 1.79434506e-02 -1.75852444e-04 9.99838988e-01 1.03728337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.02 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.19, Y:-28.95, Z:1.04 [[ 7.89011500e-01 6.14227159e-01 -1.36326819e-02 8.91932794e+01] [-6.14133033e-01 7.89129258e-01 1.07532381e-02 -2.89512840e+01] [ 1.73628790e-02 -1.12148256e-04 9.99849248e-01 1.03778315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.05 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.22, Y:-28.97, Z:1.04 [[ 7.87034751e-01 6.16766785e-01 -1.32300118e-02 8.92202308e+01] [-6.16678414e-01 7.87145939e-01 1.04405292e-02 -2.89692088e+01] [ 1.68533217e-02 -5.83965629e-05 9.99857971e-01 1.03915942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.08 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.25, Y:-28.99, Z:1.04 [[ 7.83513071e-01 6.21247325e-01 -1.26106638e-02 8.92480160e+01] [-6.21167534e-01 7.83614548e-01 9.95660022e-03 -2.89854339e+01] [ 1.60674109e-02 3.22085507e-05 9.99870910e-01 1.04041387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.11 meters Centerline goodness [0,1] 0.9999328964144317 Centerline is valid? [True, True] Translation: X:89.27, Y:-29.00, Z:1.04 [[ 7.81836736e-01 6.23359583e-01 -1.24156951e-02 8.92749741e+01] [-6.23282425e-01 7.81935308e-01 9.80780878e-03 -2.90041375e+01] [ 1.58220619e-02 7.03793270e-05 9.99874821e-01 1.03980922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.14 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.30, Y:-29.02, Z:1.04 [[ 7.80066961e-01 6.25585290e-01 -1.17720690e-02 8.93017356e+01] [-6.25516102e-01 7.80155775e-01 9.30446466e-03 -2.90224669e+01] [ 1.50047838e-02 1.05513213e-04 9.99887416e-01 1.04101504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.17 meters Centerline goodness [0,1] 0.9998883679392722 Centerline is valid? [True, True] Translation: X:89.33, Y:-29.04, Z:1.04 [[ 7.78971489e-01 6.26939644e-01 -1.22516212e-02 8.93275886e+01] [-6.26864788e-01 7.79067818e-01 9.68877351e-03 -2.90412881e+01] [ 1.56191200e-02 1.32831572e-04 9.99878005e-01 1.03969392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.2 meters Centerline goodness [0,1] 0.9998437744102484 Centerline is valid? [True, True] Translation: X:89.35, Y:-29.06, Z:1.04 [[ 7.77861906e-01 6.28313687e-01 -1.23598606e-02 8.93539602e+01] [-6.28237608e-01 7.77960079e-01 9.77865985e-03 -2.90588835e+01] [ 1.57595440e-02 1.58482285e-04 9.99875798e-01 1.03854001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.22999999999999 meters Centerline goodness [0,1] 0.9998662058200468 Centerline is valid? [True, True] Translation: X:89.38, Y:-29.08, Z:1.04 [[ 7.75990937e-01 6.30630181e-01 -1.19849933e-02 8.93799188e+01] [-6.30558875e-01 7.76083459e-01 9.48524695e-03 -2.90784423e+01] [ 1.52830380e-02 1.96778204e-04 9.99883188e-01 1.03926115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.25999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.41, Y:-29.10, Z:1.04 [[ 7.74874595e-01 6.32015346e-01 -1.12234240e-02 8.94054363e+01] [-6.31952899e-01 7.74955844e-01 8.88673143e-03 -2.90983263e+01] [ 1.43142087e-02 2.06572908e-04 9.99897525e-01 1.04168474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.28999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.43, Y:-29.12, Z:1.04 [[ 7.73795947e-01 6.33316900e-01 -1.22285136e-02 8.94305722e+01] [-6.33242849e-01 7.73892526e-01 9.68772987e-03 -2.91187470e+01] [ 1.55989583e-02 2.47292683e-04 9.99878298e-01 1.04060166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.46, Y:-29.14, Z:1.04 [[ 7.73233462e-01 6.33987825e-01 -1.30173782e-02 8.94550765e+01] [-6.33903914e-01 7.73342979e-01 1.03181893e-02 -2.91393156e+01] [ 1.66085045e-02 2.73397750e-04 9.99862032e-01 1.04002261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.35 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.48, Y:-29.16, Z:1.04 [[ 7.72885131e-01 6.34391929e-01 -1.39805068e-02 8.94796826e+01] [-6.34295118e-01 7.73011508e-01 1.10865884e-02 -2.91589700e+01] [ 1.78403348e-02 2.99107855e-04 9.99840804e-01 1.03901565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.38 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.50, Y:-29.18, Z:1.04 [[ 7.72343011e-01 6.35028084e-01 -1.50201562e-02 8.95035784e+01] [-6.34916373e-01 7.72488978e-01 1.19154963e-02 -2.91792900e+01] [ 1.91695799e-02 3.33692768e-04 9.99816191e-01 1.03703829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.41 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.53, Y:-29.20, Z:1.04 [[ 7.72219353e-01 6.35157525e-01 -1.58804640e-02 8.95287931e+01] [-6.35032541e-01 7.72382544e-01 1.26046649e-02 -2.92009986e+01] [ 2.02717410e-02 3.51045258e-04 9.99794446e-01 1.03656544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.44 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.55, Y:-29.22, Z:1.04 [[ 7.72084411e-01 6.35315020e-01 -1.61396555e-02 8.95534326e+01] [-6.35185801e-01 7.72253002e-01 1.28178846e-02 -2.92233836e+01] [ 2.06072920e-02 3.55191161e-04 9.99787584e-01 1.03674108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.47 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.58, Y:-29.24, Z:1.04 [[ 7.72764896e-01 6.34482792e-01 -1.63095574e-02 8.95775115e+01] [-6.34350509e-01 7.72936917e-01 1.29597613e-02 -2.92435750e+01] [ 2.08290045e-02 3.31127474e-04 9.99782998e-01 1.03549642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.60, Y:-29.27, Z:1.04 [[ 7.73387098e-01 6.33733320e-01 -1.59522926e-02 8.95996663e+01] [-6.33606485e-01 7.73551543e-01 1.26820016e-02 -2.92674130e+01] [ 2.03769275e-02 2.99379596e-04 9.99792324e-01 1.03776448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.53 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.62, Y:-29.29, Z:1.04 [[ 7.74215831e-01 6.32728759e-01 -1.56257803e-02 8.96228272e+01] [-6.32606735e-01 7.74373455e-01 1.24286322e-02 -2.92896512e+01] [ 1.99641425e-02 2.62530098e-04 9.99800662e-01 1.03887863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.64, Y:-29.31, Z:1.04 [[ 7.76805623e-01 6.29576252e-01 -1.43794078e-02 8.96437507e+01] [-6.29472275e-01 7.76938683e-01 1.14427871e-02 -2.93146105e+01] [ 1.83760251e-02 1.62617184e-04 9.99831133e-01 1.04140819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.59 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.67, Y:-29.34, Z:1.04 [[ 7.78257163e-01 6.27788955e-01 -1.40291054e-02 8.96659032e+01] [-6.27689595e-01 7.78383591e-01 1.11694523e-02 -2.93360294e+01] [ 1.79320842e-02 1.13217259e-04 9.99839201e-01 1.04228299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.61999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.69, Y:-29.36, Z:1.04 [[ 7.80031893e-01 6.25590164e-01 -1.36818252e-02 8.96885284e+01] [-6.25495237e-01 7.80151872e-01 1.08979786e-02 -2.93578378e+01] [ 1.74915698e-02 5.71455864e-05 9.99847009e-01 1.04246920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.64999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.71, Y:-29.38, Z:1.04 [[ 7.81815000e-01 6.23361494e-01 -1.36291390e-02 8.97120502e+01] [-6.23266863e-01 7.81933787e-01 1.08614109e-02 -2.93810164e+01] [ 1.74276696e-02 2.97676191e-06 9.99848127e-01 1.04305317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.67999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.74, Y:-29.40, Z:1.04 [[ 7.83693893e-01 6.21003909e-01 -1.33426517e-02 8.97358482e+01] [-6.20912774e-01 7.83807465e-01 1.06388813e-02 -2.94042819e+01] [ 1.70648569e-02 -5.30034753e-05 9.99854383e-01 1.04385727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.71 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.76, Y:-29.43, Z:1.05 [[ 7.85767534e-01 6.18399061e-01 -1.23281630e-02 8.97609929e+01] [-6.18320855e-01 7.85864231e-01 9.83514420e-03 -2.94260675e+01] [ 1.57703063e-02 -1.05376719e-04 9.99875635e-01 1.04638820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.74 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.79, Y:-29.45, Z:1.05 [[ 7.86691640e-01 6.17222022e-01 -1.23789874e-02 8.97858450e+01] [-6.17142939e-01 7.86789017e-01 9.88108088e-03 -2.94468914e+01] [ 1.58384721e-02 -1.33759028e-04 9.99874555e-01 1.04717502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.77 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.81, Y:-29.47, Z:1.05 [[ 7.86520556e-01 6.17440068e-01 -1.23764944e-02 8.98111010e+01] [-6.17360962e-01 7.86617915e-01 9.88420285e-03 -2.94671680e+01] [ 1.58384751e-02 -1.33364252e-04 9.99874555e-01 1.04752919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.8 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.84, Y:-29.49, Z:1.05 [[ 7.87267641e-01 6.16491355e-01 -1.21684080e-02 8.98359783e+01] [-6.16414692e-01 7.87361661e-01 9.72326484e-03 -2.94880563e+01] [ 1.55752467e-02 -1.54026306e-04 9.99878687e-01 1.04846469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.83 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.86, Y:-29.51, Z:1.05 [[ 7.89818770e-01 6.13213271e-01 -1.24818271e-02 8.98601521e+01] [-6.13132116e-01 7.89917358e-01 9.97876278e-03 -2.95088469e+01] [ 1.59787217e-02 -2.28405054e-04 9.99872306e-01 1.04920067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.86 meters Centerline goodness [0,1] 0.9998398242643357 Centerline is valid? [True, True] Translation: X:89.88, Y:-29.53, Z:1.05 [[ 7.91543461e-01 6.10972338e-01 -1.31053721e-02 8.98842172e+01] [-6.10882475e-01 7.91651891e-01 1.04826048e-02 -2.95294953e+01] [ 1.67794742e-02 -2.91595130e-04 9.99859172e-01 1.04736376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.89 meters Centerline goodness [0,1] 0.9999312919405446 Centerline is valid? [True, True] Translation: X:89.91, Y:-29.55, Z:1.05 [[ 7.92833548e-01 6.09303573e-01 -1.28109925e-02 8.99082421e+01] [-6.09217404e-01 7.92936978e-01 1.02519883e-02 -2.95504003e+01] [ 1.64048828e-02 -3.23440674e-04 9.99865379e-01 1.04805436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.92 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.93, Y:-29.57, Z:1.05 [[ 7.95713465e-01 6.05533964e-01 -1.29884705e-02 8.99308868e+01] [-6.05444806e-01 7.95819357e-01 1.03988808e-02 -2.95709814e+01] [ 1.66333517e-02 -4.10727449e-04 9.99861572e-01 1.04836338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.95 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.96, Y:-29.59, Z:1.05 [[ 7.97108725e-01 6.03696778e-01 -1.29568809e-02 8.99559357e+01] [-6.03607737e-01 7.97213897e-01 1.03780327e-02 -2.95904891e+01] [ 1.65945904e-02 -4.51546874e-04 9.99862198e-01 1.04867471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.97999999999999 meters Centerline goodness [0,1] 0.9998857299570345 Centerline is valid? [True, True] Translation: X:89.98, Y:-29.61, Z:1.05 [[ 7.98590361e-01 6.01739242e-01 -1.27796194e-02 8.99811651e+01] [-6.01652288e-01 7.98692459e-01 1.02410677e-02 -2.96100068e+01] [ 1.63694380e-02 -4.89530660e-04 9.99865892e-01 1.04771047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.00999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.01, Y:-29.63, Z:1.05 [[ 8.00610441e-01 5.99071263e-01 -1.16852075e-02 9.00068762e+01] [-5.98998221e-01 8.00695554e-01 9.36806164e-03 -2.96289331e+01] [ 1.49684302e-02 -5.00749486e-04 9.99887841e-01 1.05074695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.03999999999999 meters Centerline goodness [0,1] 0.9998409380112707 Centerline is valid? [True, True] Translation: X:90.03, Y:-29.65, Z:1.05 [[ 8.01667589e-01 5.97666658e-01 -1.11195024e-02 9.00307767e+01] [-5.97600331e-01 8.01744543e-01 8.91808407e-03 -2.96486272e+01] [ 1.42450419e-02 -5.04320617e-04 9.99898407e-01 1.05005834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.06, Y:-29.67, Z:1.05 [[ 8.02191863e-01 5.96979374e-01 -1.01902214e-02 9.00572934e+01] [-5.96923569e-01 8.02256443e-01 8.17637044e-03 -2.96662737e+01] [ 1.30562952e-02 -4.76234538e-04 9.99914650e-01 1.05332969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.1 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.08, Y:-29.69, Z:1.05 [[ 8.02892943e-01 5.96047041e-01 -9.53139501e-03 9.00784665e+01] [-5.95998111e-01 8.02949383e-01 7.65121724e-03 -2.96890756e+01] [ 1.22137131e-02 -4.62414909e-04 9.99925303e-01 1.05384457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.13 meters Centerline goodness [0,1] 0.9998190536505926 Centerline is valid? [True, True] Translation: X:90.11, Y:-29.70, Z:1.05 [[ 8.04148980e-01 5.94373330e-01 -8.04753845e-03 9.01092277e+01] [-5.94338351e-01 8.04189141e-01 6.46143846e-03 -2.97015172e+01] [ 1.03122497e-02 -4.12998406e-04 9.99946742e-01 1.05211453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.16 meters Centerline goodness [0,1] 0.9998196776738419 Centerline is valid? [True, True] Translation: X:90.14, Y:-29.72, Z:1.05 [[ 8.04244961e-01 5.94248772e-01 -7.64460118e-03 9.01356485e+01] [-5.94217176e-01 8.04281195e-01 6.14063799e-03 -2.97202738e+01] [ 9.79747555e-03 -3.96023843e-04 9.99951925e-01 1.05211286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.19 meters Centerline goodness [0,1] 0.9997521461886844 Centerline is valid? [True, True] Translation: X:90.16, Y:-29.74, Z:1.05 [[ 8.04168359e-01 5.94355336e-01 -7.41510090e-03 9.01633482e+01] [-5.94325587e-01 8.04202453e-01 5.95912835e-03 -2.97381946e+01] [ 9.50508207e-03 -3.85158274e-04 9.99954752e-01 1.05203814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.22 meters Centerline goodness [0,1] 0.9997766511066938 Centerline is valid? [True, True] Translation: X:90.19, Y:-29.76, Z:1.05 [[ 8.03531085e-01 5.95222020e-01 -6.96718755e-03 9.01890127e+01] [-5.95195760e-01 8.03561211e-01 5.60234094e-03 -2.97553178e+01] [ 8.93319836e-03 -3.54814605e-04 9.99960035e-01 1.05214145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.25 meters Centerline goodness [0,1] 0.9997098084735926 Centerline is valid? [True, True] Translation: X:90.22, Y:-29.77, Z:1.05 [[ 8.02924579e-01 5.96039464e-01 -7.00564185e-03 9.02173246e+01] [-5.96012920e-01 8.02955064e-01 5.63589188e-03 -2.97717265e+01] [ 8.98442957e-03 -3.49743049e-04 9.99959578e-01 1.05207023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.28 meters Centerline goodness [0,1] 0.9997993042547498 Centerline is valid? [True, True] Translation: X:90.24, Y:-29.79, Z:1.05 [[ 8.02044362e-01 5.97220205e-01 -7.27105007e-03 9.02435821e+01] [-5.97191632e-01 8.02077242e-01 5.85252522e-03 -2.97890130e+01] [ 9.32719010e-03 -3.51774597e-04 9.99956439e-01 1.05252780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.31 meters Centerline goodness [0,1] 0.999822316986496 Centerline is valid? [True, True] Translation: X:90.27, Y:-29.80, Z:1.05 [[ 8.00167332e-01 5.99727184e-01 -7.71655672e-03 9.02714478e+01] [-5.99695087e-01 8.00204465e-01 6.21433424e-03 -2.98025752e+01] [ 9.90172831e-03 -3.44926100e-04 9.99950917e-01 1.05175971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.34 meters Centerline goodness [0,1] 0.9998669947462925 Centerline is valid? [True, True] Translation: X:90.30, Y:-29.82, Z:1.05 [[ 7.98859966e-01 6.01463519e-01 -8.02430494e-03 9.02983701e+01] [-6.01428882e-01 7.98900195e-01 6.46365537e-03 -2.98197064e+01] [ 1.02982717e-02 -3.37506759e-04 9.99946914e-01 1.05223279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.36999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.33, Y:-29.84, Z:1.05 [[ 7.97283126e-01 6.03544733e-01 -8.56571765e-03 9.03267408e+01] [-6.03505344e-01 7.97329068e-01 6.90338453e-03 -2.98356221e+01] [ 1.09961970e-02 -3.34495632e-04 9.99939484e-01 1.05371415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.39999999999999 meters Centerline goodness [0,1] 0.9998456824144089 Centerline is valid? [True, True] Translation: X:90.35, Y:-29.85, Z:1.05 [[ 7.96609566e-01 6.04433910e-01 -8.53507084e-03 9.03518397e+01] [-6.04394815e-01 7.96655223e-01 6.88213012e-03 -2.98540577e+01] [ 1.09593016e-02 -3.23818124e-04 9.99939893e-01 1.05123476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.42999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.38, Y:-29.87, Z:1.05 [[ 7.94198766e-01 6.07592580e-01 -8.92059746e-03 9.03804260e+01] [-6.07550049e-01 7.94248808e-01 7.19506969e-03 -2.98679730e+01] [ 1.14568449e-02 -2.94606047e-04 9.99934325e-01 1.05313974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46 meters Centerline goodness [0,1] 0.9998687147170802 Centerline is valid? [True, True] Translation: X:90.41, Y:-29.89, Z:1.05 [[ 7.93583438e-01 6.08399307e-01 -8.69542362e-03 9.04075329e+01] [-6.08358937e-01 7.93631027e-01 7.01404110e-03 -2.98860979e+01] [ 1.11682957e-02 -2.76288174e-04 9.99937594e-01 1.05112433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.49 meters Centerline goodness [0,1] 0.9999126351425139 Centerline is valid? [True, True] Translation: X:90.44, Y:-29.90, Z:1.05 [[ 7.92782913e-01 6.09440774e-01 -8.78608652e-03 9.04351661e+01] [-6.09399583e-01 7.92831553e-01 7.09060059e-03 -2.99025134e+01] [ 1.12871877e-02 -2.67069529e-04 9.99936262e-01 1.05190139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.52 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.46, Y:-29.92, Z:1.05 [[ 7.91193056e-01 6.11495737e-01 -9.30121721e-03 9.04639978e+01] [-6.11449670e-01 7.91247685e-01 7.51011084e-03 -2.99187137e+01] [ 1.19519673e-02 -2.54721349e-04 9.99928540e-01 1.05442169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.55 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.49, Y:-29.94, Z:1.06 [[ 7.90283812e-01 6.12669925e-01 -9.33056851e-03 9.04904431e+01] [-6.12623622e-01 7.90338855e-01 7.53605048e-03 -2.99366237e+01] [ 1.19914223e-02 -2.39492024e-04 9.99928072e-01 1.05509035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.58 meters Centerline goodness [0,1] 0.9999782139822662 Centerline is valid? [True, True] Translation: X:90.52, Y:-29.96, Z:1.06 [[ 7.89569741e-01 6.13589705e-01 -9.34333823e-03 9.05160184e+01] [-6.13543295e-01 7.89624988e-01 7.55008573e-03 -2.99550467e+01] [ 1.20103882e-02 -2.28776706e-04 9.99927847e-01 1.05505814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.61 meters Centerline goodness [0,1] 0.9998694687377627 Centerline is valid? [True, True] Translation: X:90.55, Y:-29.97, Z:1.05 [[ 7.87897769e-01 6.15732538e-01 -9.51566668e-03 9.05455812e+01] [-6.15684528e-01 7.87955203e-01 7.69160863e-03 -2.99705102e+01] [ 1.22338928e-02 -2.01552529e-04 9.99925143e-01 1.05287205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.64 meters Centerline goodness [0,1] 0.9999352345588394 Centerline is valid? [True, True] Translation: X:90.57, Y:-29.99, Z:1.05 [[ 7.86498609e-01 6.17514876e-01 -9.76295680e-03 9.05714299e+01] [-6.17464444e-01 7.86559181e-01 7.89397672e-03 -2.99885728e+01] [ 1.25537914e-02 -1.80323018e-04 9.99921182e-01 1.05349649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.67 meters Centerline goodness [0,1] 0.9999136404853405 Centerline is valid? [True, True] Translation: X:90.60, Y:-30.01, Z:1.05 [[ 7.85304832e-01 6.19028892e-01 -9.97758522e-03 9.05965707e+01] [-6.18976289e-01 7.85368197e-01 8.07144452e-03 -3.00062862e+01] [ 1.28325355e-02 -1.62655710e-04 9.99917646e-01 1.05305722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.7 meters Centerline goodness [0,1] 0.999827041985558 Centerline is valid? [True, True] Translation: X:90.62, Y:-30.02, Z:1.05 [[ 7.83098022e-01 6.21808608e-01 -1.05614192e-02 9.06235961e+01] [-6.21749863e-01 7.83169228e-01 8.54800603e-03 -3.00233987e+01] [ 1.35866022e-02 -1.27365693e-04 9.99907690e-01 1.05232025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.72999999999999 meters Centerline goodness [0,1] 0.9998484553267952 Centerline is valid? [True, True] Translation: X:90.65, Y:-30.04, Z:1.05 [[ 7.81830983e-01 6.23400881e-01 -1.05667267e-02 9.06492145e+01] [-6.23342163e-01 7.81902379e-01 8.55667129e-03 -3.00419920e+01] [ 1.35963852e-02 -1.03184423e-04 9.99907560e-01 1.05302405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.75999999999999 meters Centerline goodness [0,1] 0.9998489165155832 Centerline is valid? [True, True] Translation: X:90.67, Y:-30.06, Z:1.05 [[ 7.80254002e-01 6.25367849e-01 -1.08970490e-02 9.06749858e+01] [-6.25305531e-01 7.80330089e-01 8.82867950e-03 -3.00602788e+01] [ 1.40244675e-02 -7.46274829e-05 9.99901650e-01 1.05322005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.78999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.70, Y:-30.08, Z:1.06 [[ 7.76934399e-01 6.29470868e-01 -1.18052944e-02 9.07026243e+01] [-6.29398126e-01 7.77024083e-01 9.56937685e-03 -3.00774793e+01] [ 1.51966420e-02 -4.54791346e-06 9.99884524e-01 1.05649930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82 meters Centerline goodness [0,1] 0.999806746687853 Centerline is valid? [True, True] Translation: X:90.73, Y:-30.10, Z:1.05 [[ 7.75903126e-01 6.30740456e-01 -1.18666280e-02 9.07286834e+01] [-6.30667026e-01 7.75993864e-01 9.62415800e-03 -3.00969170e+01] [ 1.52787763e-02 1.64766897e-05 9.99883273e-01 1.05247732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.85 meters Centerline goodness [0,1] 0.999806009397767 Centerline is valid? [True, True] Translation: X:90.75, Y:-30.12, Z:1.05 [[ 7.74655209e-01 6.32262353e-01 -1.23945178e-02 9.07545575e+01] [-6.32182346e-01 7.74754358e-01 1.00581360e-02 -3.01161458e+01] [ 1.59620874e-02 4.40079225e-05 9.99872597e-01 1.05243016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.88 meters Centerline goodness [0,1] 0.9999356664951107 Centerline is valid? [True, True] Translation: X:90.78, Y:-30.14, Z:1.05 [[ 7.73162247e-01 6.34080132e-01 -1.27485301e-02 9.07803931e+01] [-6.33995642e-01 7.73267340e-01 1.03511851e-02 -3.01361248e+01] [ 1.64215028e-02 7.93670203e-05 9.99865155e-01 1.05445410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.91 meters Centerline goodness [0,1] 0.9998707203033763 Centerline is valid? [True, True] Translation: X:90.81, Y:-30.16, Z:1.05 [[ 7.71420947e-01 6.36193313e-01 -1.29533898e-02 9.08052481e+01] [-6.36106285e-01 7.71529684e-01 1.05233371e-02 -3.01564930e+01] [ 1.66888014e-02 1.21809970e-04 9.99860725e-01 1.05406595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.94 meters Centerline goodness [0,1] 0.9998704830980443 Centerline is valid? [True, True] Translation: X:90.83, Y:-30.18, Z:1.06 [[ 7.70487442e-01 6.37323004e-01 -1.29804138e-02 9.08299244e+01] [-6.37235679e-01 7.70596761e-01 1.05509020e-02 -3.01775512e+01] [ 1.67269974e-02 1.42245325e-04 9.99860084e-01 1.05510845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.97 meters Centerline goodness [0,1] 0.9997840359364202 Centerline is valid? [True, True] Translation: X:90.85, Y:-30.20, Z:1.05 [[ 7.69393519e-01 6.38649977e-01 -1.26419676e-02 9.08535429e+01] [-6.38567246e-01 7.69497356e-01 1.02806263e-02 -3.01982576e+01] [ 1.62936824e-02 1.62899234e-04 9.99867236e-01 1.05478517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.0 meters Centerline goodness [0,1] 0.9998487565628849 Centerline is valid? [True, True] Translation: X:90.88, Y:-30.22, Z:1.06 [[ 7.68692965e-01 6.39498707e-01 -1.23503062e-02 9.08784388e+01] [-6.39419800e-01 7.68792152e-01 1.00471587e-02 -3.02199714e+01] [ 1.59199635e-02 1.73850153e-04 9.99873254e-01 1.05601371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.03 meters Centerline goodness [0,1] 0.9997189310732509 Centerline is valid? [True, True] Translation: X:90.90, Y:-30.24, Z:1.05 [[ 7.68216587e-01 6.40066358e-01 -1.25830095e-02 9.09029682e+01] [-6.39984428e-01 7.68319610e-01 1.02425046e-02 -3.02413260e+01] [ 1.62236556e-02 1.84468179e-04 9.99868371e-01 1.05478576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.06 meters Centerline goodness [0,1] 0.999935266701191 Centerline is valid? [True, True] Translation: X:90.93, Y:-30.26, Z:1.06 [[ 7.66829610e-01 6.41740460e-01 -1.18966759e-02 9.09258165e+01] [-6.41667348e-01 7.66921860e-01 9.68891453e-03 -3.02619521e+01] [ 1.53415893e-02 2.03961939e-04 9.99882290e-01 1.05781888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.09 meters Centerline goodness [0,1] 0.9998480935743582 Centerline is valid? [True, True] Translation: X:90.95, Y:-30.28, Z:1.06 [[ 7.66147593e-01 6.42552076e-01 -1.20289065e-02 9.09497915e+01] [-6.42477353e-01 7.66241986e-01 9.80151887e-03 -3.02840336e+01] [ 1.55150395e-02 2.18889919e-04 9.99879611e-01 1.05710967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.11999999999999 meters Centerline goodness [0,1] 0.9998694204444057 Centerline is valid? [True, True] Translation: X:90.97, Y:-30.31, Z:1.06 [[ 7.65036958e-01 6.43872110e-01 -1.21308618e-02 9.09740059e+01] [-6.43796195e-01 7.65133091e-01 9.89006714e-03 -3.03055035e+01] [ 1.56496622e-02 2.43535787e-04 9.99877507e-01 1.05762588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.14999999999999 meters Centerline goodness [0,1] 0.999694589877836 Centerline is valid? [True, True] Translation: X:91.00, Y:-30.33, Z:1.06 [[ 7.64024485e-01 6.45058122e-01 -1.29075999e-02 9.09978821e+01] [-6.44972250e-01 7.64133457e-01 1.05288350e-02 -3.03264725e+01] [ 1.66548395e-02 2.80756029e-04 9.99861259e-01 1.05589080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.17999999999999 meters Centerline goodness [0,1] 0.9998908725828277 Centerline is valid? [True, True] Translation: X:91.02, Y:-30.35, Z:1.06 [[ 7.61791626e-01 6.47668305e-01 -1.41168563e-02 9.10226724e+01] [-6.47565945e-01 7.61922327e-01 1.15201733e-02 -3.03458670e+01] [ 1.82171992e-02 3.65623821e-04 9.99833986e-01 1.05673703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.21 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.04, Y:-30.37, Z:1.06 [[ 7.60620909e-01 6.49039132e-01 -1.42841985e-02 9.10447761e+01] [-6.48934495e-01 7.60754918e-01 1.16608614e-02 -3.03689178e+01] [ 1.84351297e-02 4.00014155e-04 9.99829979e-01 1.06011090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.24 meters Centerline goodness [0,1] 0.9997158966738057 Centerline is valid? [True, True] Translation: X:91.07, Y:-30.39, Z:1.06 [[ 7.60417992e-01 6.49254031e-01 -1.52866118e-02 9.10690509e+01] [-6.49134101e-01 7.60571508e-01 1.24860091e-02 -3.03907370e+01] [ 1.97331531e-02 4.28475045e-04 9.99805191e-01 1.05528803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.27 meters Centerline goodness [0,1] 0.9997590097491511 Centerline is valid? [True, True] Translation: X:91.09, Y:-30.41, Z:1.06 [[ 7.59586574e-01 6.50231029e-01 -1.50945697e-02 9.10910394e+01] [-6.50114157e-01 7.59736410e-01 1.23357089e-02 -3.04140087e+01] [ 1.94889548e-02 4.43154606e-04 9.99809974e-01 1.05612319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.3 meters Centerline goodness [0,1] 0.9997801086263386 Centerline is valid? [True, True] Translation: X:91.11, Y:-30.44, Z:1.06 [[ 7.59587940e-01 6.50236969e-01 -1.47663270e-02 9.11135908e+01] [-6.50125036e-01 7.59731333e-01 1.20722506e-02 -3.04354717e+01] [ 1.90682650e-02 4.30022880e-04 9.99818092e-01 1.05685665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.33 meters Centerline goodness [0,1] 0.9998675672096411 Centerline is valid? [True, True] Translation: X:91.14, Y:-30.46, Z:1.06 [[ 7.59672926e-01 6.50153452e-01 -1.40547328e-02 9.11356814e+01] [-6.50051957e-01 7.59802821e-01 1.14946445e-02 -3.04587228e+01] [ 1.81521084e-02 4.04136331e-04 9.99835155e-01 1.05931029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.36 meters Centerline goodness [0,1] 0.9998231066887784 Centerline is valid? [True, True] Translation: X:91.16, Y:-30.48, Z:1.06 [[ 7.60864700e-01 6.48771817e-01 -1.34177919e-02 9.11565392e+01] [-6.48679008e-01 7.60982921e-01 1.09789763e-02 -3.04823367e+01] [ 1.73335609e-02 3.50324464e-04 9.99849701e-01 1.05964956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.39 meters Centerline goodness [0,1] 0.9997114765741172 Centerline is valid? [True, True] Translation: X:91.18, Y:-30.51, Z:1.06 [[ 7.61877075e-01 6.47592198e-01 -1.29486307e-02 9.11790298e+01] [-6.47505533e-01 7.61987040e-01 1.05988545e-02 -3.05054315e+01] [ 1.67304243e-02 3.09285757e-04 9.99859989e-01 1.05972332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.42 meters Centerline goodness [0,1] 0.9996655891204994 Centerline is valid? [True, True] Translation: X:91.20, Y:-30.53, Z:1.06 [[ 7.62626484e-01 6.46712606e-01 -1.27926120e-02 9.12003290e+01] [-6.46627843e-01 7.62733718e-01 1.04741967e-02 -3.05299067e+01] [ 1.65311516e-02 2.84159340e-04 9.99863311e-01 1.06114525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.45 meters Centerline goodness [0,1] 0.9998218262806237 Centerline is valid? [True, True] Translation: X:91.22, Y:-30.55, Z:1.06 [[ 7.63484148e-01 6.45719153e-01 -1.17784177e-02 9.12235769e+01] [-6.45647109e-01 7.63574960e-01 9.64839000e-03 -3.05511707e+01] [ 1.52238550e-02 2.38308479e-04 9.99884082e-01 1.06245283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.47999999999999 meters Centerline goodness [0,1] 0.9999332294680614 Centerline is valid? [True, True] Translation: X:91.24, Y:-30.58, Z:1.07 [[ 7.65473908e-01 6.43370884e-01 -1.11176346e-02 9.12439376e+01] [-6.43306399e-01 7.65554619e-01 9.11056311e-03 -3.05778041e+01] [ 1.43726276e-02 1.78147141e-04 9.99896693e-01 1.06532960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.50999999999999 meters Centerline goodness [0,1] 0.9998431829383037 Centerline is valid? [True, True] Translation: X:91.27, Y:-30.60, Z:1.06 [[ 7.66476663e-01 6.42172136e-01 -1.13345635e-02 9.12657537e+01] [-6.42104944e-01 7.66560450e-01 9.29074672e-03 -3.06014125e+01] [ 1.46548868e-02 1.56838722e-04 9.99892599e-01 1.06470959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.53999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.29, Y:-30.62, Z:1.07 [[ 7.67036711e-01 6.41504956e-01 -1.12283799e-02 9.12881914e+01] [-6.41438878e-01 7.67118878e-01 9.20831432e-03 -3.06242480e+01] [ 1.45206814e-02 1.39204279e-04 9.99894560e-01 1.06801232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.31, Y:-30.65, Z:1.07 [[ 7.67969191e-01 6.40380918e-01 -1.16448099e-02 9.13102833e+01] [-6.40309645e-01 7.68057463e-01 9.55470783e-03 -3.06461755e+01] [ 1.50625357e-02 1.18562820e-04 9.99886547e-01 1.06751562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.6 meters Centerline goodness [0,1] 0.9999548236994873 Centerline is valid? [True, True] Translation: X:91.33, Y:-30.67, Z:1.06 [[ 7.70668752e-01 6.37103444e-01 -1.29952505e-02 9.13305067e+01] [-6.37014121e-01 7.70778307e-01 1.06682512e-02 -3.06718254e+01] [ 1.68132368e-02 5.64702493e-05 9.99858646e-01 1.06448734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.63 meters Centerline goodness [0,1] 0.999795784075696 Centerline is valid? [True, True] Translation: X:91.35, Y:-30.70, Z:1.06 [[ 7.72136476e-01 6.35300580e-01 -1.40867211e-02 9.13538660e+01] [-6.35195203e-01 7.72264963e-01 1.15707002e-02 -3.06959802e+01] [ 1.82295536e-02 1.36580118e-05 9.99833828e-01 1.06112422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.66 meters Centerline goodness [0,1] 0.999795784075696 Centerline is valid? [True, True] Translation: X:91.38, Y:-30.72, Z:1.06 [[ 7.71958657e-01 6.35516709e-01 -1.40834795e-02 9.13788440e+01] [-6.35411296e-01 7.72087114e-01 1.15746448e-02 -3.07166033e+01] [ 1.82295532e-02 1.36546789e-05 9.99833828e-01 1.06147857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.69 meters Centerline goodness [0,1] 0.9999319681610994 Centerline is valid? [True, True] Translation: X:91.40, Y:-30.74, Z:1.06 [[ 7.73244639e-01 6.33941488e-01 -1.45230189e-02 9.14016617e+01] [-6.33828984e-01 7.73381011e-01 1.19428105e-02 -3.07402683e+01] [ 1.88028701e-02 -2.96039145e-05 9.99823210e-01 1.06353311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.72 meters Centerline goodness [0,1] 0.9998179003915142 Centerline is valid? [True, True] Translation: X:91.42, Y:-30.77, Z:1.06 [[ 7.76796203e-01 6.29566230e-01 -1.52977208e-02 9.14218321e+01] [-6.29440412e-01 7.76946806e-01 1.25868397e-02 -3.07668499e+01] [ 1.98097645e-02 -1.48405573e-04 9.99803756e-01 1.06107340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.44, Y:-30.79, Z:1.07 [[ 7.78279764e-01 6.27743868e-01 -1.47731276e-02 9.14441671e+01] [-6.27626089e-01 7.78419937e-01 1.21611626e-02 -3.07902575e+01] [ 1.91337923e-02 -1.92786470e-04 9.99816914e-01 1.06539189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.78 meters Centerline goodness [0,1] 0.9997250040103581 Centerline is valid? [True, True] Translation: X:91.47, Y:-30.81, Z:1.06 [[ 7.80695226e-01 6.24729025e-01 -1.51198499e-02 9.14664824e+01] [-6.24604960e-01 7.80841577e-01 1.24529353e-02 -3.08135363e+01] [ 1.95859176e-02 -2.78013920e-04 9.99808139e-01 1.06233191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.81 meters Centerline goodness [0,1] 0.9998160792698347 Centerline is valid? [True, True] Translation: X:91.49, Y:-30.83, Z:1.07 [[ 7.82555951e-01 6.22445480e-01 -1.29540771e-02 9.14901577e+01] [-6.22354018e-01 7.82663108e-01 1.06741075e-02 -3.08349947e+01] [ 1.67827282e-02 -2.91064448e-04 9.99859118e-01 1.06584592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.84 meters Centerline goodness [0,1] 0.9999081831745668 Centerline is valid? [True, True] Translation: X:91.51, Y:-30.86, Z:1.07 [[ 7.82774794e-01 6.22191815e-01 -1.18729485e-02 9.15136932e+01] [-6.22114880e-01 7.82864784e-01 9.78810092e-03 -3.08563478e+01] [ 1.53849895e-02 -2.75540765e-04 9.99881606e-01 1.06830873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.86999999999999 meters Centerline goodness [0,1] 0.9998850151779966 Centerline is valid? [True, True] Translation: X:91.54, Y:-30.88, Z:1.07 [[ 7.82988521e-01 6.21923979e-01 -1.18126697e-02 9.15391326e+01] [-6.21847710e-01 7.83077572e-01 9.74379723e-03 -3.08778068e+01] [ 1.53101379e-02 -2.83599749e-04 9.99882753e-01 1.06888554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.89999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.57, Y:-30.90, Z:1.07 [[ 7.82664510e-01 6.22339027e-01 -1.14192957e-02 9.15650953e+01] [-6.22267720e-01 7.82747764e-01 9.42459703e-03 -3.08984472e+01] [ 1.48037228e-02 -2.70438491e-04 9.99890382e-01 1.07197198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.92999999999999 meters Centerline goodness [0,1] 0.9998397068926036 Centerline is valid? [True, True] Translation: X:91.59, Y:-30.92, Z:1.07 [[ 7.82552292e-01 6.22461794e-01 -1.23784358e-02 9.15903737e+01] [-6.22377922e-01 7.82650131e-01 1.02223009e-02 -3.09187809e+01] [ 1.60509762e-02 -2.95419866e-04 9.99871131e-01 1.06858859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.62, Y:-30.94, Z:1.07 [[ 7.81872468e-01 6.23307788e-01 -1.27611173e-02 9.16159575e+01] [-6.23218687e-01 7.81976545e-01 1.05428360e-02 -3.09389942e+01] [ 1.65503262e-02 -2.90186427e-04 9.99862992e-01 1.07115848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.99 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.64, Y:-30.96, Z:1.07 [[ 7.80635030e-01 6.24809129e-01 -1.49165234e-02 9.16430165e+01] [-6.24687568e-01 7.80777471e-01 1.23281490e-02 -3.09574067e+01] [ 1.93492254e-02 -3.05618257e-04 9.99812740e-01 1.06861284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.02 meters Centerline goodness [0,1] 0.9998404594767071 Centerline is valid? [True, True] Translation: X:91.67, Y:-30.98, Z:1.06 [[ 7.80176109e-01 6.25340476e-01 -1.65688882e-02 9.16683767e+01] [-6.25190444e-01 7.80351959e-01 1.37014082e-02 -3.09761049e+01] [ 2.14976095e-02 -3.30800793e-04 9.99768845e-01 1.06447533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.05 meters Centerline goodness [0,1] 0.9997268008378107 Centerline is valid? [True, True] Translation: X:91.70, Y:-31.00, Z:1.06 [[ 7.79452438e-01 6.26221894e-01 -1.73215331e-02 9.16951083e+01] [-6.26057968e-01 7.79644812e-01 1.43313870e-02 -3.09960742e+01] [ 2.24792717e-02 -3.26350787e-04 9.99747256e-01 1.06202228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.08 meters Centerline goodness [0,1] 0.9999089916272297 Centerline is valid? [True, True] Translation: X:91.72, Y:-31.01, Z:1.06 [[ 7.77747569e-01 6.28315805e-01 -1.81098872e-02 9.17219009e+01] [-6.28136989e-01 7.77958334e-01 1.49918047e-02 -3.10135887e+01] [ 2.35083255e-02 -2.84349686e-04 9.99723601e-01 1.06419979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.11 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.75, Y:-31.03, Z:1.07 [[ 7.76717516e-01 6.29595092e-01 -1.78863103e-02 9.17472703e+01] [-6.29420832e-01 7.76923393e-01 1.48141199e-02 -3.10324907e+01] [ 2.32231901e-02 -2.48370112e-04 9.99730275e-01 1.06634405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.14 meters Centerline goodness [0,1] 0.9996832722501244 Centerline is valid? [True, True] Translation: X:91.77, Y:-31.05, Z:1.06 [[ 7.76523896e-01 6.29806285e-01 -1.88330095e-02 9.17720228e+01] [-6.29612960e-01 7.76752197e-01 1.56059226e-02 -3.10518595e+01] [ 2.44572896e-02 -2.60864955e-04 9.99700842e-01 1.06186327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.17 meters Centerline goodness [0,1] 0.9999318893883667 Centerline is valid? [True, True] Translation: X:91.80, Y:-31.07, Z:1.07 [[ 7.75654727e-01 6.30909821e-01 -1.76788677e-02 9.17968940e+01] [-6.30739604e-01 7.75856140e-01 1.46560984e-02 -3.10710753e+01] [ 2.29629345e-02 -2.17309947e-04 9.99736293e-01 1.06538954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.2 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.82, Y:-31.09, Z:1.07 [[ 7.75184670e-01 6.31510369e-01 -1.68339372e-02 9.18222380e+01] [-6.31356036e-01 7.75367407e-01 1.39620955e-02 -3.10909483e+01] [ 2.18696943e-02 -1.94994485e-04 9.99760811e-01 1.06853231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.22999999999999 meters Centerline goodness [0,1] 0.9997728150487312 Centerline is valid? [True, True] Translation: X:91.85, Y:-31.11, Z:1.07 [[ 7.75384921e-01 6.31257488e-01 -1.70941132e-02 9.18481136e+01] [-6.31098117e-01 7.75573297e-01 1.41854657e-02 -3.11112582e+01] [ 2.22124192e-02 -2.11133535e-04 9.99753251e-01 1.06604255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.25999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.87, Y:-31.13, Z:1.07 [[ 7.74609965e-01 6.32253309e-01 -1.53347844e-02 9.18735924e+01] [-6.32125125e-01 7.74761721e-01 1.27319295e-02 -3.11313187e+01] [ 1.99306085e-02 -1.68776957e-04 9.99801351e-01 1.07068166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.28999999999999 meters Centerline goodness [0,1] 0.9999323867478026 Centerline is valid? [True, True] Translation: X:91.90, Y:-31.15, Z:1.07 [[ 7.73638240e-01 6.33462053e-01 -1.44810768e-02 9.18979795e+01] [-6.33347851e-01 7.73773746e-01 1.20287302e-02 -3.11506589e+01] [ 1.88248212e-02 -1.34326793e-04 9.99822788e-01 1.06984087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.92, Y:-31.17, Z:1.07 [[ 7.72420506e-01 6.34959069e-01 -1.39119964e-02 9.19240333e+01] [-6.34853812e-01 7.72545773e-01 1.15614136e-02 -3.11700440e+01] [ 1.80886784e-02 -9.81890043e-05 9.99836382e-01 1.07337677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.35 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.95, Y:-31.19, Z:1.07 [[ 7.71352005e-01 6.36264613e-01 -1.35435018e-02 9.19485543e+01] [-6.36164964e-01 7.71470892e-01 1.12605960e-02 -3.11895061e+01] [ 1.76131362e-02 -6.99819700e-05 9.99844874e-01 1.07344453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.38 meters Centerline goodness [0,1] 0.9999098185097509 Centerline is valid? [True, True] Translation: X:91.97, Y:-31.21, Z:1.07 [[ 7.69037897e-01 6.39041771e-01 -1.43641243e-02 9.19748137e+01] [-6.38930050e-01 7.69172032e-01 1.19489292e-02 -3.12081498e+01] [ 1.86843476e-02 -1.15086755e-05 9.99825432e-01 1.07162082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.41 meters Centerline goodness [0,1] 0.9998192784692886 Centerline is valid? [True, True] Translation: X:92.00, Y:-31.23, Z:1.07 [[ 7.67740370e-01 6.40595537e-01 -1.45630727e-02 9.20013240e+01] [-6.40480854e-01 7.67878479e-01 1.21209642e-02 -3.12283834e+01] [ 1.89473057e-02 2.16157379e-05 9.99820483e-01 1.06978269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.44 meters Centerline goodness [0,1] 0.9998869162049079 Centerline is valid? [True, True] Translation: X:92.03, Y:-31.25, Z:1.07 [[ 7.66003674e-01 6.42662301e-01 -1.49512118e-02 9.20276725e+01] [-6.42541678e-01 7.66149569e-01 1.24511015e-02 -3.12485792e+01] [ 1.94567181e-02 6.91872191e-05 9.99810698e-01 1.07057040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.47 meters Centerline goodness [0,1] 0.999751519121733 Centerline is valid? [True, True] Translation: X:92.05, Y:-31.27, Z:1.07 [[ 7.63264550e-01 6.45861695e-01 -1.70264043e-02 9.20530726e+01] [-6.45705878e-01 7.63454415e-01 1.41871303e-02 -3.12660493e+01] [ 2.21618076e-02 1.65515775e-04 9.99754383e-01 1.06653548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.08, Y:-31.29, Z:1.07 [[ 7.61209571e-01 6.48281917e-01 -1.70453621e-02 9.20780344e+01] [-6.48126209e-01 7.61400356e-01 1.42096958e-02 -3.12857902e+01] [ 2.21902336e-02 2.30989478e-04 9.99753740e-01 1.07002375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.53 meters Centerline goodness [0,1] 0.9997970367363507 Centerline is valid? [True, True] Translation: X:92.10, Y:-31.31, Z:1.07 [[ 7.60640012e-01 6.48901723e-01 -1.87969588e-02 9.21030285e+01] [-6.48712356e-01 7.60872185e-01 1.56779037e-02 -3.13058355e+01] [ 2.44755018e-02 2.68578575e-04 9.99700394e-01 1.06577424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.56 meters Centerline goodness [0,1] 0.9997966009763153 Centerline is valid? [True, True] Translation: X:92.13, Y:-31.33, Z:1.06 [[ 7.59425860e-01 6.50290867e-01 -1.98532441e-02 9.21279613e+01] [-6.50079876e-01 7.59685253e-01 1.65671633e-02 -3.13263251e+01] [ 2.58556918e-02 3.24662185e-04 9.99665633e-01 1.06469860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.59 meters Centerline goodness [0,1] 0.999954694755918 Centerline is valid? [True, True] Translation: X:92.15, Y:-31.35, Z:1.07 [[ 7.57639529e-01 6.52362939e-01 -2.01231256e-02 9.21530300e+01] [-6.52146686e-01 7.57906617e-01 1.68005777e-02 -3.13466875e+01] [ 2.62115243e-02 3.94447933e-04 9.99656341e-01 1.06550569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.61999999999999 meters Centerline goodness [0,1] 0.9997958859682943 Centerline is valid? [True, True] Translation: X:92.18, Y:-31.37, Z:1.06 [[ 7.57675820e-01 6.52288121e-01 -2.11555928e-02 9.21767791e+01] [-6.52048845e-01 7.57971004e-01 1.76709029e-02 -3.13661486e+01] [ 2.75618460e-02 4.05663975e-04 9.99620018e-01 1.06200368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.64999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.20, Y:-31.39, Z:1.07 [[ 7.56863657e-01 6.53260948e-01 -2.01875798e-02 9.22000244e+01] [-6.53043274e-01 7.57132723e-01 1.68678022e-02 -3.13903950e+01] [ 2.63037537e-02 4.16736710e-04 9.99653910e-01 1.06830089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.67999999999999 meters Centerline goodness [0,1] 0.9998184829714337 Centerline is valid? [True, True] Translation: X:92.22, Y:-31.42, Z:1.07 [[ 7.58413177e-01 6.51469050e-01 -1.99381570e-02 9.22218890e+01] [-6.51256011e-01 7.58675132e-01 1.66628898e-02 -3.14151956e+01] [ 2.59819409e-02 3.47489370e-04 9.99662352e-01 1.06816099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.71 meters Centerline goodness [0,1] 0.9998411726000045 Centerline is valid? [True, True] Translation: X:92.24, Y:-31.44, Z:1.07 [[ 7.59095130e-01 6.50697537e-01 -1.91650326e-02 9.22444791e+01] [-6.50500320e-01 7.59336963e-01 1.60222113e-02 -3.14368874e+01] [ 2.49783311e-02 3.04477325e-04 9.99687946e-01 1.06966904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.74 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.27, Y:-31.46, Z:1.07 [[ 7.59266837e-01 6.50541332e-01 -1.76024411e-02 9.22668259e+01] [-6.50374767e-01 7.59470804e-01 1.47227731e-02 -3.14598562e+01] [ 2.29463125e-02 2.69670152e-04 9.99736662e-01 1.07396960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.77 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.29, Y:-31.48, Z:1.08 [[ 7.60954561e-01 6.48594374e-01 -1.65376570e-02 9.22869725e+01] [-6.48446778e-01 7.61134220e-01 1.38374671e-02 -3.14837883e+01] [ 2.15622800e-02 1.94106714e-04 9.99767488e-01 1.07565803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.8 meters Centerline goodness [0,1] 0.9997940550559484 Centerline is valid? [True, True] Translation: X:92.31, Y:-31.51, Z:1.07 [[ 7.62340945e-01 6.46949977e-01 -1.70883240e-02 9.23092179e+01] [-6.46791851e-01 7.62532429e-01 1.43036809e-02 -3.15052796e+01] [ 2.22841672e-02 1.48307102e-04 9.99751666e-01 1.07306348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.83 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.33, Y:-31.53, Z:1.08 [[ 7.62143308e-01 6.47216253e-01 -1.57702283e-02 9.23322847e+01] [-6.47081520e-01 7.62306436e-01 1.32061977e-02 -3.15262924e+01] [ 2.05690123e-02 1.39608096e-04 9.99788426e-01 1.07628572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.86 meters Centerline goodness [0,1] 0.9997942057485194 Centerline is valid? [True, True] Translation: X:92.36, Y:-31.55, Z:1.08 [[ 7.62649687e-01 6.46608556e-01 -1.62120373e-02 9.23566815e+01] [-6.46465881e-01 7.62821972e-01 1.35832366e-02 -3.15476341e+01] [ 2.11499352e-02 1.21277841e-04 9.99776308e-01 1.07525452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.89 meters Centerline goodness [0,1] 0.9998629292029333 Centerline is valid? [True, True] Translation: X:92.38, Y:-31.57, Z:1.08 [[ 7.62195100e-01 6.47145468e-01 -1.61670641e-02 9.23821487e+01] [-6.47003540e-01 7.62366531e-01 1.35533090e-02 -3.15680020e+01] [ 2.10961910e-02 1.29882003e-04 9.99777442e-01 1.07641554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.92 meters Centerline goodness [0,1] 0.9999314833847208 Centerline is valid? [True, True] Translation: X:92.41, Y:-31.59, Z:1.08 [[ 7.61436864e-01 6.48036964e-01 -1.61862887e-02 9.24080381e+01] [-6.47894736e-01 7.61608870e-01 1.35771855e-02 -3.15877887e+01] [ 2.11261391e-02 1.48841713e-04 9.99776807e-01 1.07725275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.95 meters Centerline goodness [0,1] 0.9997944172872218 Centerline is valid? [True, True] Translation: X:92.43, Y:-31.61, Z:1.08 [[ 7.61397422e-01 6.48056582e-01 -1.72230250e-02 9.24333337e+01] [-6.47895375e-01 7.61592177e-01 1.44547667e-02 -3.16072337e+01] [ 2.24844278e-02 1.52896122e-04 9.99747182e-01 1.07517166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.97999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.46, Y:-31.63, Z:1.08 [[ 7.60288238e-01 6.49378887e-01 -1.63968297e-02 9.24599448e+01] [-6.49232929e-01 7.60465009e-01 1.37686070e-02 -3.16267755e+01] [ 2.14102579e-02 1.77251816e-04 9.99770758e-01 1.07787915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.00999999999999 meters Centerline goodness [0,1] 0.9998861488717353 Centerline is valid? [True, True] Translation: X:92.48, Y:-31.65, Z:1.08 [[ 7.60461456e-01 6.49154801e-01 -1.72168195e-02 9.24849503e+01] [-6.48993634e-01 7.60656305e-01 1.44654314e-02 -3.16470748e+01] [ 2.24863865e-02 1.73203194e-04 9.99747134e-01 1.07635986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.03999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.51, Y:-31.67, Z:1.08 [[ 7.59515933e-01 6.50281299e-01 -1.64249759e-02 9.25102044e+01] [-6.50134726e-01 7.59693488e-01 1.38073119e-02 -3.16663927e+01] [ 2.14565840e-02 1.91573866e-04 9.99769763e-01 1.07800330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.54, Y:-31.69, Z:1.08 [[ 7.59275724e-01 6.50566822e-01 -1.62229462e-02 9.25352967e+01] [-6.50423743e-01 7.59448993e-01 1.36448593e-02 -3.16878349e+01] [ 2.11973929e-02 1.91578967e-04 9.99775292e-01 1.07833014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.1 meters Centerline goodness [0,1] 0.999909078510706 Centerline is valid? [True, True] Translation: X:92.56, Y:-31.71, Z:1.08 [[ 7.59585775e-01 6.50190562e-01 -1.67834323e-02 9.25596260e+01] [-6.50037161e-01 7.59771150e-01 1.41240542e-02 -3.17085671e+01] [ 2.19348944e-02 1.81424055e-04 9.99759385e-01 1.07682348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.13 meters Centerline goodness [0,1] 0.9998629104119542 Centerline is valid? [True, True] Translation: X:92.58, Y:-31.73, Z:1.08 [[ 7.59555458e-01 6.50220315e-01 -1.70014044e-02 9.25844838e+01] [-6.50062733e-01 7.59745688e-01 1.43154786e-02 -3.17305918e+01] [ 2.22249587e-02 1.78579548e-04 9.99752979e-01 1.07767930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.16 meters Centerline goodness [0,1] 0.9999771783285408 Centerline is valid? [True, True] Translation: X:92.61, Y:-31.75, Z:1.08 [[ 7.60099210e-01 6.49616056e-01 -1.57534022e-02 9.26096397e+01] [-6.49480488e-01 7.60262428e-01 1.32716397e-02 -3.17508279e+01] [ 2.05981900e-02 1.43764550e-04 9.99787824e-01 1.07818013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.19 meters Centerline goodness [0,1] 0.9999315521686555 Centerline is valid? [True, True] Translation: X:92.63, Y:-31.77, Z:1.08 [[ 7.60632379e-01 6.48988635e-01 -1.58787855e-02 9.26338575e+01] [-6.48850617e-01 7.60798092e-01 1.33843293e-02 -3.17712347e+01] [ 2.07668273e-02 1.22405551e-04 9.99784339e-01 1.07697448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.22 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.66, Y:-31.79, Z:1.08 [[ 7.60916314e-01 6.48671014e-01 -1.52407182e-02 9.26574155e+01] [-6.48543670e-01 7.61068923e-01 1.28531475e-02 -3.17929845e+01] [ 1.99367012e-02 1.04101641e-04 9.99801239e-01 1.07945845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.25 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.68, Y:-31.81, Z:1.08 [[ 7.62307203e-01 6.47060285e-01 -1.41674534e-02 9.26796587e+01] [-6.46949862e-01 7.62438840e-01 1.19537000e-02 -3.18148486e+01] [ 1.85365812e-02 5.32404116e-05 9.99828181e-01 1.08081841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.28 meters Centerline goodness [0,1] 0.9997718249440971 Centerline is valid? [True, True] Translation: X:92.70, Y:-31.84, Z:1.08 [[ 7.63300871e-01 6.45875950e-01 -1.46982355e-02 9.27037454e+01] [-6.45756751e-01 7.63442373e-01 1.24081139e-02 -3.18375201e+01] [ 1.92353581e-02 2.03606283e-05 9.99814983e-01 1.07943105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.31 meters Centerline goodness [0,1] 0.999771235101686 Centerline is valid? [True, True] Translation: X:92.73, Y:-31.86, Z:1.08 [[ 7.64551312e-01 6.44419826e-01 -1.35786324e-02 9.27269224e+01] [-6.44317760e-01 7.64671882e-01 1.14689623e-02 -3.18595137e+01] [ 1.77740251e-02 -1.96561681e-05 9.99842029e-01 1.08030896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.34 meters Centerline goodness [0,1] 0.9998856123172657 Centerline is valid? [True, True] Translation: X:92.75, Y:-31.88, Z:1.08 [[ 7.64602587e-01 6.44381900e-01 -1.24439043e-02 9.27516001e+01] [-6.44296091e-01 7.64703842e-01 1.05157747e-02 -3.18810674e+01] [ 1.62920763e-02 -2.28296061e-05 9.99867275e-01 1.08202877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.36999999999999 meters Centerline goodness [0,1] 0.9997488813806958 Centerline is valid? [True, True] Translation: X:92.78, Y:-31.90, Z:1.08 [[ 7.64940118e-01 6.43979484e-01 -1.25315486e-02 9.27756884e+01] [-6.43892321e-01 7.65042758e-01 1.05951453e-02 -3.19021544e+01] [ 1.64102268e-02 -3.56838007e-05 9.99865343e-01 1.08107948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.39999999999999 meters Centerline goodness [0,1] 0.9999541620828749 Centerline is valid? [True, True] Translation: X:92.80, Y:-31.92, Z:1.08 [[ 7.64533472e-01 6.44478842e-01 -1.16443701e-02 9.28009264e+01] [-6.44403582e-01 7.64622143e-01 9.84898871e-03 -3.19226832e+01] [ 1.52510080e-02 -2.62077502e-05 9.99883696e-01 1.08356552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.42999999999999 meters Centerline goodness [0,1] 0.999795193883124 Centerline is valid? [True, True] Translation: X:92.83, Y:-31.94, Z:1.08 [[ 7.64874023e-01 6.44056780e-01 -1.25933385e-02 9.28257537e+01] [-6.43968591e-01 7.64977687e-01 1.06579646e-02 -3.19433887e+01] [ 1.64979573e-02 -4.22858688e-05 9.99863899e-01 1.08148487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46 meters Centerline goodness [0,1] 0.9998630449669025 Centerline is valid? [True, True] Translation: X:92.85, Y:-31.96, Z:1.08 [[ 7.64876922e-01 6.44047574e-01 -1.28847617e-02 9.28500121e+01] [-6.43955165e-01 7.64985438e-01 1.09098165e-02 -3.19641964e+01] [ 1.68830959e-02 -4.74580075e-05 9.99857469e-01 1.08166431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.49 meters Centerline goodness [0,1] 0.999817443293323 Centerline is valid? [True, True] Translation: X:92.88, Y:-31.99, Z:1.08 [[ 7.65085773e-01 6.43788098e-01 -1.34404289e-02 9.28751800e+01] [-6.43687418e-01 7.65203817e-01 1.13853706e-02 -3.19855131e+01] [ 1.76144336e-02 -5.93500780e-05 9.99844852e-01 1.08209231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.52 meters Centerline goodness [0,1] 0.9999544304951127 Centerline is valid? [True, True] Translation: X:92.90, Y:-32.01, Z:1.08 [[ 7.65345297e-01 6.43488303e-01 -1.30145881e-02 9.28997744e+01] [-6.43393753e-01 7.65455942e-01 1.10308689e-02 -3.20065980e+01] [ 1.70603289e-02 -6.89189887e-05 9.99854460e-01 1.08318716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.55 meters Centerline goodness [0,1] 0.9999542208386742 Centerline is valid? [True, True] Translation: X:92.92, Y:-32.03, Z:1.08 [[ 7.65529042e-01 6.43266129e-01 -1.31899118e-02 9.29239449e+01] [-6.43168871e-01 7.65642659e-01 1.11857870e-02 -3.20277350e+01] [ 1.72941971e-02 -7.97040900e-05 9.99850441e-01 1.08308366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.58 meters Centerline goodness [0,1] 0.9999542208386742 Centerline is valid? [True, True] Translation: X:92.95, Y:-32.05, Z:1.08 [[ 7.65350423e-01 6.43478699e-01 -1.31869050e-02 9.29485910e+01] [-6.43381412e-01 7.65464015e-01 1.11893310e-02 -3.20487502e+01] [ 1.72941974e-02 -7.95496839e-05 9.99850441e-01 1.08343794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.61 meters Centerline goodness [0,1] 0.9997720382063966 Centerline is valid? [True, True] Translation: X:92.97, Y:-32.07, Z:1.08 [[ 7.66123517e-01 6.42542216e-01 -1.39376611e-02 9.29717837e+01] [-6.42433280e-01 7.66250278e-01 1.18318421e-02 -3.20693575e+01] [ 1.82821948e-02 -1.10635126e-04 9.99832861e-01 1.08210641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.64 meters Centerline goodness [0,1] 0.9998397435897436 Centerline is valid? [True, True] Translation: X:93.00, Y:-32.09, Z:1.08 [[ 7.66541838e-01 6.42042158e-01 -1.39813406e-02 9.29961816e+01] [-6.41932371e-01 7.66669323e-01 1.18734886e-02 -3.20907359e+01] [ 1.83423452e-02 -1.26450674e-04 9.99831757e-01 1.08261651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.67 meters Centerline goodness [0,1] 0.9997479434476754 Centerline is valid? [True, True] Translation: X:93.02, Y:-32.11, Z:1.08 [[ 7.67297260e-01 6.41110422e-01 -1.52427346e-02 9.30205463e+01] [-6.40979601e-01 7.67448629e-01 1.29519412e-02 -3.21118534e+01] [ 2.00016403e-02 -1.67707053e-04 9.99799933e-01 1.08246950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.7 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.04, Y:-32.13, Z:1.08 [[ 7.66983555e-01 6.41505737e-01 -1.43741676e-02 9.30444913e+01] [-6.41389358e-01 7.67118222e-01 1.22198686e-02 -3.21324893e+01] [ 1.88658017e-02 -1.53000151e-04 9.99822013e-01 1.08466644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.72999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.07, Y:-32.15, Z:1.08 [[ 7.66948351e-01 6.41541364e-01 -1.46596498e-02 9.30685919e+01] [-6.41420216e-01 7.67088426e-01 1.24681180e-02 -3.21540875e+01] [ 1.92440611e-02 -1.59406806e-04 9.99814803e-01 1.08422252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.75999999999999 meters Centerline goodness [0,1] 0.9998627567592296 Centerline is valid? [True, True] Translation: X:93.09, Y:-32.17, Z:1.08 [[ 7.67351133e-01 6.41039329e-01 -1.55182849e-02 9.30932040e+01] [-6.40903352e-01 7.67508009e-01 1.32041413e-02 -3.21745351e+01] [ 2.03747818e-02 -1.86492023e-04 9.99792395e-01 1.08393585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.78999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.12, Y:-32.19, Z:1.09 [[ 7.66506226e-01 6.42069386e-01 -1.46665803e-02 9.31184522e+01] [-6.41947998e-01 7.66646515e-01 1.24855246e-02 -3.21943875e+01] [ 1.92606558e-02 -1.55050453e-04 9.99814484e-01 1.08601178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.14, Y:-32.21, Z:1.09 [[ 7.66246952e-01 6.42380538e-01 -1.45894680e-02 9.31428159e+01] [-6.42260357e-01 7.66385817e-01 1.24262934e-02 -3.22146952e+01] [ 1.91635704e-02 -1.51372544e-04 9.99816350e-01 1.08669391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.85 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.17, Y:-32.23, Z:1.09 [[ 7.65987032e-01 6.42707188e-01 -1.38324581e-02 9.31678351e+01] [-6.42599101e-01 7.66111905e-01 1.17874748e-02 -3.22345430e+01] [ 1.81731056e-02 -1.40327709e-04 9.99834846e-01 1.08757437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.88 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.19, Y:-32.25, Z:1.09 [[ 7.65762023e-01 6.42973124e-01 -1.39314267e-02 9.31920559e+01] [-6.42863433e-01 7.65888727e-01 1.18770760e-02 -3.22546489e+01] [ 1.83065633e-02 -1.39008955e-04 9.99832411e-01 1.08761008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.91 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.22, Y:-32.28, Z:1.09 [[ 7.65300693e-01 6.43516918e-01 -1.41713018e-02 9.32177138e+01] [-6.43403407e-01 7.65431877e-01 1.20870576e-02 -3.22750449e+01] [ 1.86253922e-02 -1.32369711e-04 9.99826524e-01 1.08837909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.94 meters Centerline goodness [0,1] 0.9999772328848212 Centerline is valid? [True, True] Translation: X:93.24, Y:-32.30, Z:1.09 [[ 7.64407046e-01 6.44563171e-01 -1.48386687e-02 9.32425903e+01] [-6.44438770e-01 7.64551048e-01 1.26636189e-02 -3.22950214e+01] [ 1.95074220e-02 -1.17546108e-04 9.99809705e-01 1.08745514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.97 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.27, Y:-32.32, Z:1.09 [[ 7.63306411e-01 6.45871274e-01 -1.46157452e-02 9.32676664e+01] [-6.45750697e-01 7.63446324e-01 1.24798787e-02 -3.23153344e+01] [ 1.92187321e-02 -8.78438231e-05 9.99815299e-01 1.08799966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.0 meters Centerline goodness [0,1] 0.9998183387074799 Centerline is valid? [True, True] Translation: X:93.29, Y:-32.34, Z:1.09 [[ 7.63123673e-01 6.46063353e-01 -1.56334313e-02 9.32911186e+01] [-6.45925309e-01 7.63283785e-01 1.33551070e-02 -3.23350142e+01] [ 2.05609898e-02 -9.35693938e-05 9.99788596e-01 1.08598004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.03 meters Centerline goodness [0,1] 0.999908896278413 Centerline is valid? [True, True] Translation: X:93.32, Y:-32.35, Z:1.09 [[ 7.61045620e-01 6.48519655e-01 -1.52256647e-02 9.33172072e+01] [-6.48389096e-01 7.61197909e-01 1.30124343e-02 -3.23543288e+01] [ 2.00285636e-02 -3.09011677e-05 9.99799408e-01 1.08740437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.06 meters Centerline goodness [0,1] 0.9998184046851591 Centerline is valid? [True, True] Translation: X:93.34, Y:-32.37, Z:1.09 [[ 7.60113156e-01 6.49615568e-01 -1.50865642e-02 9.33421665e+01] [-6.49487467e-01 7.60262858e-01 1.29002246e-02 -3.23745961e+01] [ 1.98499411e-02 -7.09605837e-06 9.99802970e-01 1.08697897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.09 meters Centerline goodness [0,1] 0.9998408548368762 Centerline is valid? [True, True] Translation: X:93.37, Y:-32.40, Z:1.09 [[ 7.58752257e-01 6.51209291e-01 -1.48818914e-02 9.33681674e+01] [-6.51084811e-01 7.58898187e-01 1.27322665e-02 -3.23954769e+01] [ 1.95852107e-02 2.87375382e-05 9.99808191e-01 1.08870254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.11999999999999 meters Centerline goodness [0,1] 0.9997501419647927 Centerline is valid? [True, True] Translation: X:93.39, Y:-32.42, Z:1.09 [[ 7.56633369e-01 6.53678700e-01 -1.44949416e-02 9.33935056e+01] [-6.53560929e-01 7.56772192e-01 1.24081267e-02 -3.24150192e+01] [ 1.90802968e-02 8.49247608e-05 9.99817951e-01 1.08850412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.14999999999999 meters Centerline goodness [0,1] 0.9998636952225175 Centerline is valid? [True, True] Translation: X:93.42, Y:-32.44, Z:1.09 [[ 7.55417730e-01 6.55094170e-01 -1.39886037e-02 9.34188951e+01] [-6.54984606e-01 7.55547229e-01 1.19812315e-02 -3.24362056e+01] [ 1.84178857e-02 1.11485431e-04 9.99830370e-01 1.08972401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.17999999999999 meters Centerline goodness [0,1] 0.9999091280839657 Centerline is valid? [True, True] Translation: X:93.44, Y:-32.46, Z:1.09 [[ 7.54363897e-01 6.56308840e-01 -1.39218273e-02 9.34442364e+01] [-6.56200399e-01 7.54492338e-01 1.19309523e-02 -3.24578338e+01] [ 1.83343015e-02 1.35229020e-04 9.99831903e-01 1.09072323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.21 meters Centerline goodness [0,1] 0.9998639085465433 Centerline is valid? [True, True] Translation: X:93.47, Y:-32.48, Z:1.09 [[ 7.54007968e-01 6.56715355e-01 -1.40330408e-02 9.34681713e+01] [-6.56605135e-01 7.54138530e-01 1.20322351e-02 -3.24784729e+01] [ 1.84846103e-02 1.41765477e-04 9.99829135e-01 1.09070066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.24 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.49, Y:-32.50, Z:1.09 [[ 7.53200212e-01 6.57654672e-01 -1.34079625e-02 9.34922895e+01] [-6.57554116e-01 7.53319526e-01 1.15011121e-02 -3.24990977e+01] [ 1.76642400e-02 1.53820874e-04 9.99843963e-01 1.09258283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.27 meters Centerline goodness [0,1] 0.9998865235350188 Centerline is valid? [True, True] Translation: X:93.52, Y:-32.52, Z:1.09 [[ 7.53619078e-01 6.57169603e-01 -1.36527804e-02 9.35168475e+01] [-6.57065144e-01 7.53742724e-01 1.17176475e-02 -3.25211859e+01] [ 1.79911657e-02 1.40123398e-04 9.99838136e-01 1.09117933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.3 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.54, Y:-32.54, Z:1.09 [[ 7.53062015e-01 6.57814583e-01 -1.33257673e-02 9.35419233e+01] [-6.57715055e-01 7.53179894e-01 1.14434953e-02 -3.25427697e+01] [ 1.75643981e-02 1.46896176e-04 9.99845723e-01 1.09336122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.33 meters Centerline goodness [0,1] 0.9998861307219312 Centerline is valid? [True, True] Translation: X:93.57, Y:-32.56, Z:1.09 [[ 7.54139669e-01 6.56578519e-01 -1.33419966e-02 9.35658214e+01] [-6.56478445e-01 7.54257672e-01 1.14636510e-02 -3.25632793e+01] [ 1.75900903e-02 1.13539197e-04 9.99845276e-01 1.09132524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.36 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.59, Y:-32.58, Z:1.09 [[ 7.53899710e-01 6.56858548e-01 -1.31177442e-02 9.35908180e+01] [-6.56761754e-01 7.54013816e-01 1.12766592e-02 -3.25846794e+01] [ 1.72981304e-02 1.13762600e-04 9.99850370e-01 1.09323392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.39 meters Centerline goodness [0,1] 0.9997958767095325 Centerline is valid? [True, True] Translation: X:93.62, Y:-32.61, Z:1.09 [[ 7.54735201e-01 6.55879656e-01 -1.40233228e-02 9.36151878e+01] [-6.55768753e-01 7.54865464e-01 1.20612705e-02 -3.26061031e+01] [ 1.84964640e-02 9.29914562e-05 9.99828921e-01 1.09069122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.42 meters Centerline goodness [0,1] 0.9998632603295426 Centerline is valid? [True, True] Translation: X:93.64, Y:-32.63, Z:1.09 [[ 7.54578040e-01 6.56056939e-01 -1.41871401e-02 9.36401512e+01] [-6.55943359e-01 7.54711391e-01 1.22076362e-02 -3.26274806e+01] [ 1.87161007e-02 9.43461334e-05 9.99824834e-01 1.09115337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.45 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.66, Y:-32.65, Z:1.09 [[ 7.53800378e-01 6.56952685e-01 -1.40769458e-02 9.36647177e+01] [-6.56840894e-01 7.53931799e-01 1.21195087e-02 -3.26476842e+01] [ 1.85750009e-02 1.10623428e-04 9.99827464e-01 1.09317381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.47999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.69, Y:-32.67, Z:1.09 [[ 7.53198699e-01 6.57640094e-01 -1.41854091e-02 9.36896941e+01] [-6.57526571e-01 7.53332258e-01 1.22195731e-02 -3.26685169e+01] [ 1.87224074e-02 1.23516842e-04 9.99824713e-01 1.09358233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.50999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.71, Y:-32.69, Z:1.09 [[ 7.51772741e-01 6.59261565e-01 -1.45579755e-02 9.37146507e+01] [-6.59142172e-01 7.51913667e-01 1.25473100e-02 -3.26882496e+01] [ 1.92182999e-02 1.63049975e-04 9.99815298e-01 1.09319740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.53999999999999 meters Centerline goodness [0,1] 0.9997267075087112 Centerline is valid? [True, True] Translation: X:93.74, Y:-32.71, Z:1.09 [[ 7.51632949e-01 6.59397520e-01 -1.55827020e-02 9.37394558e+01] [-6.59260603e-01 7.51794441e-01 1.34378766e-02 -3.27085965e+01] [ 2.05758913e-02 1.72710703e-04 9.99788279e-01 1.08925146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.76, Y:-32.73, Z:1.09 [[ 7.50368935e-01 6.60839969e-01 -1.53946706e-02 9.37642598e+01] [-6.60706495e-01 7.50526811e-01 1.32828520e-02 -3.27292464e+01] [ 2.03319525e-02 2.04319342e-04 9.99793264e-01 1.09213570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.6 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.79, Y:-32.75, Z:1.09 [[ 7.49654083e-01 6.61643781e-01 -1.56927294e-02 9.37891106e+01] [-6.61505110e-01 7.49818282e-01 1.35474708e-02 -3.27501756e+01] [ 2.07302952e-02 2.24903831e-04 9.99785079e-01 1.09187911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.63 meters Centerline goodness [0,1] 0.9998410210987713 Centerline is valid? [True, True] Translation: X:93.81, Y:-32.77, Z:1.09 [[ 7.49886478e-01 6.61369213e-01 -1.61565659e-02 9.38138819e+01] [-6.61221982e-01 7.50060476e-01 1.39561149e-02 -3.27723560e+01] [ 2.13485462e-02 2.17574614e-04 9.99772070e-01 1.09047930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.66 meters Centerline goodness [0,1] 0.9999546197131965 Centerline is valid? [True, True] Translation: X:93.84, Y:-32.79, Z:1.09 [[ 7.49461564e-01 6.61868757e-01 -1.53984492e-02 9.38384862e+01] [-6.61734973e-01 7.49619705e-01 1.33087608e-02 -3.27935240e+01] [ 2.03516339e-02 2.15287698e-04 9.99792861e-01 1.09227080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.69 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.86, Y:-32.81, Z:1.09 [[ 7.49106833e-01 6.62289181e-01 -1.45599863e-02 9.38635105e+01] [-6.62169514e-01 7.49248288e-01 1.25911514e-02 -3.28148260e+01] [ 1.92480282e-02 2.09061531e-04 9.99814718e-01 1.09406844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.72 meters Centerline goodness [0,1] 0.9998641365880169 Centerline is valid? [True, True] Translation: X:93.89, Y:-32.84, Z:1.09 [[ 7.49565760e-01 6.61776141e-01 -1.42656871e-02 9.38876238e+01] [-6.61661077e-01 7.49701476e-01 1.23416159e-02 -3.28368125e+01] [ 1.88623936e-02 1.88197194e-04 9.99822072e-01 1.09389470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.91, Y:-32.86, Z:1.10 [[ 7.48637150e-01 6.62838857e-01 -1.36772295e-02 9.39128419e+01] [-6.62733197e-01 7.48762050e-01 1.18364433e-02 -3.28579906e+01] [ 1.80866450e-02 2.03152922e-04 9.99836403e-01 1.09656546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.78 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.94, Y:-32.88, Z:1.10 [[ 7.47846302e-01 6.63737571e-01 -1.33546125e-02 9.39382226e+01] [-6.63636865e-01 7.47965501e-01 1.15637490e-02 -3.28794568e+01] [ 1.76640841e-02 2.14706210e-04 9.99843955e-01 1.09753212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.81 meters Centerline goodness [0,1] 0.9998189348844578 Centerline is valid? [True, True] Translation: X:93.96, Y:-32.90, Z:1.10 [[ 7.48169055e-01 6.63371744e-01 -1.34533824e-02 9.39627017e+01] [-6.63269366e-01 7.48289976e-01 1.16559340e-02 -3.29013607e+01] [ 1.77992484e-02 2.02607283e-04 9.99841560e-01 1.09606284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.84 meters Centerline goodness [0,1] 0.9999092044035864 Centerline is valid? [True, True] Translation: X:93.99, Y:-32.92, Z:1.10 [[ 7.47399144e-01 6.64240908e-01 -1.33617194e-02 9.39881449e+01] [-6.64139966e-01 7.47518540e-01 1.15817573e-02 -3.29191930e+01] [ 1.76812100e-02 2.17856411e-04 9.99843651e-01 1.09595638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.86999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.01, Y:-32.94, Z:1.10 [[ 7.46475795e-01 6.65280712e-01 -1.32461747e-02 9.40096971e+01] [-6.65181599e-01 7.46593275e-01 1.14857572e-02 -3.29425647e+01] [ 1.75307577e-02 2.37271889e-04 9.99846296e-01 1.09976983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.89999999999999 meters Centerline goodness [0,1] 0.9999320051676073 Centerline is valid? [True, True] Translation: X:94.03, Y:-32.96, Z:1.10 [[ 7.46238950e-01 6.65533592e-01 -1.38732685e-02 9.40348460e+01] [-6.65424796e-01 7.46367856e-01 1.20360025e-02 -3.29619865e+01] [ 1.83649256e-02 2.49882989e-04 9.99831319e-01 1.09751230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.92999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.06, Y:-32.98, Z:1.10 [[ 7.45338442e-01 6.66535801e-01 -1.41645400e-02 9.40596706e+01] [-6.66422451e-01 7.45472971e-01 1.22949755e-02 -3.29814961e+01] [ 1.87543230e-02 2.75649541e-04 9.99824084e-01 1.09777840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.08, Y:-33.00, Z:1.10 [[ 7.45074329e-01 6.66821068e-01 -1.46255965e-02 9.40834132e+01] [-6.66700147e-01 7.45217808e-01 1.27016866e-02 -3.30042618e+01] [ 1.93690072e-02 2.87186743e-04 9.99812362e-01 1.09833661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.99 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.11, Y:-33.03, Z:1.10 [[ 7.45062634e-01 6.66825760e-01 -1.50025646e-02 9.41071859e+01] [-6.66698379e-01 7.45213608e-01 1.30364682e-02 -3.30252034e+01] [ 1.98731681e-02 2.89200211e-04 9.99802467e-01 1.09824089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.02 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.13, Y:-33.05, Z:1.10 [[ 7.45156907e-01 6.66721265e-01 -1.49645798e-02 9.41311241e+01] [-6.66594364e-01 7.45307102e-01 1.30106754e-02 -3.30475882e+01] [ 1.98277016e-02 2.80309924e-04 9.99803373e-01 1.09892191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.05 meters Centerline goodness [0,1] 0.9999545165105067 Centerline is valid? [True, True] Translation: X:94.15, Y:-33.07, Z:1.10 [[ 7.45686785e-01 6.66121402e-01 -1.52806190e-02 9.41547389e+01] [-6.65988809e-01 7.45843287e-01 1.32927646e-02 -3.30692530e+01] [ 2.02515421e-02 2.64482331e-04 9.99794882e-01 1.09864804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.08 meters Centerline goodness [0,1] 0.9999545413219384 Centerline is valid? [True, True] Translation: X:94.18, Y:-33.09, Z:1.10 [[ 7.46291324e-01 6.65461285e-01 -1.45099027e-02 9.41780963e+01] [-6.65341488e-01 7.46432331e-01 1.26285296e-02 -3.30916645e+01] [ 1.92344580e-02 2.29478184e-04 9.99814974e-01 1.10019707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.11 meters Centerline goodness [0,1] 0.9998184664957226 Centerline is valid? [True, True] Translation: X:94.20, Y:-33.11, Z:1.10 [[ 7.47316702e-01 6.64323447e-01 -1.38601753e-02 9.42012944e+01] [-6.64213836e-01 7.47445197e-01 1.20688436e-02 -3.31126136e+01] [ 1.83773372e-02 1.86871757e-04 9.99831105e-01 1.09854736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.14 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.23, Y:-33.13, Z:1.10 [[ 7.46842741e-01 6.64862653e-01 -1.35488737e-02 9.42254036e+01] [-6.64757911e-01 7.46965605e-01 1.18027158e-02 -3.31336953e+01] [ 1.79677276e-02 1.91948309e-04 9.99838549e-01 1.10137348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.17 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.25, Y:-33.16, Z:1.10 [[ 7.47833214e-01 6.63777781e-01 -1.20225099e-02 9.42488864e+01] [-6.63695108e-01 7.47929834e-01 1.04769765e-02 -3.31559657e+01] [ 1.59463780e-02 1.44249956e-04 9.99872838e-01 1.10245463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.2 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.27, Y:-33.18, Z:1.10 [[ 7.48021286e-01 6.63574397e-01 -1.15401500e-02 9.42730363e+01] [-6.63498123e-01 7.48110288e-01 1.00617140e-02 -3.31776379e+01] [ 1.53100007e-02 1.30491606e-04 9.99882787e-01 1.10318064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.22999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.30, Y:-33.20, Z:1.10 [[ 7.48208268e-01 6.63373773e-01 -1.09373182e-02 9.42974096e+01] [-6.63305164e-01 7.48288196e-01 9.54126786e-03 -3.31988798e+01] [ 1.45136930e-02 1.15924161e-04 9.99894664e-01 1.10337544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.25999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.32, Y:-33.22, Z:1.10 [[ 7.48502473e-01 6.63043700e-01 -1.08213263e-02 9.43217087e+01] [-6.62976431e-01 7.48580685e-01 9.44514083e-03 -3.32204675e+01] [ 1.43631769e-02 1.04572997e-04 9.99896839e-01 1.10360355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.28999999999999 meters Centerline goodness [0,1] 0.9997496757162688 Centerline is valid? [True, True] Translation: X:94.34, Y:-33.24, Z:1.10 [[ 7.50252582e-01 6.61068144e-01 -1.04867911e-02 9.43449449e+01] [-6.61004708e-01 7.50325866e-01 9.15803536e-03 -3.32425216e+01] [ 1.39225961e-02 6.09786382e-05 9.99903074e-01 1.10004600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.37, Y:-33.26, Z:1.10 [[ 7.49633398e-01 6.61763162e-01 -1.09218180e-02 9.43695587e+01] [-6.61694354e-01 7.49712953e-01 9.54305722e-03 -3.32636826e+01] [ 1.45034721e-02 7.31108783e-05 9.99894816e-01 1.10292704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.35 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.39, Y:-33.28, Z:1.10 [[ 7.50079958e-01 6.61247995e-01 -1.14519143e-02 9.43938123e+01] [-6.61172196e-01 7.50167372e-01 1.00120500e-02 -3.32842234e+01] [ 1.52113005e-02 6.18493159e-05 9.99884300e-01 1.10109487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.38 meters Centerline goodness [0,1] 0.9999544294567991 Centerline is valid? [True, True] Translation: X:94.42, Y:-33.31, Z:1.10 [[ 7.50259050e-01 6.61034152e-01 -1.20501940e-02 9.44183039e+01] [-6.60950104e-01 7.50355813e-01 1.05410257e-02 -3.33055373e+01] [ 1.60099111e-02 5.60770492e-05 9.99871832e-01 1.09924961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.41 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.44, Y:-33.33, Z:1.10 [[ 7.49900260e-01 6.61435369e-01 -1.23633357e-02 9.44435856e+01] [-6.61346849e-01 7.50002166e-01 1.08211358e-02 -3.33271080e+01] [ 1.64300105e-02 6.16805669e-05 9.99865016e-01 1.09963942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.44 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.47, Y:-33.35, Z:1.10 [[ 7.49715877e-01 6.61636631e-01 -1.27699575e-02 9.44684630e+01] [-6.61542112e-01 7.49824622e-01 1.11834648e-02 -3.33487089e+01] [ 1.69746185e-02 6.34434791e-05 9.99855919e-01 1.09943191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.47 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.49, Y:-33.37, Z:1.10 [[ 7.49529485e-01 6.61847838e-01 -1.27668039e-02 9.44927761e+01] [-6.61753288e-01 7.49638203e-01 1.11870641e-02 -3.33701104e+01] [ 1.69746181e-02 6.34401016e-05 9.99855919e-01 1.09978626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.52, Y:-33.39, Z:1.10 [[ 7.49654732e-01 6.61697922e-01 -1.31773649e-02 9.45170549e+01] [-6.61597055e-01 7.49770536e-01 1.15533471e-02 -3.33914647e+01] [ 1.75248257e-02 5.70844800e-05 9.99846427e-01 1.09866682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.53 meters Centerline goodness [0,1] 0.9997959692593684 Centerline is valid? [True, True] Translation: X:94.54, Y:-33.41, Z:1.10 [[ 7.50547274e-01 6.60690474e-01 -1.29184385e-02 9.45408029e+01] [-6.60593283e-01 7.50658442e-01 1.13321855e-02 -3.34135071e+01] [ 1.71844019e-02 2.84927578e-05 9.99852337e-01 1.09593770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.57, Y:-33.44, Z:1.10 [[ 7.50468645e-01 6.60783892e-01 -1.27067065e-02 9.45650769e+01] [-6.60689775e-01 7.50576210e-01 1.11522686e-02 -3.34361653e+01] [ 1.69065911e-02 2.57631712e-05 9.99857073e-01 1.10016833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.59 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.59, Y:-33.46, Z:1.10 [[ 7.50854909e-01 6.60353609e-01 -1.22480936e-02 9.45891263e+01] [-6.60266012e-01 7.50954799e-01 1.07556207e-02 -3.34586106e+01] [ 1.63002777e-02 1.10893187e-05 9.99867142e-01 1.10131018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.61999999999999 meters Centerline goodness [0,1] 0.9999087008125628 Centerline is valid? [True, True] Translation: X:94.61, Y:-33.48, Z:1.10 [[ 7.51698656e-01 6.59402335e-01 -1.17342252e-02 9.46126511e+01] [-6.59321728e-01 7.51790237e-01 1.03100812e-02 -3.34810421e+01] [ 1.56201676e-02 -1.34445173e-05 9.99877998e-01 1.10046270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.64999999999999 meters Centerline goodness [0,1] 0.9999085860548027 Centerline is valid? [True, True] Translation: X:94.64, Y:-33.50, Z:1.10 [[ 7.52662856e-01 6.58310648e-01 -1.12123300e-02 9.46362273e+01] [-6.58236850e-01 7.52746365e-01 9.85695656e-03 -3.35041840e+01] [ 1.49289801e-02 -3.85962985e-05 9.99888556e-01 1.10209184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.67999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.66, Y:-33.53, Z:1.10 [[ 7.52616622e-01 6.58365119e-01 -1.11171255e-02 9.46594325e+01] [-6.58292495e-01 7.52698723e-01 9.77872166e-03 -3.35253554e+01] [ 1.48058154e-02 -4.13082069e-05 9.99890387e-01 1.10452493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.71 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.68, Y:-33.55, Z:1.11 [[ 7.52859740e-01 6.58089203e-01 -1.09914851e-02 9.46838065e+01] [-6.58018105e-01 7.52939970e-01 9.67340528e-03 -3.35477519e+01] [ 1.46418921e-02 -5.01211705e-05 9.99892800e-01 1.10541795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.74 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.71, Y:-33.57, Z:1.11 [[ 7.53139779e-01 6.57765563e-01 -1.11775539e-02 9.47070965e+01] [-6.57691919e-01 7.53222717e-01 9.84272405e-03 -3.35695561e+01] [ 1.48933924e-02 -6.15601424e-05 9.99889085e-01 1.10607652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.77 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.73, Y:-33.59, Z:1.11 [[ 7.53888233e-01 6.56896901e-01 -1.17895488e-02 9.47316475e+01] [-6.56814774e-01 7.53980407e-01 1.03874284e-02 -3.35920677e+01] [ 1.57125583e-02 -8.74102274e-05 9.99876546e-01 1.10612857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.8 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.76, Y:-33.61, Z:1.11 [[ 7.54126947e-01 6.56615549e-01 -1.21888290e-02 9.47564474e+01] [-6.56527628e-01 7.54225437e-01 1.07454187e-02 -3.36138066e+01] [ 1.62487339e-02 -1.01106795e-04 9.99867975e-01 1.10614638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.83 meters Centerline goodness [0,1] 0.9999542804891988 Centerline is valid? [True, True] Translation: X:94.78, Y:-33.64, Z:1.11 [[ 7.54257971e-01 6.56449125e-01 -1.30177059e-02 9.47810743e+01] [-6.56348693e-01 7.54370289e-01 1.14830105e-02 -3.36360957e+01] [ 1.73581827e-02 -1.16997971e-04 9.99849329e-01 1.10522924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.86 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.80, Y:-33.66, Z:1.11 [[ 7.53881200e-01 6.56863333e-01 -1.39175264e-02 9.48039374e+01] [-6.56748475e-01 7.54009646e-01 1.22838754e-02 -3.36583230e+01] [ 1.85627765e-02 -1.20268462e-04 9.99827690e-01 1.10584027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.83, Y:-33.68, Z:1.11 [[ 7.53406807e-01 6.57399828e-01 -1.42705897e-02 9.48291174e+01] [-6.57279030e-01 7.53541939e-01 1.26025171e-02 -3.36788567e+01] [ 1.90383804e-02 -1.15062797e-04 9.99818747e-01 1.10714310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.92 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.85, Y:-33.70, Z:1.11 [[ 7.52674404e-01 6.58220716e-01 -1.50575766e-02 9.48545442e+01] [-6.58086232e-01 7.52824998e-01 1.33054068e-02 -3.36999783e+01] [ 2.00936145e-02 -1.05455266e-04 9.99798097e-01 1.10747251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.95 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.88, Y:-33.72, Z:1.11 [[ 7.51740935e-01 6.59265827e-01 -1.59416338e-02 9.48790530e+01] [-6.59115146e-01 7.51909943e-01 1.40947627e-02 -3.37206348e+01] [ 2.12788683e-02 -8.82377638e-05 9.99773575e-01 1.10656896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.97999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.91, Y:-33.74, Z:1.11 [[ 7.49747908e-01 6.61484810e-01 -1.77741869e-02 9.49051433e+01] [-6.61297908e-01 7.49958563e-01 1.57235719e-02 -3.37401122e+01] [ 2.37308077e-02 -3.46825120e-05 9.99718384e-01 1.10648098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.00999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.93, Y:-33.76, Z:1.11 [[ 7.48852852e-01 6.62482788e-01 -1.83292512e-02 9.49289265e+01] [-6.62284184e-01 7.49077136e-01 1.62204919e-02 -3.37594326e+01] [ 2.44758197e-02 -7.58842198e-06 9.99700422e-01 1.10630768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.03999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.95, Y:-33.78, Z:1.11 [[ 7.48176077e-01 6.63244615e-01 -1.84157339e-02 9.49540328e+01] [-6.63044191e-01 7.48402686e-01 1.63039704e-02 -3.37806663e+01] [ 2.45959053e-02 1.22047628e-05 9.99697475e-01 1.10735906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.98, Y:-33.80, Z:1.11 [[ 7.47729730e-01 6.63746157e-01 -1.84740437e-02 9.49793410e+01] [-6.63544383e-01 7.47957913e-01 1.63650037e-02 -3.38023670e+01] [ 2.46800155e-02 2.17481884e-05 9.99695402e-01 1.10951504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.1 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.00, Y:-33.82, Z:1.11 [[ 7.47721935e-01 6.63763029e-01 -1.81809884e-02 9.50031641e+01] [-6.63567396e-01 7.47942939e-01 1.61142829e-02 -3.38237521e+01] [ 2.42944071e-02 1.53083503e-05 9.99704847e-01 1.10985866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.13 meters Centerline goodness [0,1] 0.9997509227181125 Centerline is valid? [True, True] Translation: X:95.03, Y:-33.84, Z:1.11 [[ 7.48227296e-01 6.63161385e-01 -1.93103815e-02 9.50270751e+01] [-6.62940254e-01 7.48476438e-01 1.71243258e-02 -3.38449968e+01] [ 2.58095572e-02 -1.12587634e-05 9.99666878e-01 1.10966561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.16 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.05, Y:-33.87, Z:1.11 [[ 7.47134987e-01 6.64422476e-01 -1.82231769e-02 9.50510204e+01] [-6.64225731e-01 7.47357192e-01 1.61680448e-02 -3.38658582e+01] [ 2.43616347e-02 2.45910309e-05 9.99703211e-01 1.11214621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.19 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.08, Y:-33.89, Z:1.11 [[ 7.46833489e-01 6.64758305e-01 -1.83340195e-02 9.50753278e+01] [-6.64559092e-01 7.47058495e-01 1.62732175e-02 -3.38868612e+01] [ 2.45143415e-02 3.06555595e-05 9.99699478e-01 1.11263769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.22 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.10, Y:-33.91, Z:1.11 [[ 7.46534301e-01 6.65089851e-01 -1.84939574e-02 9.50996278e+01] [-6.64887066e-01 7.46763342e-01 1.64225926e-02 -3.39080938e+01] [ 2.47331091e-02 3.63643422e-05 9.99694089e-01 1.11250509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.25 meters Centerline goodness [0,1] 0.9998644986449865 Centerline is valid? [True, True] Translation: X:95.12, Y:-33.93, Z:1.11 [[ 7.46369497e-01 6.65230169e-01 -2.00348663e-02 9.51236101e+01] [-6.64991978e-01 7.46638347e-01 1.78002395e-02 -3.39292030e+01] [ 2.68000558e-02 3.74695017e-05 9.99640813e-01 1.11324049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.28 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.15, Y:-33.95, Z:1.12 [[ 7.45800726e-01 6.65878941e-01 -1.96599345e-02 9.51480450e+01] [-6.65649562e-01 7.46059806e-01 1.74764707e-02 -3.39513383e+01] [ 2.63047007e-02 5.26622691e-05 9.99653970e-01 1.11512455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.31 meters Centerline goodness [0,1] 0.9998190577431977 Centerline is valid? [True, True] Translation: X:95.17, Y:-33.97, Z:1.11 [[ 7.46576562e-01 6.64958240e-01 -2.13067019e-02 9.51710752e+01] [-6.64688225e-01 7.46880539e-01 1.89479535e-02 -3.39717300e+01] [ 2.85131589e-02 1.62158791e-05 9.99593417e-01 1.11310990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.34 meters Centerline goodness [0,1] 0.999932083672915 Centerline is valid? [True, True] Translation: X:95.19, Y:-33.99, Z:1.11 [[ 7.47315510e-01 6.64125088e-01 -2.13868293e-02 9.51942780e+01] [-6.63852450e-01 7.47621473e-01 1.90278068e-02 -3.39947114e+01] [ 2.86260967e-02 -2.20761519e-05 9.99590189e-01 1.11405361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.36999999999999 meters Centerline goodness [0,1] 0.9998868957404936 Centerline is valid? [True, True] Translation: X:95.22, Y:-34.02, Z:1.11 [[ 7.48189812e-01 6.63129225e-01 -2.17171823e-02 9.52178597e+01] [-6.62847355e-01 7.48504927e-01 1.93328220e-02 -3.40173454e+01] [ 2.90755773e-02 -6.94436045e-05 9.99577214e-01 1.11479858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.39999999999999 meters Centerline goodness [0,1] 0.9998410968854989 Centerline is valid? [True, True] Translation: X:95.24, Y:-34.04, Z:1.11 [[ 7.49298508e-01 6.61872041e-01 -2.18437093e-02 9.52400799e+01] [-6.61586027e-01 7.49616826e-01 1.94561771e-02 -3.40398039e+01] [ 2.92519117e-02 -1.26991579e-04 9.99572063e-01 1.11386768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.42999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.26, Y:-34.06, Z:1.12 [[ 7.51206206e-01 6.59781257e-01 -1.94403975e-02 9.52611162e+01] [-6.59553806e-01 7.51457687e-01 1.73240054e-02 -3.40638424e+01] [ 2.60386902e-02 -1.91912223e-04 9.99660917e-01 1.11831334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.28, Y:-34.09, Z:1.12 [[ 7.52538527e-01 6.58275265e-01 -1.89589266e-02 9.52825620e+01] [-6.58058308e-01 7.52777269e-01 1.69010903e-02 -3.40860215e+01] [ 2.53974187e-02 -2.42642437e-04 9.99677404e-01 1.11965247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.49 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.30, Y:-34.11, Z:1.12 [[ 7.53911734e-01 6.56727590e-01 -1.80546575e-02 9.53049875e+01] [-6.56530236e-01 7.54127835e-01 1.61014811e-02 -3.41091034e+01] [ 2.41898066e-02 -2.85666979e-04 9.99707343e-01 1.12120954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.52 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.33, Y:-34.13, Z:1.12 [[ 7.55132428e-01 6.55336485e-01 -1.75814410e-02 9.53279301e+01] [-6.55148780e-01 7.55337000e-01 1.56873258e-02 -3.41314147e+01] [ 2.35603898e-02 -3.27548784e-04 9.99722362e-01 1.12233122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.55 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.35, Y:-34.15, Z:1.12 [[ 7.57696626e-01 6.52374158e-01 -1.74293287e-02 9.53505146e+01] [-6.52188721e-01 7.57896946e-01 1.55593216e-02 -3.41548529e+01] [ 2.33601343e-02 -4.22033902e-04 9.99727026e-01 1.12306020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.58 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.37, Y:-34.18, Z:1.12 [[ 7.58718320e-01 6.51181400e-01 -1.75867746e-02 9.53737962e+01] [-6.50992091e-01 7.58921975e-01 1.57077616e-02 -3.41773837e+01] [ 2.35755919e-02 -4.68915346e-04 9.99721947e-01 1.12286089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.61 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.40, Y:-34.20, Z:1.12 [[ 7.59528231e-01 6.50236787e-01 -1.75780037e-02 9.53962876e+01] [-6.50047237e-01 7.59731444e-01 1.57074332e-02 -3.41991893e+01] [ 2.35681130e-02 -5.03706209e-04 9.99722107e-01 1.12290993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.64 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.42, Y:-34.22, Z:1.12 [[ 7.60163960e-01 6.49502030e-01 -1.72588291e-02 9.54198046e+01] [-6.49318943e-01 7.60359678e-01 1.54295464e-02 -3.42205417e+01] [ 2.31444394e-02 -5.22500451e-04 9.99731995e-01 1.12288701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.67 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.44, Y:-34.24, Z:1.12 [[ 7.59952882e-01 6.49761357e-01 -1.67867961e-02 9.54416328e+01] [-6.49588053e-01 7.60138095e-01 1.50145829e-02 -3.42421060e+01] [ 2.25161790e-02 -5.05873395e-04 9.99746351e-01 1.12272554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.7 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.47, Y:-34.26, Z:1.12 [[ 7.59330241e-01 6.50509705e-01 -1.59595980e-02 9.54676102e+01] [-6.50353134e-01 7.59497801e-01 1.42790916e-02 -3.42620032e+01] [ 2.14099672e-02 -4.63171497e-04 9.99770673e-01 1.12461873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.72999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.49, Y:-34.28, Z:1.12 [[ 7.58402106e-01 6.51594250e-01 -1.58486066e-02 9.54926555e+01] [-6.51439987e-01 7.58567561e-01 1.41844423e-02 -3.42822401e+01] [ 2.12647399e-02 -4.33094901e-04 9.99773786e-01 1.12496991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.75999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.52, Y:-34.30, Z:1.12 [[ 7.57387116e-01 6.52775874e-01 -1.57611914e-02 9.55165787e+01] [-6.52623422e-01 7.57550986e-01 1.41128487e-02 -3.43027084e+01] [ 2.11524332e-02 -4.02767086e-04 9.99776181e-01 1.12497367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.78999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.54, Y:-34.32, Z:1.13 [[ 7.56278100e-01 6.54066769e-01 -1.54950928e-02 9.55423377e+01] [-6.53919601e-01 7.56436732e-01 1.38789746e-02 -3.43228202e+01] [ 2.07988334e-02 -3.63819687e-04 9.99783615e-01 1.12556477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.57, Y:-34.34, Z:1.13 [[ 7.53410990e-01 6.57372039e-01 -1.52932312e-02 9.55694066e+01] [-6.57229268e-01 7.53566140e-01 1.37026130e-02 -3.43408076e+01] [ 2.05321759e-02 -2.72540050e-04 9.99789156e-01 1.12543461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.85 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.59, Y:-34.36, Z:1.12 [[ 7.51596201e-01 6.59445884e-01 -1.53060900e-02 9.55940012e+01] [-6.59303167e-01 7.51752005e-01 1.37206765e-02 -3.43595844e+01] [ 2.05544276e-02 -2.21054723e-04 9.99788711e-01 1.12466096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.88 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.62, Y:-34.38, Z:1.12 [[ 7.49888956e-01 6.61384606e-01 -1.53933903e-02 9.56195196e+01] [-6.61240529e-01 7.50046914e-01 1.38054198e-02 -3.43786311e+01] [ 2.06764571e-02 -1.73798290e-04 9.99786204e-01 1.12396842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.91 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.65, Y:-34.40, Z:1.12 [[ 7.46874468e-01 6.64779961e-01 -1.56885936e-02 9.56458760e+01] [-6.64630936e-01 7.47039220e-01 1.40756034e-02 -3.43953931e+01] [ 2.10771738e-02 -8.55841140e-05 9.99777848e-01 1.12301657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.94 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.67, Y:-34.42, Z:1.12 [[ 7.45657325e-01 6.66146210e-01 -1.56326603e-02 9.56712369e+01] [-6.65998432e-01 7.45821175e-01 1.40308317e-02 -3.44153489e+01] [ 2.10057544e-02 -5.08651803e-05 9.99779354e-01 1.12203025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.97 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.70, Y:-34.44, Z:1.12 [[ 7.44715143e-01 6.67201325e-01 -1.55482420e-02 9.56969429e+01] [-6.67055212e-01 7.44877434e-01 1.39625389e-02 -3.44359351e+01] [ 2.08973591e-02 -2.65782695e-05 9.99781626e-01 1.12358717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.0 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.72, Y:-34.46, Z:1.12 [[ 7.44042150e-01 6.67947950e-01 -1.57103323e-02 9.57208086e+01] [-6.67798802e-01 7.44207992e-01 1.41146945e-02 -3.44564433e+01] [ 2.11196361e-02 -1.05865612e-05 9.99776956e-01 1.12220949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.03 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.75, Y:-34.48, Z:1.12 [[ 7.43355237e-01 6.68721191e-01 -1.53284221e-02 9.57461510e+01] [-6.68579243e-01 7.43513261e-01 1.37777715e-02 -3.44775336e+01] [ 2.06103729e-02 6.48626570e-06 9.99787584e-01 1.12441664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.06 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.77, Y:-34.50, Z:1.12 [[ 7.43092342e-01 6.69025434e-01 -1.47898567e-02 9.57711135e+01] [-6.68893199e-01 7.43239510e-01 1.33010886e-02 -3.44990045e+01] [ 1.98911724e-02 8.89747254e-06 9.99802151e-01 1.12472624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.09 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.80, Y:-34.52, Z:1.13 [[ 7.43024821e-01 6.69127187e-01 -1.35248975e-02 9.57956744e+01] [-6.69016511e-01 7.43147904e-01 1.21696554e-02 -3.45200547e+01] [ 1.81940465e-02 6.02369543e-06 9.99834475e-01 1.12537409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.11999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.82, Y:-34.54, Z:1.13 [[ 7.42993447e-01 6.69169007e-01 -1.31748690e-02 9.58197766e+01] [-6.69063884e-01 7.43110247e-01 1.18608058e-02 -3.45419537e+01] [ 1.77272638e-02 2.32807939e-06 9.99842860e-01 1.12585943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.14999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.84, Y:-34.56, Z:1.13 [[ 7.43295330e-01 6.68844891e-01 -1.25922668e-02 9.58439914e+01] [-6.68748708e-01 7.43401985e-01 1.13425478e-02 -3.45641987e+01] [ 1.69475213e-02 -9.80065559e-06 9.99856380e-01 1.12662757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.17999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.87, Y:-34.59, Z:1.13 [[ 7.44063044e-01 6.68004769e-01 -1.18243661e-02 9.58673548e+01] [-6.67919774e-01 7.44156991e-01 1.06559163e-02 -3.45865981e+01] [ 1.59173876e-02 -3.09456140e-05 9.99873310e-01 1.12735345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.21 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.89, Y:-34.61, Z:1.13 [[ 7.44574367e-01 6.67446948e-01 -1.11167766e-02 9.58913007e+01] [-6.67371700e-01 7.44657350e-01 1.00222119e-02 -3.46087820e+01] [ 1.49674841e-02 -4.32599833e-05 9.99887980e-01 1.12823259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.24 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.91, Y:-34.63, Z:1.13 [[ 7.45131670e-01 6.66828868e-01 -1.08653187e-02 9.59149042e+01] [-6.66756841e-01 7.45210881e-01 9.80088700e-03 -3.46309331e+01] [ 1.46324681e-02 -5.84257046e-05 9.99892938e-01 1.12850371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.27 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.94, Y:-34.65, Z:1.13 [[ 7.45539308e-01 6.66375632e-01 -1.07077562e-02 9.59394077e+01] [-6.66305559e-01 7.45616196e-01 9.66390310e-03 -3.46535158e+01] [ 1.44236660e-02 -7.01821583e-05 9.99895971e-01 1.12867849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.3 meters Centerline goodness [0,1] 0.9998653470679324 Centerline is valid? [True, True] Translation: X:95.96, Y:-34.67, Z:1.13 [[ 7.47089991e-01 6.64641842e-01 -1.03811386e-02 9.59616780e+01] [-6.64575741e-01 7.47162105e-01 9.37409354e-03 -3.46745737e+01] [ 1.39868082e-02 -1.04238595e-04 9.99902174e-01 1.12738265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.33 meters Centerline goodness [0,1] 0.9999551005747126 Centerline is valid? [True, True] Translation: X:95.99, Y:-34.70, Z:1.13 [[ 7.47450916e-01 6.64232904e-01 -1.05724644e-02 9.59853896e+01] [-6.64164236e-01 7.47525676e-01 9.55152476e-03 -3.46968634e+01] [ 1.42476256e-02 -1.17443183e-04 9.99898491e-01 1.12788077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.36 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.01, Y:-34.72, Z:1.13 [[ 7.48352156e-01 6.63207535e-01 -1.11721087e-02 9.60085352e+01] [-6.63130657e-01 7.48435530e-01 1.00989641e-02 -3.47191481e+01] [ 1.50593122e-02 -1.49013751e-04 9.99886591e-01 1.12808373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.39 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.03, Y:-34.74, Z:1.13 [[ 7.48167103e-01 6.63416330e-01 -1.11695471e-02 9.60325115e+01] [-6.63339433e-01 7.48250460e-01 1.01017967e-02 -3.47409318e+01] [ 1.50593156e-02 -1.48630887e-04 9.99886591e-01 1.12843792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.42 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.06, Y:-34.76, Z:1.13 [[ 7.48449660e-01 6.63095049e-01 -1.13164761e-02 9.60561689e+01] [-6.63015991e-01 7.48535190e-01 1.02403667e-02 -3.47630722e+01] [ 1.52611170e-02 -1.61394323e-04 9.99883529e-01 1.12848965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.45 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.08, Y:-34.78, Z:1.13 [[ 7.49194892e-01 6.62244114e-01 -1.18214803e-02 9.60784499e+01] [-6.62157660e-01 7.49288127e-01 1.07021675e-02 -3.47840608e+01] [ 1.59451423e-02 -1.90325497e-04 9.99872850e-01 1.12806908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.47999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.10, Y:-34.81, Z:1.13 [[ 7.50087504e-01 6.61235197e-01 -1.16940444e-02 9.61016991e+01] [-6.61150422e-01 7.50178625e-01 1.05901360e-02 -3.48059197e+01] [ 1.57751928e-02 -2.12006312e-04 9.99875541e-01 1.12824517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.50999999999999 meters Centerline goodness [0,1] 0.9999550238373662 Centerline is valid? [True, True] Translation: X:96.12, Y:-34.83, Z:1.13 [[ 7.52670246e-01 6.58302179e-01 -1.12134518e-02 9.61237443e+01] [-6.58223840e-01 7.52753725e-01 1.01590135e-02 -3.48287900e+01] [ 1.51286683e-02 -2.65425884e-04 9.99885520e-01 1.12830150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.53999999999999 meters Centerline goodness [0,1] 0.9998872197410565 Centerline is valid? [True, True] Translation: X:96.15, Y:-34.85, Z:1.13 [[ 7.54264697e-01 6.56485401e-01 -1.05681507e-02 9.61464756e+01] [-6.56415601e-01 7.54338675e-01 9.57713110e-03 -3.48507592e+01] [ 1.42592115e-02 -2.86592918e-04 9.99898291e-01 1.12896119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.17, Y:-34.87, Z:1.13 [[ 7.55629246e-01 6.54915411e-01 -1.04998142e-02 9.61692105e+01] [-6.54846299e-01 7.55702126e-01 9.51956176e-03 -3.48735452e+01] [ 1.41692396e-02 -3.17494801e-04 9.99899561e-01 1.13057065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.6 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.19, Y:-34.90, Z:1.13 [[ 7.57231701e-01 6.53070302e-01 -9.96649723e-03 9.61901186e+01] [-6.53007820e-01 7.57297212e-01 9.03991136e-03 -3.48960795e+01] [ 1.34512982e-02 -3.37106824e-04 9.99909470e-01 1.13128103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.63 meters Centerline goodness [0,1] 0.9999548960353615 Centerline is valid? [True, True] Translation: X:96.21, Y:-34.92, Z:1.13 [[ 7.60389303e-01 6.49397122e-01 -9.56486572e-03 9.62143155e+01] [-6.49339253e-01 7.60449359e-01 8.67792075e-03 -3.49175735e+01] [ 1.29090128e-02 -3.87755340e-04 9.99916600e-01 1.13178859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.66 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.23, Y:-34.94, Z:1.13 [[ 7.61666795e-01 6.47900028e-01 -9.44703115e-03 9.62340804e+01] [-6.47843437e-01 7.61725269e-01 8.57292827e-03 -3.49414283e+01] [ 1.27504428e-02 -4.09517668e-04 9.99918626e-01 1.13231871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.69 meters Centerline goodness [0,1] 0.9997521741089532 Centerline is valid? [True, True] Translation: X:96.26, Y:-34.96, Z:1.13 [[ 7.63210037e-01 6.46084813e-01 -9.21159692e-03 9.62588622e+01] [-6.46030842e-01 7.63265504e-01 8.36192830e-03 -3.49622586e+01] [ 1.24334090e-02 -4.30931897e-04 9.99922609e-01 1.13125669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.72 meters Centerline goodness [0,1] 0.9999549275460302 Centerline is valid? [True, True] Translation: X:96.28, Y:-34.98, Z:1.13 [[ 7.64990459e-01 6.43972080e-01 -9.46353498e-03 9.62817523e+01] [-6.43914935e-01 7.65048842e-01 8.59217833e-03 -3.49845484e+01] [ 1.27731894e-02 -4.79222931e-04 9.99918305e-01 1.13284291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.30, Y:-35.01, Z:1.13 [[ 7.65237457e-01 6.43678283e-01 -9.48166524e-03 9.63012528e+01] [-6.43620857e-01 7.65296041e-01 8.61179288e-03 -3.50091690e+01] [ 1.27995049e-02 -4.87468977e-04 9.99917964e-01 1.13353145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.78 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.33, Y:-35.03, Z:1.13 [[ 7.65316845e-01 6.43583788e-01 -9.48859617e-03 9.63293679e+01] [-6.43526237e-01 7.65375506e-01 8.62069210e-03 -3.50261980e+01] [ 1.28104768e-02 -4.91400295e-04 9.99917822e-01 1.13405201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.81 meters Centerline goodness [0,1] 0.9998206639915712 Centerline is valid? [True, True] Translation: X:96.35, Y:-35.05, Z:1.13 [[ 7.64257577e-01 6.44830917e-01 -1.01707653e-02 9.63548787e+01] [-6.44764837e-01 7.64325081e-01 9.24528248e-03 -3.50456706e+01] [ 1.37354150e-02 -5.08025354e-04 9.99905536e-01 1.13245312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.84 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.38, Y:-35.07, Z:1.13 [[ 7.62698828e-01 6.46664485e-01 -1.07489902e-02 9.63791034e+01] [-6.46590794e-01 7.62774402e-01 9.77537455e-03 -3.50654620e+01] [ 1.45204421e-02 -5.05468612e-04 9.99894445e-01 1.13303561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.86999999999999 meters Centerline goodness [0,1] 0.9998657147333319 Centerline is valid? [True, True] Translation: X:96.40, Y:-35.09, Z:1.13 [[ 7.61240907e-01 6.48372941e-01 -1.11718905e-02 9.64034877e+01] [-6.48293467e-01 7.61322720e-01 1.01634634e-02 -3.50857026e+01] [ 1.50951287e-02 -4.94180452e-04 9.99885940e-01 1.13117825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.89999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.43, Y:-35.10, Z:1.13 [[ 7.57625545e-01 6.52577187e-01 -1.21057271e-02 9.64330309e+01] [-6.52484331e-01 7.57722122e-01 1.10174050e-02 -3.51006002e+01] [ 1.63624844e-02 -4.48270249e-04 9.99866025e-01 1.13075150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.92999999999999 meters Centerline goodness [0,1] 0.9999777248123315 Centerline is valid? [True, True] Translation: X:96.46, Y:-35.12, Z:1.13 [[ 7.55937931e-01 6.54531432e-01 -1.21016393e-02 9.64573178e+01] [-6.54438853e-01 7.56034681e-01 1.10158478e-02 -3.51206500e+01] [ 1.63594776e-02 -4.07514224e-04 9.99866092e-01 1.13018145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.48, Y:-35.14, Z:1.13 [[ 7.53945466e-01 6.56821203e-01 -1.23345320e-02 9.64839869e+01] [-6.56725265e-01 7.54046266e-01 1.12318758e-02 -3.51388401e+01] [ 1.66781420e-02 -3.67823080e-04 9.99860842e-01 1.13118843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.99 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.51, Y:-35.16, Z:1.13 [[ 7.50366586e-01 6.60913888e-01 -1.19507417e-02 9.65111493e+01] [-6.60824263e-01 7.50461697e-01 1.08873622e-02 -3.51552436e+01] [ 1.61641828e-02 -2.72172791e-04 9.99869314e-01 1.13228262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.02 meters Centerline goodness [0,1] 0.9998667821221608 Centerline is valid? [True, True] Translation: X:96.54, Y:-35.17, Z:1.13 [[ 7.48679325e-01 6.62830518e-01 -1.16177732e-02 9.65366258e+01] [-6.62745977e-01 7.48769425e-01 1.05885448e-02 -3.51747493e+01] [ 1.57174440e-02 -2.27792183e-04 9.99876447e-01 1.13234373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.05 meters Centerline goodness [0,1] 0.9999336987270155 Centerline is valid? [True, True] Translation: X:96.56, Y:-35.19, Z:1.13 [[ 7.46597036e-01 6.65184340e-01 -1.10751526e-02 9.65617628e+01] [-6.65107699e-01 7.46679157e-01 1.00987865e-02 -3.51937414e+01] [ 1.49871402e-02 -1.73554749e-04 9.99887671e-01 1.13370283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.08 meters Centerline goodness [0,1] 0.9999118903916472 Centerline is valid? [True, True] Translation: X:96.59, Y:-35.21, Z:1.13 [[ 7.42275223e-01 6.70020794e-01 -9.98143000e-03 9.65893610e+01] [-6.69958926e-01 7.42342327e-01 9.10535489e-03 -3.52101411e+01] [ 1.35104151e-02 -7.15312015e-05 9.99908728e-01 1.13466279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.11 meters Centerline goodness [0,1] 0.999801679116811 Centerline is valid? [True, True] Translation: X:96.62, Y:-35.23, Z:1.13 [[ 7.40172249e-01 6.72336790e-01 -1.04058977e-02 9.66151046e+01] [-6.72269711e-01 7.40245391e-01 9.49714032e-03 -3.52291479e+01] [ 1.40881947e-02 -3.39498606e-05 9.99900756e-01 1.13454029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.14 meters Centerline goodness [0,1] 0.9997586713762313 Centerline is valid? [True, True] Translation: X:96.64, Y:-35.25, Z:1.13 [[ 7.38126347e-01 6.74583069e-01 -1.03526907e-02 9.66409800e+01] [-6.74516828e-01 7.38198945e-01 9.45340266e-03 -3.52489717e+01] [ 1.40194507e-02 5.25848581e-06 9.99901723e-01 1.13458480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.17 meters Centerline goodness [0,1] 0.9998020368211513 Centerline is valid? [True, True] Translation: X:96.67, Y:-35.27, Z:1.14 [[ 7.36219434e-01 6.76661287e-01 -1.05094262e-02 9.66665947e+01] [-6.76593157e-01 7.36294439e-01 9.60202461e-03 -3.52693429e+01] [ 1.42353504e-02 4.14087468e-05 9.99898671e-01 1.13500584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.2 meters Centerline goodness [0,1] 0.9998016878566864 Centerline is valid? [True, True] Translation: X:96.69, Y:-35.29, Z:1.13 [[ 7.33243953e-01 6.79867402e-01 -1.15594318e-02 9.66934076e+01] [-6.79785278e-01 7.33335055e-01 1.05675077e-02 -3.52871273e+01] [ 1.56614406e-02 1.09370438e-04 9.99877346e-01 1.13450064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.22999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.72, Y:-35.31, Z:1.14 [[ 7.31520141e-01 6.81725806e-01 -1.13229319e-02 9.67185949e+01] [-6.81647153e-01 7.31607754e-01 1.03563594e-02 -3.53076883e+01] [ 1.53441423e-02 1.42358807e-04 9.99882262e-01 1.13527758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.25999999999999 meters Centerline goodness [0,1] 0.9998678821508786 Centerline is valid? [True, True] Translation: X:96.74, Y:-35.33, Z:1.13 [[ 7.30618737e-01 6.82662205e-01 -1.29836209e-02 9.67431199e+01] [-6.82558819e-01 7.30734070e-01 1.18818426e-02 -3.53279080e+01] [ 1.75988590e-02 1.80988122e-04 9.99845112e-01 1.13395718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.28999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.77, Y:-35.35, Z:1.13 [[ 7.28802014e-01 6.84589354e-01 -1.36029849e-02 9.67679729e+01] [-6.84476083e-01 7.28928914e-01 1.24551189e-02 -3.53477092e+01] [ 1.84422508e-02 2.33602115e-04 9.99829900e-01 1.13303969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32 meters Centerline goodness [0,1] 0.9998686284813453 Centerline is valid? [True, True] Translation: X:96.79, Y:-35.37, Z:1.13 [[ 7.28812303e-01 6.84542910e-01 -1.52849898e-02 9.67915630e+01] [-6.84399732e-01 7.28972522e-01 1.40024368e-02 -3.53686153e+01] [ 2.07276064e-02 2.55894652e-04 9.99785127e-01 1.13184338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.35 meters Centerline goodness [0,1] 0.9998021847594347 Centerline is valid? [True, True] Translation: X:96.82, Y:-35.39, Z:1.13 [[ 7.28649723e-01 6.84695648e-01 -1.61694571e-02 9.68158991e+01] [-6.84535283e-01 7.28829059e-01 1.48205569e-02 -3.53913885e+01] [ 2.19323410e-02 2.69569201e-04 9.99759421e-01 1.13127020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.38 meters Centerline goodness [0,1] 0.9998902377450443 Centerline is valid? [True, True] Translation: X:96.84, Y:-35.41, Z:1.13 [[ 7.28716823e-01 6.84624707e-01 -1.61493477e-02 9.68394059e+01] [-6.84464539e-01 7.28895700e-01 1.48105778e-02 -3.54137619e+01] [ 2.19108776e-02 2.60938616e-04 9.99759894e-01 1.13161137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.41 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.86, Y:-35.44, Z:1.13 [[ 7.28949853e-01 6.84392025e-01 -1.54811958e-02 9.68612041e+01] [-6.84244634e-01 7.29114188e-01 1.42050019e-02 -3.54356786e+01] [ 2.10093495e-02 2.38191129e-04 9.99779251e-01 1.13242751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.44 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.88, Y:-35.46, Z:1.13 [[ 7.29297176e-01 6.84023762e-01 -1.53987896e-02 9.68842847e+01] [-6.83877713e-01 7.29459693e-01 1.41360927e-02 -3.54580534e+01] [ 2.09022197e-02 2.21476515e-04 9.99781500e-01 1.13317433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.47 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.91, Y:-35.48, Z:1.13 [[ 7.29345135e-01 6.83970588e-01 -1.54889811e-02 9.69078459e+01] [-6.83822653e-01 7.29509553e-01 1.42264461e-02 -3.54815262e+01] [ 2.10298304e-02 2.15726861e-04 9.99778825e-01 1.13399771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.5 meters Centerline goodness [0,1] 0.9997810282911448 Centerline is valid? [True, True] Translation: X:96.93, Y:-35.50, Z:1.13 [[ 7.29643731e-01 6.83628563e-01 -1.64928310e-02 9.69314006e+01] [-6.83460541e-01 7.29830078e-01 1.51573688e-02 -3.55044572e+01] [ 2.23989744e-02 2.12720080e-04 9.99749089e-01 1.13371018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.53 meters Centerline goodness [0,1] 0.9998902208755983 Centerline is valid? [True, True] Translation: X:96.95, Y:-35.53, Z:1.13 [[ 7.28554513e-01 6.84793391e-01 -1.63197121e-02 9.69549832e+01] [-6.84628983e-01 7.28737232e-01 1.50067514e-02 -3.55272735e+01] [ 2.21693060e-02 2.39711431e-04 9.99754202e-01 1.13399925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.98, Y:-35.55, Z:1.13 [[ 7.27559464e-01 6.85862155e-01 -1.58218514e-02 9.69787728e+01] [-6.85707703e-01 7.27731433e-01 1.45570800e-02 -3.55496329e+01] [ 2.14982088e-02 2.58024033e-04 9.99768854e-01 1.13462509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.58999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.00, Y:-35.57, Z:1.13 [[ 7.27113491e-01 6.86317049e-01 -1.65794967e-02 9.70017410e+01] [-6.86147386e-01 7.27302435e-01 1.52621388e-02 -3.55706670e+01] [ 2.25329744e-02 2.78671325e-04 9.99746061e-01 1.13364155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.61999999999999 meters Centerline goodness [0,1] 0.999867949028325 Centerline is valid? [True, True] Translation: X:97.02, Y:-35.59, Z:1.13 [[ 7.26616486e-01 6.86804642e-01 -1.81070761e-02 9.70226331e+01] [-6.86602226e-01 7.26841995e-01 1.66762875e-02 -3.55945413e+01] [ 2.46143349e-02 3.15093316e-04 9.99696972e-01 1.13381868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.64999999999999 meters Centerline goodness [0,1] 0.9999120008799912 Centerline is valid? [True, True] Translation: X:97.05, Y:-35.62, Z:1.13 [[ 7.25789852e-01 6.87680173e-01 -1.80297038e-02 9.70459450e+01] [-6.87479540e-01 7.26013682e-01 1.66137116e-02 -3.56175573e+01] [ 2.45147317e-02 3.36989225e-04 9.99699412e-01 1.13452101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.67999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.07, Y:-35.64, Z:1.13 [[ 7.24658732e-01 6.88881926e-01 -1.76469325e-02 9.70700054e+01] [-6.88689880e-01 7.24873479e-01 1.62692697e-02 -3.56375828e+01] [ 2.39993992e-02 3.63595448e-04 9.99711907e-01 1.13302321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.71 meters Centerline goodness [0,1] 0.9999337748344371 Centerline is valid? [True, True] Translation: X:97.09, Y:-35.66, Z:1.13 [[ 7.24220514e-01 6.89317134e-01 -1.86154996e-02 9.70912476e+01] [-6.89103353e-01 7.24459616e-01 1.71707312e-02 -3.56617491e+01] [ 2.53222569e-02 3.92607454e-04 9.99679263e-01 1.13469744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.74 meters Centerline goodness [0,1] 0.9998894905514422 Centerline is valid? [True, True] Translation: X:97.11, Y:-35.69, Z:1.13 [[ 7.23179276e-01 6.90374214e-01 -1.98790952e-02 9.71128927e+01] [-6.90130564e-01 7.23452307e-01 1.83457035e-02 -3.56852402e+01] [ 2.70469780e-02 4.51938608e-04 9.99634061e-01 1.13469712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.77 meters Centerline goodness [0,1] 0.9999114828830025 Centerline is valid? [True, True] Translation: X:97.14, Y:-35.71, Z:1.13 [[ 7.22769639e-01 6.90802606e-01 -1.98949393e-02 9.71355159e+01] [-6.90558470e-01 7.23043254e-01 1.83698887e-02 -3.57077636e+01] [ 2.70748686e-02 4.61421023e-04 9.99633302e-01 1.13462694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.8 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.16, Y:-35.73, Z:1.14 [[ 7.22135778e-01 6.91481877e-01 -1.93062937e-02 9.71582999e+01] [-6.91251963e-01 7.22393658e-01 1.78360869e-02 -3.57313754e+01] [ 2.62800750e-02 4.65436882e-04 9.99654511e-01 1.13607134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.83 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.18, Y:-35.76, Z:1.14 [[ 7.23028162e-01 6.90581981e-01 -1.80777412e-02 9.71784556e+01] [-6.90379909e-01 7.23254014e-01 1.67096290e-02 -3.57569917e+01] [ 2.46141676e-02 3.98976994e-04 9.99696946e-01 1.13812890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.86 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.20, Y:-35.78, Z:1.14 [[ 7.23628027e-01 6.89967955e-01 -1.75128555e-02 9.71999919e+01] [-6.89777947e-01 7.23839824e-01 1.61954367e-02 -3.57811288e+01] [ 2.38508346e-02 3.60509612e-04 9.99715463e-01 1.14003108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.22, Y:-35.81, Z:1.14 [[ 7.24772357e-01 6.88789540e-01 -1.65529383e-02 9.72215441e+01] [-6.88619375e-01 7.24961295e-01 1.53126346e-02 -3.58058699e+01] [ 2.25474221e-02 3.00499782e-04 9.99745729e-01 1.14162261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.92 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.24, Y:-35.83, Z:1.14 [[ 7.28425134e-01 6.84967185e-01 -1.47234057e-02 9.72397050e+01] [-6.84831690e-01 7.28573901e-01 1.36244726e-02 -3.58325151e+01] [ 2.00594058e-02 1.58646526e-04 9.99798777e-01 1.14359122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.95 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.26, Y:-35.86, Z:1.14 [[ 7.30490575e-01 6.82777061e-01 -1.41068909e-02 9.72602129e+01] [-6.82652146e-01 7.30626770e-01 1.30602799e-02 -3.58571515e+01] [ 1.92241317e-02 8.96879650e-05 9.99815195e-01 1.14463850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.97999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.28, Y:-35.88, Z:1.15 [[ 7.32530474e-01 6.80597978e-01 -1.36197596e-02 9.72806917e+01] [-6.80481051e-01 7.32657077e-01 1.26153420e-02 -3.58818287e+01] [ 1.85645895e-02 2.68658511e-05 9.99827663e-01 1.14544593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.00999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.30, Y:-35.91, Z:1.15 [[ 7.36356952e-01 6.76457593e-01 -1.35485820e-02 9.72996534e+01] [-6.76341061e-01 7.36481580e-01 1.25559198e-02 -3.59101420e+01] [ 1.84718284e-02 -8.21765659e-05 9.99829378e-01 1.14544123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.03999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.32, Y:-35.93, Z:1.15 [[ 7.37783500e-01 6.74891963e-01 -1.40123264e-02 9.73206694e+01] [-6.74766899e-01 7.37916541e-01 1.29927325e-02 -3.59346984e+01] [ 1.91086182e-02 -1.30769637e-04 9.99817405e-01 1.14521819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.34, Y:-35.96, Z:1.14 [[ 7.39060382e-01 6.73479357e-01 -1.46733964e-02 9.73422982e+01] [-6.73341797e-01 7.39206009e-01 1.36125108e-02 -3.59591108e+01] [ 2.00144078e-02 -1.80256350e-04 9.99799675e-01 1.14429452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.1 meters Centerline goodness [0,1] 0.9998637076073871 Centerline is valid? [True, True] Translation: X:97.36, Y:-35.98, Z:1.14 [[ 7.40220208e-01 6.72175211e-01 -1.59539705e-02 9.73642418e+01] [-6.72012122e-01 7.40392078e-01 1.48081030e-02 -3.59820975e+01] [ 2.17658331e-02 -2.39995549e-04 9.99763067e-01 1.14343900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.13 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.39, Y:-36.00, Z:1.14 [[ 7.39336462e-01 6.73141378e-01 -1.61950951e-02 9.73875270e+01] [-6.72973381e-01 7.39513784e-01 1.50396888e-02 -3.60036671e+01] [ 2.21003329e-02 -2.20522410e-04 9.99755733e-01 1.14297836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.16 meters Centerline goodness [0,1] 0.9999773227203664 Centerline is valid? [True, True] Translation: X:97.41, Y:-36.02, Z:1.14 [[ 7.38303514e-01 6.74267494e-01 -1.64702174e-02 9.74118347e+01] [-6.74093837e-01 7.38487176e-01 1.53032727e-02 -3.60247819e+01] [ 2.24815437e-02 -1.95987963e-04 9.99747239e-01 1.14250212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.19 meters Centerline goodness [0,1] 0.9999318398691326 Centerline is valid? [True, True] Translation: X:97.44, Y:-36.04, Z:1.14 [[ 7.37171046e-01 6.75505622e-01 -1.64621726e-02 9.74373620e+01] [-6.75332271e-01 7.37354818e-01 1.53034818e-02 -3.60449056e+01] [ 2.24760503e-02 -1.63847311e-04 9.99747368e-01 1.14266071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.22 meters Centerline goodness [0,1] 0.9998413597733711 Centerline is valid? [True, True] Translation: X:97.46, Y:-36.06, Z:1.14 [[ 7.35134638e-01 6.77718926e-01 -1.65565880e-02 9.74636506e+01] [-6.77543970e-01 7.35321050e-01 1.53988012e-02 -3.60630986e+01] [ 2.26104667e-02 -1.02375812e-04 9.99744345e-01 1.14222645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.25 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.49, Y:-36.08, Z:1.14 [[ 7.33823142e-01 6.79152847e-01 -1.59688987e-02 9.74875484e+01] [-6.78990274e-01 7.33996871e-01 1.48594029e-02 -3.60838407e+01] [ 2.18129274e-02 -6.14467927e-05 9.99762068e-01 1.14323486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.28 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.51, Y:-36.11, Z:1.14 [[ 7.33631785e-01 6.79359643e-01 -1.59649759e-02 9.75112090e+01] [-6.79197026e-01 7.33805473e-01 1.48636168e-02 -3.61059636e+01] [ 2.18129281e-02 -6.10575774e-05 9.99762068e-01 1.14358904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.31 meters Centerline goodness [0,1] 0.9999321696662747 Centerline is valid? [True, True] Translation: X:97.53, Y:-36.13, Z:1.14 [[ 7.33471254e-01 6.79531894e-01 -1.60101429e-02 9.75344847e+01] [-6.79368212e-01 7.33645965e-01 1.49141199e-02 -3.61286587e+01] [ 2.18803969e-02 -6.22960367e-05 9.99760594e-01 1.14400152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.33999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.56, Y:-36.15, Z:1.14 [[ 7.33025468e-01 6.80028371e-01 -1.53322490e-02 9.75566481e+01] [-6.79878217e-01 7.33185796e-01 1.42897980e-02 -3.61509838e+01] [ 2.09588553e-02 -5.07237573e-05 9.99780338e-01 1.14433580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.36999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.58, Y:-36.17, Z:1.14 [[ 7.32797670e-01 6.80277518e-01 -1.51681831e-02 9.75795532e+01] [-6.80130471e-01 7.32954634e-01 1.41437630e-02 -3.61725980e+01] [ 2.07392741e-02 -4.81730690e-05 9.99784917e-01 1.14424386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.39999999999999 meters Centerline goodness [0,1] 0.9998863997818875 Centerline is valid? [True, True] Translation: X:97.60, Y:-36.20, Z:1.14 [[ 7.32327638e-01 6.80781302e-01 -1.52659385e-02 9.76037255e+01] [-6.80632300e-01 7.32486735e-01 1.42427345e-02 -3.61950331e+01] [ 2.08782848e-02 -3.98573149e-05 9.99782024e-01 1.14447044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.42999999999999 meters Centerline goodness [0,1] 0.9999547070679621 Centerline is valid? [True, True] Translation: X:97.63, Y:-36.22, Z:1.14 [[ 7.31147143e-01 6.82057696e-01 -1.48712284e-02 9.76277429e+01] [-6.81916410e-01 7.31298365e-01 1.38820508e-02 -3.62166223e+01] [ 2.03436646e-02 -8.88710673e-06 9.99793046e-01 1.14462372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46 meters Centerline goodness [0,1] 0.9998414100908494 Centerline is valid? [True, True] Translation: X:97.65, Y:-36.24, Z:1.14 [[ 7.28398937e-01 6.84991817e-01 -1.48727893e-02 9.76530306e+01] [-6.84850957e-01 7.28550758e-01 1.38910078e-02 -3.62376198e+01] [ 2.03508086e-02 6.74486100e-05 9.99792899e-01 1.14446171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.49 meters Centerline goodness [0,1] 0.9997958304031215 Centerline is valid? [True, True] Translation: X:97.68, Y:-36.26, Z:1.15 [[ 7.26386733e-01 6.87120635e-01 -1.50846533e-02 9.76771490e+01] [-6.86976037e-01 7.26543335e-01 1.40963213e-02 -3.62587749e+01] [ 2.06455275e-02 1.23414544e-04 9.99786851e-01 1.14557739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.52 meters Centerline goodness [0,1] 0.9998411257376305 Centerline is valid? [True, True] Translation: X:97.70, Y:-36.28, Z:1.15 [[ 7.24232547e-01 6.89383953e-01 -1.53942702e-02 9.77013192e+01] [-6.89233721e-01 7.24396115e-01 1.43925728e-02 -3.62783584e+01] [ 2.10735582e-02 1.86680540e-04 9.99777910e-01 1.14573636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.55 meters Centerline goodness [0,1] 0.9998416361250622 Centerline is valid? [True, True] Translation: X:97.73, Y:-36.30, Z:1.15 [[ 7.19621926e-01 6.94201435e-01 -1.51212028e-02 9.77279776e+01] [-6.94057406e-01 7.19780708e-01 1.41439026e-02 -3.62971948e+01] [ 2.07026675e-02 3.16720360e-04 9.99785627e-01 1.14696263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.58 meters Centerline goodness [0,1] 0.999886461692175 Centerline is valid? [True, True] Translation: X:97.75, Y:-36.32, Z:1.15 [[ 7.17227975e-01 6.96679636e-01 -1.48834275e-02 9.77534142e+01] [-6.96540494e-01 7.17382285e-01 1.39283195e-02 -3.63165288e+01] [ 2.03806838e-02 3.77129587e-04 9.99792221e-01 1.14736469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.61 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.78, Y:-36.34, Z:1.15 [[ 7.15006087e-01 6.98972885e-01 -1.42548967e-02 9.77794880e+01] [-6.98845576e-01 7.15148048e-01 1.33465633e-02 -3.63361800e+01] [ 1.95232474e-02 4.19097450e-04 9.99809315e-01 1.14817215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.64 meters Centerline goodness [0,1] 0.9998197223724535 Centerline is valid? [True, True] Translation: X:97.81, Y:-36.35, Z:1.15 [[ 7.12221865e-01 7.01815344e-01 -1.39727642e-02 9.78055293e+01] [-7.01693451e-01 7.12358751e-01 1.30885710e-02 -3.63547613e+01] [ 1.91393808e-02 4.82630732e-04 9.99816709e-01 1.14727208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.67 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.83, Y:-36.38, Z:1.15 [[ 7.11220950e-01 7.02841248e-01 -1.33768965e-02 9.78296221e+01] [-7.02729606e-01 7.11346572e-01 1.25361610e-02 -3.63755169e+01] [ 1.83265405e-02 4.84360864e-04 9.99831938e-01 1.14854100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.7 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.85, Y:-36.40, Z:1.15 [[ 7.11233617e-01 7.02828582e-01 -1.33688782e-02 9.78525826e+01] [-7.02716956e-01 7.11359090e-01 1.25349682e-02 -3.63970390e+01] [ 1.83200069e-02 4.79246635e-04 9.99832060e-01 1.14866467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.72999999999999 meters Centerline goodness [0,1] 0.9998646148291891 Centerline is valid? [True, True] Translation: X:97.87, Y:-36.42, Z:1.15 [[ 7.11872800e-01 7.02177666e-01 -1.35514741e-02 9.78744979e+01] [-7.02062730e-01 7.12001622e-01 1.27127400e-02 -3.64205908e+01] [ 1.85752736e-02 4.64131094e-04 9.99827357e-01 1.14846970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.75999999999999 meters Centerline goodness [0,1] 0.9997968809948318 Centerline is valid? [True, True] Translation: X:97.90, Y:-36.44, Z:1.15 [[ 7.13071342e-01 7.00956337e-01 -1.37649814e-02 9.78956323e+01] [-7.00837400e-01 7.13204055e-01 1.29195090e-02 -3.64444351e+01] [ 1.88732522e-02 4.34482192e-04 9.99821790e-01 1.14927409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.78999999999999 meters Centerline goodness [0,1] 0.9999093361136925 Centerline is valid? [True, True] Translation: X:97.92, Y:-36.47, Z:1.15 [[ 7.13468228e-01 7.00558747e-01 -1.34361620e-02 9.79181807e+01] [-7.00445240e-01 7.13594615e-01 1.26170947e-02 -3.64673723e+01] [ 1.84269889e-02 4.09399548e-04 9.99830125e-01 1.14988797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82 meters Centerline goodness [0,1] 0.9999322202390366 Centerline is valid? [True, True] Translation: X:97.94, Y:-36.49, Z:1.15 [[ 7.13972488e-01 7.00038432e-01 -1.37651887e-02 9.79407381e+01] [-6.99919077e-01 7.14105057e-01 1.29326153e-02 -3.64896348e+01] [ 1.88831185e-02 4.00986660e-04 9.99821618e-01 1.15011993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.85 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.96, Y:-36.51, Z:1.15 [[ 7.14482656e-01 6.99508765e-01 -1.42134354e-02 9.79628473e+01] [-6.99381273e-01 7.14623909e-01 1.33605369e-02 -3.65129574e+01] [ 1.95030734e-02 3.94738659e-04 9.99809719e-01 1.15018896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.88 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.99, Y:-36.54, Z:1.15 [[ 7.14822115e-01 6.99142406e-01 -1.51406944e-02 9.79863794e+01] [-6.98997494e-01 7.14982331e-01 1.42397326e-02 -3.65351482e+01] [ 2.07809299e-02 4.04431623e-04 9.99783971e-01 1.14894061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.91 meters Centerline goodness [0,1] 0.9999546814103145 Centerline is valid? [True, True] Translation: X:98.01, Y:-36.56, Z:1.15 [[ 7.15717055e-01 6.98206093e-01 -1.60421095e-02 9.80086436e+01] [-6.98043001e-01 7.15896708e-01 1.50954342e-02 -3.65584628e+01] [ 2.20242175e-02 3.94022507e-04 9.99757360e-01 1.14784426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.94 meters Centerline goodness [0,1] 0.999863893110723 Centerline is valid? [True, True] Translation: X:98.03, Y:-36.58, Z:1.15 [[ 7.18382225e-01 6.95423899e-01 -1.76799262e-02 9.80292181e+01] [-6.95224819e-01 7.18599671e-01 1.66422068e-02 -3.65842783e+01] [ 2.42781775e-02 3.36057995e-04 9.99705185e-01 1.14639954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.97 meters Centerline goodness [0,1] 0.9999089978386987 Centerline is valid? [True, True] Translation: X:98.05, Y:-36.61, Z:1.15 [[ 7.19966668e-01 6.93780138e-01 -1.78077972e-02 9.80500351e+01] [-6.93577519e-01 7.20186811e-01 1.67685068e-02 -3.66085572e+01] [ 2.44585976e-02 2.78321880e-04 9.99700805e-01 1.14780562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.0 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.07, Y:-36.63, Z:1.15 [[ 7.21396849e-01 6.92287392e-01 -1.80208916e-02 9.80716770e+01] [-6.92079217e-01 7.21621865e-01 1.69776609e-02 -3.66322855e+01] [ 2.47576900e-02 2.24253448e-04 9.99693456e-01 1.14933771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.03 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.09, Y:-36.66, Z:1.15 [[ 7.22490042e-01 6.91166920e-01 -1.72170853e-02 9.80945083e+01] [-6.90976398e-01 7.22695136e-01 1.62282923e-02 -3.66550168e+01] [ 2.36591626e-02 1.71819974e-04 9.99720068e-01 1.15101977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.06 meters Centerline goodness [0,1] 0.9998858473550832 Centerline is valid? [True, True] Translation: X:98.12, Y:-36.68, Z:1.15 [[ 7.23756806e-01 6.89847164e-01 -1.69403914e-02 9.81171968e+01] [-6.89662172e-01 7.23955023e-01 1.59753728e-02 -3.66777564e+01] [ 2.32846470e-02 1.20862355e-04 9.99728869e-01 1.15159074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.08999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.14, Y:-36.70, Z:1.15 [[ 7.26041001e-01 6.87455961e-01 -1.63940938e-02 9.81385124e+01] [-6.87281967e-01 7.26226067e-01 1.54660480e-02 -3.67004032e+01] [ 2.25380452e-02 3.83800643e-05 9.99745985e-01 1.15397397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.11999999999999 meters Centerline goodness [0,1] 0.9999771897810219 Centerline is valid? [True, True] Translation: X:98.16, Y:-36.72, Z:1.15 [[ 7.27417894e-01 6.86007399e-01 -1.60329903e-02 9.81614469e+01] [-6.85840492e-01 7.27594564e-01 1.51317576e-02 -3.67237690e+01] [ 2.20460142e-02 -1.10372853e-05 9.99756957e-01 1.15491871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.14999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.18, Y:-36.75, Z:1.16 [[ 7.28416891e-01 6.84956996e-01 -1.55803382e-02 9.81843785e+01] [-6.84798967e-01 7.28583497e-01 1.47126956e-02 -3.67473827e+01] [ 2.14291411e-02 -4.75764707e-05 9.99770368e-01 1.15619261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.17999999999999 meters Centerline goodness [0,1] 0.9998405793800815 Centerline is valid? [True, True] Translation: X:98.21, Y:-36.77, Z:1.16 [[ 7.31278458e-01 6.81925907e-01 -1.44524831e-02 9.82062996e+01] [-6.81789190e-01 7.31421247e-01 1.36550610e-02 -3.67716235e+01] [ 1.98825931e-02 -1.32105170e-04 9.99802313e-01 1.15790525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.21 meters Centerline goodness [0,1] 0.9999089273923636 Centerline is valid? [True, True] Translation: X:98.23, Y:-36.79, Z:1.16 [[ 7.31980483e-01 6.81182797e-01 -1.39488214e-02 9.82297421e+01] [-6.81055167e-01 7.32113362e-01 1.31865483e-02 -3.67943726e+01] [ 1.91945684e-02 -1.52379127e-04 9.99815756e-01 1.15908204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.24 meters Centerline goodness [0,1] 0.999908908726544 Centerline is valid? [True, True] Translation: X:98.25, Y:-36.82, Z:1.16 [[ 7.32505665e-01 6.80621724e-01 -1.37666017e-02 9.82541281e+01] [-6.80497169e-01 7.32634998e-01 1.30216423e-02 -3.68169118e+01] [ 1.89487069e-02 -1.70293274e-04 9.99820443e-01 1.15947888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.27 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.28, Y:-36.84, Z:1.16 [[ 7.32493294e-01 6.80632671e-01 -1.38831553e-02 9.82788797e+01] [-6.80505860e-01 7.32624826e-01 1.31392054e-02 -3.68377622e+01] [ 1.91141167e-02 -1.76811320e-04 9.99817293e-01 1.15954400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.3 meters Centerline goodness [0,1] 0.9997958674499309 Centerline is valid? [True, True] Translation: X:98.30, Y:-36.86, Z:1.16 [[ 7.32341849e-01 6.80781070e-01 -1.45791618e-02 9.83033934e+01] [-6.80641097e-01 7.32486928e-01 1.38056836e-02 -3.68595187e+01] [ 2.00776935e-02 -1.87303112e-04 9.99798405e-01 1.15859838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.33 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.33, Y:-36.88, Z:1.16 [[ 7.31042120e-01 6.82162569e-01 -1.52199967e-02 9.83273022e+01] [-6.82010148e-01 7.31200522e-01 1.44206317e-02 -3.68807405e+01] [ 2.09660847e-02 -1.61896936e-04 9.99780174e-01 1.15914195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.36 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.35, Y:-36.90, Z:1.16 [[ 7.30011929e-01 6.83254930e-01 -1.56615322e-02 9.83521805e+01] [-6.83093610e-01 7.30179896e-01 1.48472197e-02 -3.69026165e+01] [ 2.15801720e-02 -1.40354904e-04 9.99767111e-01 1.15909802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.39 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.38, Y:-36.92, Z:1.16 [[ 7.27962154e-01 6.85409044e-01 -1.68980693e-02 9.83772502e+01] [-6.85221600e-01 7.28158249e-01 1.60288627e-02 -3.69238664e+01] [ 2.32907960e-02 -8.94833539e-05 9.99728729e-01 1.15892864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.42 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.40, Y:-36.95, Z:1.16 [[ 7.26898276e-01 6.86536614e-01 -1.69225653e-02 9.84020007e+01] [-6.86348719e-01 7.27095230e-01 1.60612090e-02 -3.69457827e+01] [ 2.33309246e-02 -6.00841390e-05 9.99727795e-01 1.15911095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.45 meters Centerline goodness [0,1] 0.9998190822949411 Centerline is valid? [True, True] Translation: X:98.43, Y:-36.97, Z:1.16 [[ 7.26131417e-01 6.87345194e-01 -1.70220355e-02 9.84262252e+01] [-6.87155088e-01 7.26330905e-01 1.61648448e-02 -3.69674976e+01] [ 2.34744588e-02 -4.10234017e-05 9.99724436e-01 1.15803484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.47999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.45, Y:-36.99, Z:1.16 [[ 7.23930359e-01 6.89694643e-01 -1.56886562e-02 9.84502818e+01] [-6.89533549e-01 7.24100337e-01 1.49059493e-02 -3.69873227e+01] [ 2.16407146e-02 2.69855835e-05 9.99765812e-01 1.16023866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.50999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.47, Y:-37.01, Z:1.16 [[ 7.22872152e-01 6.90818314e-01 -1.50302847e-02 9.84743467e+01] [-6.90670552e-01 7.23028391e-01 1.42875462e-02 -3.70093646e+01] [ 2.07374211e-02 5.29058060e-05 9.99784955e-01 1.16188595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.53999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.50, Y:-37.03, Z:1.16 [[ 7.21734662e-01 6.92027468e-01 -1.40378151e-02 9.84981613e+01] [-6.91898664e-01 7.21871164e-01 1.33514378e-02 -3.70315825e+01] [ 1.93730556e-02 7.65501021e-05 9.99812322e-01 1.16383094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.57 meters Centerline goodness [0,1] 0.9998644129078912 Centerline is valid? [True, True] Translation: X:98.52, Y:-37.05, Z:1.16 [[ 7.20908305e-01 6.92899118e-01 -1.34917883e-02 9.85211019e+01] [-6.92780162e-01 7.21034538e-01 1.28391216e-02 -3.70535088e+01] [ 1.86242614e-02 9.10138990e-05 9.99826549e-01 1.16393253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.6 meters Centerline goodness [0,1] 0.999842004288455 Centerline is valid? [True, True] Translation: X:98.54, Y:-37.08, Z:1.17 [[ 7.19018496e-01 6.94880973e-01 -1.23627041e-02 9.85449411e+01] [-6.94781283e-01 7.19124758e-01 1.17707820e-02 -3.70756358e+01] [ 1.70696190e-02 1.25965425e-04 9.99854296e-01 1.16606924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.63 meters Centerline goodness [0,1] 0.9999547234736151 Centerline is valid? [True, True] Translation: X:98.57, Y:-37.10, Z:1.17 [[ 7.17667996e-01 6.96283892e-01 -1.18907310e-02 9.85690423e+01] [-6.96191757e-01 7.17766480e-01 1.13277210e-02 -3.70974753e+01] [ 1.64220778e-02 1.48686069e-04 9.99865138e-01 1.16775472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.66 meters Centerline goodness [0,1] 0.999683887283237 Centerline is valid? [True, True] Translation: X:98.59, Y:-37.12, Z:1.17 [[ 7.15938634e-01 6.98068923e-01 -1.14739226e-02 9.85929924e+01] [-6.97983271e-01 7.16030549e-01 1.09365007e-02 -3.71184332e+01] [ 1.58501104e-02 1.78742596e-04 9.99874363e-01 1.16594459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.69 meters Centerline goodness [0,1] 0.9998193029611727 Centerline is valid? [True, True] Translation: X:98.62, Y:-37.14, Z:1.17 [[ 7.14785114e-01 6.99245782e-01 -1.17293324e-02 9.86166411e+01] [-6.99156343e-01 7.14881314e-01 1.11854492e-02 -3.71393330e+01] [ 1.62064588e-02 2.05444554e-04 9.99868646e-01 1.16657635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.72 meters Centerline goodness [0,1] 0.9999547593195802 Centerline is valid? [True, True] Translation: X:98.64, Y:-37.16, Z:1.17 [[ 7.13438441e-01 7.00614725e-01 -1.20249338e-02 9.86404480e+01] [-7.00520823e-01 7.13539733e-01 1.14728138e-02 -3.71612352e+01] [ 1.66182903e-02 2.38570141e-04 9.99861878e-01 1.16734969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.75 meters Centerline goodness [0,1] 0.999909559555033 Centerline is valid? [True, True] Translation: X:98.66, Y:-37.18, Z:1.17 [[ 7.11683665e-01 7.02380544e-01 -1.29588497e-02 9.86636736e+01] [-7.02271688e-01 7.11801575e-01 1.23690773e-02 -3.71814355e+01] [ 1.79119289e-02 2.97763005e-04 9.99839524e-01 1.16536331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.78 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.69, Y:-37.20, Z:1.17 [[ 7.10443864e-01 7.03619114e-01 -1.37716528e-02 9.86866683e+01] [-7.03496312e-01 7.10577246e-01 1.31497727e-02 -3.72042810e+01] [ 1.90382545e-02 3.46131589e-04 9.99818696e-01 1.16637488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.81 meters Centerline goodness [0,1] 0.999841907945255 Centerline is valid? [True, True] Translation: X:98.71, Y:-37.23, Z:1.16 [[ 7.10122246e-01 7.03926367e-01 -1.46309821e-02 9.87090830e+01] [-7.03787684e-01 7.10272857e-01 1.39772715e-02 -3.72254182e+01] [ 2.02309595e-02 3.71533576e-04 9.99795264e-01 1.16390844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.83999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.73, Y:-37.25, Z:1.16 [[ 7.08959173e-01 7.05075416e-01 -1.56700038e-02 9.87314289e+01] [-7.04916453e-01 7.09132199e-01 1.49772578e-02 -3.72482202e+01] [ 2.16722005e-02 4.27779237e-04 9.99765039e-01 1.16490816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.86999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.75, Y:-37.27, Z:1.16 [[ 7.09084589e-01 7.04941073e-01 -1.60352495e-02 9.87546115e+01] [-7.04774397e-01 7.09265747e-01 1.53345676e-02 -3.72718057e+01] [ 2.21832197e-02 4.27727747e-04 9.99753831e-01 1.16488928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.89999999999999 meters Centerline goodness [0,1] 0.9998639733387744 Centerline is valid? [True, True] Translation: X:98.78, Y:-37.30, Z:1.16 [[ 7.09941460e-01 7.04069190e-01 -1.64225418e-02 9.87762080e+01] [-7.03893939e-01 7.10131264e-01 1.57133797e-02 -3.72953485e+01] [ 2.27254669e-02 4.04147924e-04 9.99741662e-01 1.16350868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.92999999999999 meters Centerline goodness [0,1] 0.9998643699986437 Centerline is valid? [True, True] Translation: X:98.80, Y:-37.32, Z:1.16 [[ 7.10667868e-01 7.03329788e-01 -1.66850500e-02 9.87971129e+01] [-7.03148507e-01 7.10863604e-01 1.59722750e-02 -3.73177734e+01] [ 2.30945716e-02 3.81085373e-04 9.99733212e-01 1.16349008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96 meters Centerline goodness [0,1] 0.9999545051295466 Centerline is valid? [True, True] Translation: X:98.82, Y:-37.34, Z:1.16 [[ 7.13239518e-01 7.00716318e-01 -1.69124689e-02 9.88167575e+01] [-7.00529140e-01 7.13439945e-01 1.61978157e-02 -3.73441001e+01] [ 2.34161047e-02 2.94755003e-04 9.99725762e-01 1.16492568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.99 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.84, Y:-37.37, Z:1.17 [[ 7.14478211e-01 6.99457458e-01 -1.67377017e-02 9.88379163e+01] [-6.99273601e-01 7.14674194e-01 1.60383039e-02 -3.73675910e+01] [ 2.31801147e-02 2.45214228e-04 9.99731275e-01 1.16589812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.02 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.86, Y:-37.39, Z:1.17 [[ 7.16153513e-01 6.97746720e-01 -1.65426601e-02 9.88591187e+01] [-6.97566548e-01 7.16344527e-01 1.58565400e-02 -3.73925646e+01] [ 2.29140928e-02 1.83889497e-04 9.99737421e-01 1.16743916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.05 meters Centerline goodness [0,1] 0.9999085881438823 Centerline is valid? [True, True] Translation: X:98.88, Y:-37.42, Z:1.17 [[ 7.17937478e-01 6.95921586e-01 -1.60911071e-02 9.88806871e+01] [-6.95750543e-01 7.18117770e-01 1.54288974e-02 -3.74165637e+01] [ 2.22926127e-02 1.18412800e-04 9.99751482e-01 1.16730757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.08 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.90, Y:-37.44, Z:1.17 [[ 7.20252419e-01 6.93545745e-01 -1.51904973e-02 9.89013837e+01] [-6.93392636e-01 7.20412588e-01 1.45723791e-02 -3.74410454e+01] [ 2.10500370e-02 3.71877108e-05 9.99778423e-01 1.17072738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.11 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.92, Y:-37.47, Z:1.17 [[ 7.21286591e-01 6.92477948e-01 -1.48305653e-02 9.89245233e+01] [-6.92331629e-01 7.21439042e-01 1.42346212e-02 -3.74650919e+01] [ 2.05565101e-02 4.28067368e-07 9.99788693e-01 1.17163848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.14 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.95, Y:-37.49, Z:1.17 [[ 7.22964522e-01 6.90739583e-01 -1.41819915e-02 9.89469409e+01] [-6.90605324e-01 7.23103607e-01 1.36184093e-02 -3.74884821e+01] [ 1.96618236e-02 -5.14679041e-05 9.99806686e-01 1.17253613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.17 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.97, Y:-37.51, Z:1.17 [[ 7.23238962e-01 6.90456200e-01 -1.39871462e-02 9.89708999e+01] [-6.90325435e-01 7.23374199e-01 1.34373291e-02 -3.75109814e+01] [ 1.93958279e-02 -6.27171096e-05 9.99811881e-01 1.17401349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.2 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.99, Y:-37.53, Z:1.17 [[ 7.23041859e-01 6.90662680e-01 -1.39833074e-02 9.89942034e+01] [-6.90531876e-01 7.23177059e-01 1.34413232e-02 -3.75334713e+01] [ 1.93958274e-02 -6.27197970e-05 9.99811881e-01 1.17436784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.22999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.02, Y:-37.56, Z:1.17 [[ 7.23231501e-01 6.90465208e-01 -1.39281089e-02 9.90177459e+01] [-6.90335256e-01 7.23365600e-01 1.33956685e-02 -3.75553650e+01] [ 1.93243579e-02 -7.31047675e-05 9.99813264e-01 1.17445268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.25999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.04, Y:-37.58, Z:1.17 [[ 7.23097647e-01 6.90606297e-01 -1.38829462e-02 9.90410732e+01] [-6.90477095e-01 7.23230902e-01 1.33582772e-02 -3.75773462e+01] [ 1.92658861e-02 -7.34823828e-05 9.99814393e-01 1.17412614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.28999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.07, Y:-37.60, Z:1.17 [[ 7.22720758e-01 6.91000146e-01 -1.39106059e-02 9.90658055e+01] [-6.90870388e-01 7.22854615e-01 1.33907502e-02 -3.75997580e+01] [ 1.93083561e-02 -6.73474384e-05 9.99813574e-01 1.17439059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.09, Y:-37.62, Z:1.17 [[ 7.22176800e-01 6.91554722e-01 -1.45854782e-02 9.90905834e+01] [-6.91412020e-01 7.22324071e-01 1.40483371e-02 -3.76208134e+01] [ 2.02506359e-02 -6.08081889e-05 9.99794933e-01 1.17436315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.35 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.11, Y:-37.64, Z:1.17 [[ 7.21573173e-01 6.92173604e-01 -1.50949978e-02 9.91148738e+01] [-6.92020718e-01 7.21731044e-01 1.45473857e-02 -3.76428091e+01] [ 2.09638449e-02 -5.09520914e-05 9.99780233e-01 1.17469982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.38 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.14, Y:-37.66, Z:1.17 [[ 7.21216059e-01 6.92537208e-01 -1.54793902e-02 9.91381511e+01] [-6.92376341e-01 7.21382155e-01 1.49261085e-02 -3.76641560e+01] [ 2.15034414e-02 -4.73855861e-05 9.99768773e-01 1.17403618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.41 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.16, Y:-37.69, Z:1.17 [[ 7.20865769e-01 6.92883405e-01 -1.62828382e-02 9.91626112e+01] [-6.92705293e-01 7.21049642e-01 1.57096115e-02 -3.76859983e+01] [ 2.26256637e-02 -4.53129900e-05 9.99744006e-01 1.17394499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.44 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.19, Y:-37.71, Z:1.17 [[ 7.20779066e-01 6.92971888e-01 -1.63554081e-02 9.91855765e+01] [-6.92792013e-01 7.20964603e-01 1.57882066e-02 -3.77078449e+01] [ 2.27324536e-02 -4.89126891e-05 9.99741583e-01 1.17351683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.47 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.21, Y:-37.73, Z:1.18 [[ 7.20817749e-01 6.92932877e-01 -1.63033848e-02 9.92094065e+01] [-6.92753938e-01 7.21002097e-01 1.57466354e-02 -3.77301162e+01] [ 2.26661360e-02 -5.62202986e-05 9.99743089e-01 1.17503632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.23, Y:-37.75, Z:1.18 [[ 7.21237482e-01 6.92508473e-01 -1.57641647e-02 9.92331098e+01] [-6.92340886e-01 7.21409738e-01 1.52344392e-02 -3.77529985e+01] [ 2.19224001e-02 -7.34728055e-05 9.99759673e-01 1.17591911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.53 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.25, Y:-37.78, Z:1.18 [[ 7.22920727e-01 6.90767801e-01 -1.50155498e-02 9.92549728e+01] [-6.90615215e-01 7.23076641e-01 1.45188387e-02 -3.77757976e+01] [ 2.08865396e-02 -1.26002244e-04 9.99781844e-01 1.17750271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.28, Y:-37.80, Z:1.18 [[ 7.24021097e-01 6.89628052e-01 -1.43736080e-02 9.92782149e+01] [-6.89487862e-01 7.24163742e-01 1.39055449e-02 -3.77996778e+01] [ 1.99984996e-02 -1.57479660e-04 9.99799998e-01 1.17884724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.58999999999999 meters Centerline goodness [0,1] 0.9999546248610386 Centerline is valid? [True, True] Translation: X:99.30, Y:-37.82, Z:1.18 [[ 7.25458307e-01 6.88128312e-01 -1.37721308e-02 9.92998434e+01] [-6.87999212e-01 7.25588994e-01 1.33303026e-02 -3.78221030e+01] [ 1.91658651e-02 -1.95363601e-04 9.99816299e-01 1.17907639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.61999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.32, Y:-37.84, Z:1.18 [[ 7.28373063e-01 6.85057251e-01 -1.30093851e-02 9.93219558e+01] [-6.84941461e-01 7.28489185e-01 1.25977296e-02 -3.78448887e+01] [ 1.81073624e-02 -2.65179644e-04 9.99836013e-01 1.18079264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.64999999999999 meters Centerline goodness [0,1] 0.9999318290272002 Centerline is valid? [True, True] Translation: X:99.34, Y:-37.87, Z:1.18 [[ 7.29920700e-01 6.83409525e-01 -1.29303109e-02 9.93433065e+01] [-6.83294772e-01 7.30035154e-01 1.25271350e-02 -3.78676211e+01] [ 1.80007449e-02 -3.08601301e-04 9.99837926e-01 1.17999672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.67999999999999 meters Centerline goodness [0,1] 0.9998639702548291 Centerline is valid? [True, True] Translation: X:99.37, Y:-37.89, Z:1.18 [[ 7.31419560e-01 6.81804349e-01 -1.29713491e-02 9.93657645e+01] [-6.81688507e-01 7.31534486e-01 1.25727976e-02 -3.78906920e+01] [ 1.80611773e-02 -3.53570487e-04 9.99836821e-01 1.17975375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.71 meters Centerline goodness [0,1] 0.9999772985244041 Centerline is valid? [True, True] Translation: X:99.39, Y:-37.91, Z:1.18 [[ 7.31945376e-01 6.81247267e-01 -1.25748694e-02 9.93886040e+01] [-6.81138214e-01 7.32053298e-01 1.21943486e-02 -3.79132595e+01] [ 1.75128413e-02 -3.60373022e-04 9.99846573e-01 1.18218343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.74 meters Centerline goodness [0,1] 0.9998414208690136 Centerline is valid? [True, True] Translation: X:99.41, Y:-37.94, Z:1.18 [[ 7.33559504e-01 6.79509618e-01 -1.25353062e-02 9.94118599e+01] [-6.79400892e-01 7.33666488e-01 1.21619468e-02 -3.79354318e+01] [ 1.74608939e-02 -4.05013423e-04 9.99847465e-01 1.18137346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.77 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.43, Y:-37.96, Z:1.18 [[ 7.33101553e-01 6.80000748e-01 -1.26923523e-02 9.94345222e+01] [-6.79889249e-01 7.33211307e-01 1.23202732e-02 -3.79565548e+01] [ 1.76839712e-02 -4.02617556e-04 9.99843545e-01 1.18332372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.8 meters Centerline goodness [0,1] 0.9997738630967188 Centerline is valid? [True, True] Translation: X:99.46, Y:-37.98, Z:1.18 [[ 7.33578251e-01 6.79475977e-01 -1.32418375e-02 9.94576182e+01] [-6.79354414e-01 7.33697625e-01 1.28598275e-02 -3.79784041e+01] [ 1.84534486e-02 -4.37789037e-04 9.99829625e-01 1.18075746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.83 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.48, Y:-38.00, Z:1.18 [[ 7.31316169e-01 6.81890202e-01 -1.42272301e-02 9.94836020e+01] [-6.81750186e-01 7.31454431e-01 1.38238509e-02 -3.79977122e+01] [ 1.98329190e-02 -4.10188947e-04 9.99803224e-01 1.18246575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.86 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.51, Y:-38.02, Z:1.18 [[ 7.30021604e-01 6.83258784e-01 -1.50296652e-02 9.95067036e+01] [-6.83102666e-01 7.30176194e-01 1.46107124e-02 -3.80180529e+01] [ 2.09572013e-02 -3.99331285e-04 9.99780294e-01 1.18207546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.53, Y:-38.04, Z:1.18 [[ 7.28904373e-01 6.84440077e-01 -1.54982573e-02 9.95313283e+01] [-6.84274179e-01 7.29069020e-01 1.50735695e-02 -3.80385681e+01] [ 2.16162543e-02 -3.82133451e-04 9.99766268e-01 1.18243108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.92 meters Centerline goodness [0,1] 0.9999323623573974 Centerline is valid? [True, True] Translation: X:99.55, Y:-38.06, Z:1.18 [[ 7.27836708e-01 6.85566363e-01 -1.58898705e-02 9.95543861e+01] [-6.85392106e-01 7.28010049e-01 1.54605922e-02 -3.80595696e+01] [ 2.21672474e-02 -3.61994752e-04 9.99754211e-01 1.18143974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.95 meters Centerline goodness [0,1] 0.9999325615375969 Centerline is valid? [True, True] Translation: X:99.58, Y:-38.08, Z:1.18 [[ 7.25492121e-01 6.88036025e-01 -1.63588369e-02 9.95800083e+01] [-6.87851810e-01 7.25676470e-01 1.59232111e-02 -3.80797741e+01] [ 2.28269658e-02 -2.99708616e-04 9.99739386e-01 1.18165180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.97999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.60, Y:-38.10, Z:1.18 [[ 7.23953911e-01 6.89650500e-01 -1.65203657e-02 9.96039635e+01] [-6.89462864e-01 7.24142336e-01 1.60884224e-02 -3.81009590e+01] [ 2.30584847e-02 -2.57097690e-04 9.99734085e-01 1.18286300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.00999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.63, Y:-38.12, Z:1.18 [[ 7.22709355e-01 6.90956690e-01 -1.64329073e-02 9.96278024e+01] [-6.90771192e-01 7.22896122e-01 1.60111281e-02 -3.81227110e+01] [ 2.29422811e-02 -2.20013117e-04 9.99736767e-01 1.18338461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.03999999999999 meters Centerline goodness [0,1] 0.9999328603719535 Centerline is valid? [True, True] Translation: X:99.65, Y:-38.14, Z:1.18 [[ 7.20619658e-01 6.93145916e-01 -1.60014567e-02 9.96517458e+01] [-6.92970408e-01 7.20797278e-01 1.55980127e-02 -3.81432350e+01] [ 2.23455052e-02 -1.51698626e-04 9.99750297e-01 1.18373460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.68, Y:-38.16, Z:1.19 [[ 7.18629652e-01 6.95216955e-01 -1.56463892e-02 9.96760199e+01] [-6.95049485e-01 7.18799957e-01 1.52589755e-02 -3.81644192e+01] [ 2.18549224e-02 -9.05374997e-05 9.99761149e-01 1.18579678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.1 meters Centerline goodness [0,1] 0.999933004310056 Centerline is valid? [True, True] Translation: X:99.70, Y:-38.19, Z:1.19 [[ 7.17168504e-01 6.96733873e-01 -1.52067724e-02 9.96996235e+01] [-6.96575878e-01 7.17329706e-01 1.48370585e-02 -3.81850891e+01] [ 2.12457508e-02 -4.80002515e-05 9.99774282e-01 1.18524630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.13 meters Centerline goodness [0,1] 0.99991054856095 Centerline is valid? [True, True] Translation: X:99.72, Y:-38.21, Z:1.19 [[ 7.15455524e-01 6.98504264e-01 -1.46692691e-02 9.97238778e+01] [-6.98357479e-01 7.15605893e-01 1.43191515e-02 -3.82055802e+01] [ 2.04994038e-02 -3.22267423e-07 9.99789865e-01 1.18604894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.16 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.75, Y:-38.22, Z:1.19 [[ 7.11260464e-01 7.02779761e-01 -1.44623546e-02 9.97494092e+01] [-7.02637828e-01 7.11407474e-01 1.41240402e-02 -3.82247771e+01] [ 2.02147167e-02 1.15926028e-04 9.99795655e-01 1.18815618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.19 meters Centerline goodness [0,1] 0.9999329204212598 Centerline is valid? [True, True] Translation: X:99.77, Y:-38.25, Z:1.19 [[ 7.09451101e-01 7.04600549e-01 -1.47377495e-02 9.97734721e+01] [-7.04453401e-01 7.09604142e-01 1.44002487e-02 -3.82463585e+01] [ 2.06043912e-02 1.65785493e-04 9.99787693e-01 1.18781467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.22 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.80, Y:-38.27, Z:1.19 [[ 7.07161049e-01 7.06892226e-01 -1.50542978e-02 9.97980577e+01] [-7.06739054e-01 7.07321233e-01 1.47167325e-02 -3.82662147e+01] [ 2.10513682e-02 2.32360223e-04 9.99778368e-01 1.18787397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.25 meters Centerline goodness [0,1] 0.9998883928571428 Centerline is valid? [True, True] Translation: X:99.82, Y:-38.29, Z:1.19 [[ 7.04153571e-01 7.09873594e-01 -1.57235150e-02 9.98223691e+01] [-7.09707073e-01 7.04329022e-01 1.53785418e-02 -3.82869810e+01] [ 2.19913487e-02 3.30234622e-04 9.99758107e-01 1.18713655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.28 meters Centerline goodness [0,1] 0.9999108297293682 Centerline is valid? [True, True] Translation: X:99.85, Y:-38.31, Z:1.19 [[ 7.02631308e-01 7.11376810e-01 -1.58832983e-02 9.98456425e+01] [-7.11207139e-01 7.02810708e-01 1.55406969e-02 -3.83069977e+01] [ 2.22182435e-02 3.76934920e-04 9.99753073e-01 1.18666805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.31 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.87, Y:-38.33, Z:1.19 [[ 7.00727529e-01 7.13252607e-01 -1.58634479e-02 9.98689115e+01] [-7.13083708e-01 7.00906936e-01 1.55271712e-02 -3.83285771e+01] [ 2.21935959e-02 4.31649954e-04 9.99753599e-01 1.18877896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.33999999999999 meters Centerline goodness [0,1] 0.9999554853212846 Centerline is valid? [True, True] Translation: X:99.89, Y:-38.35, Z:1.19 [[ 6.99849859e-01 7.14116699e-01 -1.57326186e-02 9.98920872e+01] [-7.13950666e-01 7.00026526e-01 1.54048782e-02 -3.83487413e+01] [ 2.20141311e-02 4.51211681e-04 9.99757558e-01 1.18767944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.36999999999999 meters Centerline goodness [0,1] 0.9997994026657157 Centerline is valid? [True, True] Translation: X:99.92, Y:-38.37, Z:1.19 [[ 6.98469050e-01 7.15462101e-01 -1.59677306e-02 9.99156740e+01] [-7.15291286e-01 6.98651369e-01 1.56410257e-02 -3.83704520e+01] [ 2.23464379e-02 4.96806224e-04 9.99750164e-01 1.18586836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.39999999999999 meters Centerline goodness [0,1] 0.9999330939583845 Centerline is valid? [True, True] Translation: X:99.94, Y:-38.39, Z:1.19 [[ 6.97552118e-01 7.16361360e-01 -1.57303718e-02 9.99386303e+01] [-7.16195653e-01 6.97729274e-01 1.54158317e-02 -3.83917116e+01] [ 2.20188471e-02 5.12677839e-04 9.99757424e-01 1.18732104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.42999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.96, Y:-38.41, Z:1.19 [[ 6.96456662e-01 7.17428395e-01 -1.56401873e-02 9.99612090e+01] [-7.17264691e-01 6.96632047e-01 1.53347355e-02 -3.84146017e+01] [ 2.18970304e-02 5.38175460e-04 9.99760086e-01 1.18912552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.98, Y:-38.44, Z:1.19 [[ 6.95983404e-01 7.17889514e-01 -1.55482125e-02 9.99832659e+01] [-7.17727718e-01 6.96156842e-01 1.52503792e-02 -3.84361710e+01] [ 2.17720819e-02 5.45372268e-04 9.99762811e-01 1.18933332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.49 meters Centerline goodness [0,1] 0.9997318974954758 Centerline is valid? [True, True] Translation: X:100.00, Y:-38.46, Z:1.19 [[ 6.96287158e-01 7.17591183e-01 -1.57190360e-02 1.00004253e+02] [-7.17425604e-01 6.96464360e-01 1.54239274e-02 -3.84611982e+01] [ 2.20158226e-02 5.37756333e-04 9.99757478e-01 1.18788860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.52 meters Centerline goodness [0,1] 0.9999330058061635 Centerline is valid? [True, True] Translation: X:100.03, Y:-38.48, Z:1.19 [[ 6.95317957e-01 7.18542592e-01 -1.51486371e-02 1.00026985e+02] [-7.18388884e-01 6.95482745e-01 1.48715498e-02 -3.84842185e+01] [ 2.12214577e-02 5.42156891e-04 9.99774653e-01 1.19044979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.55 meters Centerline goodness [0,1] 0.9997986712301188 Centerline is valid? [True, True] Translation: X:100.05, Y:-38.51, Z:1.19 [[ 6.95033502e-01 7.18813902e-01 -1.53299125e-02 1.00049517e+02] [-7.18656383e-01 6.95202324e-01 1.50576558e-02 -3.85081323e+01] [ 2.14810431e-02 5.51364282e-04 9.99769104e-01 1.18879982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.58 meters Centerline goodness [0,1] 0.9998432356168678 Centerline is valid? [True, True] Translation: X:100.07, Y:-38.53, Z:1.19 [[ 6.94762303e-01 7.19074267e-01 -1.54123469e-02 1.00072655e+02] [-7.18914931e-01 6.94933010e-01 1.51470549e-02 -3.85307256e+01] [ 2.16024061e-02 5.56563569e-04 9.99766486e-01 1.18890719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.61 meters Centerline goodness [0,1] 0.9997755683730951 Centerline is valid? [True, True] Translation: X:100.10, Y:-38.55, Z:1.19 [[ 6.94623316e-01 7.19215286e-01 -1.50937679e-02 1.00095505e+02] [-7.19062332e-01 6.94787073e-01 1.48420241e-02 -3.85548749e+01] [ 2.11615655e-02 5.43743925e-04 9.99775921e-01 1.18910910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.64 meters Centerline goodness [0,1] 0.9998657477848385 Centerline is valid? [True, True] Translation: X:100.12, Y:-38.58, Z:1.19 [[ 6.94571208e-01 7.19276865e-01 -1.45474540e-02 1.00116949e+02] [-7.19134644e-01 6.94723341e-01 1.43123426e-02 -3.85792807e+01] [ 2.04009928e-02 5.20637033e-04 9.99791743e-01 1.19114630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.67 meters Centerline goodness [0,1] 0.999819998199982 Centerline is valid? [True, True] Translation: X:100.14, Y:-38.60, Z:1.19 [[ 6.95655291e-01 7.18241847e-01 -1.38695674e-02 1.00137733e+02] [-7.18112238e-01 6.95793385e-01 1.36520857e-02 -3.86030310e+01] [ 1.94558524e-02 4.62760429e-04 9.99810610e-01 1.19174471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.7 meters Centerline goodness [0,1] 0.9998422535211268 Centerline is valid? [True, True] Translation: X:100.16, Y:-38.63, Z:1.19 [[ 6.96317743e-01 7.17601019e-01 -1.37977445e-02 1.00157819e+02] [-7.17472492e-01 6.96454295e-01 1.35881737e-02 -3.86277205e+01] [ 1.93603857e-02 4.37815692e-04 9.99812474e-01 1.19296673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.72999999999999 meters Centerline goodness [0,1] 0.9998651382333108 Centerline is valid? [True, True] Translation: X:100.18, Y:-38.65, Z:1.19 [[ 6.97037846e-01 7.16904302e-01 -1.36551824e-02 1.00179368e+02] [-7.16778155e-01 6.97171467e-01 1.34544540e-02 -3.86516856e+01] [ 1.91655596e-02 4.09472814e-04 9.99816240e-01 1.19379465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.75999999999999 meters Centerline goodness [0,1] 0.999775361667715 Centerline is valid? [True, True] Translation: X:100.20, Y:-38.68, Z:1.19 [[ 6.98125129e-01 7.15837159e-01 -1.40877733e-02 1.00200480e+02] [-7.15702537e-01 6.98267149e-01 1.38876811e-02 -3.86754699e+01] [ 1.97783475e-02 3.87315873e-04 9.99804314e-01 1.19248379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.78999999999999 meters Centerline goodness [0,1] 0.9997743987727293 Centerline is valid? [True, True] Translation: X:100.22, Y:-38.70, Z:1.19 [[ 6.99346919e-01 7.14637317e-01 -1.44010701e-02 1.00221670e+02] [-7.14496242e-01 6.99495088e-01 1.42036248e-02 -3.86992104e+01] [ 2.02239181e-02 3.56249177e-04 9.99795412e-01 1.19246816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.24, Y:-38.72, Z:1.20 [[ 7.01401941e-01 7.12630265e-01 -1.39076424e-02 1.00240853e+02] [-7.12498171e-01 7.01539753e-01 1.37233705e-02 -3.87234129e+01] [ 1.95364532e-02 2.83571108e-04 9.99809105e-01 1.19511061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.85 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.26, Y:-38.75, Z:1.20 [[ 7.02725531e-01 7.11327887e-01 -1.37646351e-02 1.00261936e+02] [-7.11198124e-01 7.02860285e-01 1.35885480e-02 -3.87482180e+01] [ 1.93405284e-02 2.40363035e-04 9.99812926e-01 1.19565112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.88 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.28, Y:-38.77, Z:1.20 [[ 7.06532441e-01 7.07551585e-01 -1.35153478e-02 1.00278951e+02] [-7.07425669e-01 7.06661686e-01 1.33485724e-02 -3.87747712e+01] [ 1.89955820e-02 1.29904469e-04 9.99819559e-01 1.19652746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.91 meters Centerline goodness [0,1] 0.9998633132859486 Centerline is valid? [True, True] Translation: X:100.30, Y:-38.80, Z:1.19 [[ 7.08921119e-01 7.05156043e-01 -1.36309320e-02 1.00298694e+02] [-7.05027402e-01 7.09052150e-01 1.34689117e-02 -3.88003361e+01] [ 1.91627261e-02 6.17846238e-05 9.99816376e-01 1.19497509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.94 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.32, Y:-38.83, Z:1.20 [[ 7.10607268e-01 7.03454133e-01 -1.37692929e-02 1.00318808e+02] [-7.03322417e-01 7.10740657e-01 1.36123086e-02 -3.88252894e+01] [ 1.93620310e-02 1.12468850e-05 9.99812538e-01 1.19740771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.97 meters Centerline goodness [0,1] 0.9999313532561439 Centerline is valid? [True, True] Translation: X:100.34, Y:-38.85, Z:1.20 [[ 7.12873336e-01 7.01154505e-01 -1.39272104e-02 1.00338195e+02] [-7.01019173e-01 7.13009367e-01 1.37753876e-02 -3.88505058e+01] [ 1.95889065e-02 -5.68650119e-05 9.99808117e-01 1.19602126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.0 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.36, Y:-38.88, Z:1.20 [[ 7.15598234e-01 6.98372170e-01 -1.39813991e-02 1.00357681e+02] [-6.98235115e-01 7.15734792e-01 1.38358702e-02 -3.88760878e+01] [ 1.96695605e-02 -1.38620491e-04 9.99806526e-01 1.19817072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.03 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.38, Y:-38.90, Z:1.20 [[ 7.15873155e-01 6.98094489e-01 -1.37735470e-02 1.00381304e+02] [-6.97961290e-01 7.16005630e-01 1.36372726e-02 -3.88992465e+01] [ 1.93820420e-02 -1.49154725e-04 9.99812139e-01 1.19842385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.06 meters Centerline goodness [0,1] 0.9999769908653735 Centerline is valid? [True, True] Translation: X:100.40, Y:-38.92, Z:1.20 [[ 7.15615446e-01 6.98360600e-01 -1.36750206e-02 1.00404901e+02] [-6.98229202e-01 7.15746080e-01 1.35473547e-02 -3.89219418e+01] [ 1.92487811e-02 -1.46397553e-04 9.99814714e-01 1.19846288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.08999999999999 meters Centerline goodness [0,1] 0.9999769908653735 Centerline is valid? [True, True] Translation: X:100.43, Y:-38.94, Z:1.20 [[ 7.15418140e-01 6.98562799e-01 -1.36711848e-02 1.00427854e+02] [-6.98431364e-01 7.15548737e-01 1.35512248e-02 -3.89447898e+01] [ 1.92487806e-02 -1.46407760e-04 9.99814714e-01 1.19881724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.11999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.45, Y:-38.97, Z:1.20 [[ 7.14809144e-01 6.99185266e-01 -1.37058840e-02 1.00451858e+02] [-6.99053128e-01 7.14940519e-01 1.35933543e-02 -3.89675999e+01] [ 1.93031649e-02 -1.35512883e-04 9.99813667e-01 1.20024524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.14999999999999 meters Centerline goodness [0,1] 0.9998167365358623 Centerline is valid? [True, True] Translation: X:100.48, Y:-38.99, Z:1.20 [[ 7.14489104e-01 6.99504499e-01 -1.40988306e-02 1.00475154e+02] [-6.99364580e-01 7.14628182e-01 1.39909568e-02 -3.89891782e+01] [ 1.98621589e-02 -1.36163427e-04 9.99802719e-01 1.19875937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.17999999999999 meters Centerline goodness [0,1] 0.9999082905355833 Centerline is valid? [True, True] Translation: X:100.50, Y:-39.01, Z:1.20 [[ 7.13930864e-01 7.00081832e-01 -1.37167706e-02 1.00499088e+02] [-6.99949359e-01 7.14062612e-01 1.36191561e-02 -3.90114412e+01] [ 1.93291568e-02 -1.22091152e-04 9.99813167e-01 1.20020653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.21 meters Centerline goodness [0,1] 0.9998624673359923 Centerline is valid? [True, True] Translation: X:100.52, Y:-39.03, Z:1.20 [[ 7.13719123e-01 7.00295784e-01 -1.38140984e-02 1.00522259e+02] [-7.00161317e-01 7.13852786e-01 1.37233349e-02 -3.90340544e+01] [ 1.94716262e-02 -1.22509180e-04 9.99810402e-01 1.19976360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.24 meters Centerline goodness [0,1] 0.9999771736401196 Centerline is valid? [True, True] Translation: X:100.55, Y:-39.06, Z:1.20 [[ 7.13255605e-01 7.00768411e-01 -1.37868100e-02 1.00545287e+02] [-7.00634426e-01 7.13388828e-01 1.37033275e-02 -3.90562952e+01] [ 1.94382153e-02 -1.14461428e-04 9.99811053e-01 1.20170295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.27 meters Centerline goodness [0,1] 0.999840709978382 Centerline is valid? [True, True] Translation: X:100.57, Y:-39.08, Z:1.20 [[ 7.13490085e-01 7.00524541e-01 -1.40451278e-02 1.00570199e+02] [-7.00385290e-01 7.13628300e-01 1.39676425e-02 -3.90784689e+01] [ 1.98076770e-02 -1.28773514e-04 9.99803800e-01 1.20033813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.3 meters Centerline goodness [0,1] 0.9999543785214079 Centerline is valid? [True, True] Translation: X:100.59, Y:-39.10, Z:1.20 [[ 7.13331015e-01 7.00701334e-01 -1.32854758e-02 1.00592608e+02] [-7.00576646e-01 7.13454712e-01 1.32188229e-02 -3.91003879e+01] [ 1.87410321e-02 -1.21902339e-04 9.99824364e-01 1.20187445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.33 meters Centerline goodness [0,1] 0.9998630637210152 Centerline is valid? [True, True] Translation: X:100.62, Y:-39.12, Z:1.20 [[ 7.13407683e-01 7.00624854e-01 -1.32019626e-02 1.00616410e+02] [-7.00501593e-01 7.13529815e-01 1.31423266e-02 -3.91231369e+01] [ 1.86278346e-02 -1.27840922e-04 9.99826479e-01 1.20219227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.36 meters Centerline goodness [0,1] 0.9998860191031983 Centerline is valid? [True, True] Translation: X:100.64, Y:-39.15, Z:1.20 [[ 7.13085722e-01 7.00965029e-01 -1.25212138e-02 1.00639566e+02] [-7.00854087e-01 7.13195635e-01 1.24713552e-02 -3.91451761e+01] [ 1.76720589e-02 -1.17601458e-04 9.99843830e-01 1.20419090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.39 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.66, Y:-39.17, Z:1.21 [[ 7.12301437e-01 7.01770195e-01 -1.20521793e-02 1.00663387e+02] [-7.01667422e-01 7.12403385e-01 1.20102315e-02 -3.91668533e+01] [ 1.70144359e-02 -9.82836157e-05 9.99855239e-01 1.20655919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.42 meters Centerline goodness [0,1] 0.9999092744221915 Centerline is valid? [True, True] Translation: X:100.69, Y:-39.19, Z:1.21 [[ 7.12120007e-01 7.01948383e-01 -1.23920537e-02 1.00687256e+02] [-7.01839644e-01 7.12227813e-01 1.23554455e-02 -3.91890873e+01] [ 1.74988503e-02 -1.01325425e-04 9.99846878e-01 1.20553369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.45 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.71, Y:-39.21, Z:1.21 [[ 7.11139829e-01 7.02943654e-01 -1.22622702e-02 1.00711732e+02] [-7.02837208e-01 7.11245536e-01 1.22329852e-02 -3.92117567e+01] [ 1.73205842e-02 -8.09832313e-05 9.99849984e-01 1.20752994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.47999999999999 meters Centerline goodness [0,1] 0.9998642748885923 Centerline is valid? [True, True] Translation: X:100.74, Y:-39.23, Z:1.20 [[ 7.10653355e-01 7.03415806e-01 -1.33421255e-02 1.00735234e+02] [-7.03289748e-01 7.10778585e-01 1.33166350e-02 -3.92327594e+01] [ 1.88504286e-02 -8.01312290e-05 9.99822312e-01 1.20463313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.50999999999999 meters Centerline goodness [0,1] 0.999841654036691 Centerline is valid? [True, True] Translation: X:100.76, Y:-39.25, Z:1.21 [[ 7.09839485e-01 7.04230115e-01 -1.37058400e-02 1.00759709e+02] [-7.04097132e-01 7.09971789e-01 1.36852914e-02 -3.92549584e+01] [ 1.93683541e-02 -6.41175611e-05 9.99812414e-01 1.20517880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.53999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.78, Y:-39.28, Z:1.21 [[ 7.08873098e-01 7.05201595e-01 -1.37710359e-02 1.00783009e+02] [-7.05067398e-01 7.09006847e-01 1.37570163e-02 -3.92765963e+01] [ 1.94652286e-02 -4.24702415e-05 9.99810534e-01 1.20714360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.81, Y:-39.30, Z:1.21 [[ 7.08186330e-01 7.05874011e-01 -1.46288199e-02 1.00806824e+02] [-7.05722581e-01 7.08337405e-01 1.46204897e-02 -3.92985837e+01] [ 2.06823640e-02 -3.01424226e-05 9.99786097e-01 1.20608574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.6 meters Centerline goodness [0,1] 0.9998642196021634 Centerline is valid? [True, True] Translation: X:100.83, Y:-39.32, Z:1.20 [[ 7.08312798e-01 7.05737032e-01 -1.51070200e-02 1.00830647e+02] [-7.05575329e-01 7.08473881e-01 1.51067769e-02 -3.93217645e+01] [ 2.13643409e-02 -4.11827903e-05 9.99771756e-01 1.20448345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.63 meters Centerline goodness [0,1] 0.9999774240884975 Centerline is valid? [True, True] Translation: X:101.52, Y:-38.77, Z:2.01 [[ 7.58409347e-01 -6.51778536e-01 4.97727926e-05 1.01517723e+02] [-6.51778067e-01 -7.58408889e-01 -1.14423413e-03 -3.87734566e+01] [ 7.83535373e-04 8.35357044e-04 -9.99999344e-01 2.01415744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.66 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.51, Y:-38.78, Z:2.01 [[ 8.07933883e-01 -5.89273146e-01 8.76765339e-06 1.01510868e+02] [-5.89272809e-01 -8.07933437e-01 -1.05680450e-03 -3.87782547e+01] [ 6.29830193e-04 8.48661623e-04 -9.99999442e-01 2.01354486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.69 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.50, Y:-38.79, Z:2.01 [[ 8.52106726e-01 -5.23368034e-01 -1.69753856e-04 1.01502895e+02] [-5.23367963e-01 -8.52106322e-01 -8.89308027e-04 -3.87855573e+01] [ 3.20787060e-04 8.46629081e-04 -9.99999590e-01 2.01255475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.72 meters Centerline goodness [0,1] 0.9998645812174148 Centerline is valid? [True, True] Translation: X:101.50, Y:-38.79, Z:2.02 [[ 8.90787510e-01 -4.54419790e-01 -5.15712617e-04 1.01495134e+02] [-4.54420059e-01 -8.90787260e-01 -6.84333837e-04 -3.87932670e+01] [-1.48415390e-04 8.43946192e-04 -9.99999633e-01 2.01536351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.75 meters Centerline goodness [0,1] 0.9998417077472751 Centerline is valid? [True, True] Translation: X:101.49, Y:-38.80, Z:2.02 [[ 9.24204444e-01 -3.81896743e-01 -1.01141493e-03 1.01487610e+02] [-3.81897350e-01 -9.24204617e-01 -4.89894478e-04 -3.88008850e+01] [-7.47665243e-04 8.39019336e-04 -9.99999369e-01 2.01596141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.78 meters Centerline goodness [0,1] 0.9998419579156507 Centerline is valid? [True, True] Translation: X:101.48, Y:-38.81, Z:2.02 [[ 9.52372243e-01 -3.04932616e-01 -1.79168189e-03 1.01481224e+02] [-3.04933594e-01 -9.52373570e-01 -2.94262719e-04 -3.88109822e+01] [-1.61662018e-03 8.26591644e-04 -9.99998352e-01 2.01668707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.81 meters Centerline goodness [0,1] 0.9998422072945313 Centerline is valid? [True, True] Translation: X:101.48, Y:-38.82, Z:2.02 [[ 9.73751018e-01 -2.27604993e-01 -2.21863159e-03 1.01475716e+02] [-2.27606233e-01 -9.73753203e-01 -3.20175516e-04 -3.88199530e+01] [-2.08752607e-03 8.16745613e-04 -9.99997488e-01 2.01718578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.83999999999999 meters Centerline goodness [0,1] 0.9998651200431616 Centerline is valid? [True, True] Translation: X:101.47, Y:-38.83, Z:2.02 [[ 9.88791271e-01 -1.49288737e-01 -2.16698834e-03 1.01467216e+02] [-1.49290129e-01 -9.88793311e-01 -4.94739359e-04 -3.88280442e+01] [-2.06884456e-03 8.12703929e-04 -9.99997530e-01 2.01769840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.86999999999999 meters Centerline goodness [0,1] 0.9997741950051935 Centerline is valid? [True, True] Translation: X:101.46, Y:-38.84, Z:2.02 [[ 9.97511033e-01 -7.04498516e-02 -2.92547470e-03 1.01460105e+02] [-7.04518723e-02 -9.97515003e-01 -5.93393105e-04 -3.88356966e+01] [-2.87640045e-03 7.98021339e-04 -9.99995545e-01 2.01876400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.89999999999999 meters Centerline goodness [0,1] 0.9998195597257308 Centerline is valid? [True, True] Translation: X:101.45, Y:-38.84, Z:2.02 [[ 9.99950331e-01 9.57049518e-03 -2.78231411e-03 1.01453680e+02] [ 9.56825166e-03 -9.99953888e-01 -8.18544737e-04 -3.88437966e+01] [-2.79001969e-03 7.91882199e-04 -9.99995794e-01 2.01777876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.92999999999999 meters Centerline goodness [0,1] 0.9998196410857607 Centerline is valid? [True, True] Translation: X:101.45, Y:-38.85, Z:2.02 [[ 9.96086751e-01 8.83391048e-02 -2.71802755e-03 1.01447494e+02] [ 8.83365898e-02 -9.96090147e-01 -1.03204790e-03 -3.88510697e+01] [-2.79857065e-03 7.87907951e-04 -9.99995774e-01 2.01803439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.44, Y:-38.86, Z:2.01 [[ 9.85937113e-01 1.67109464e-01 -1.56083717e-03 1.01442704e+02] [ 1.67107917e-01 -9.85938025e-01 -1.07490773e-03 -3.88609298e+01] [-1.71851597e-03 7.98963172e-04 -9.99998204e-01 2.01496936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.99 meters Centerline goodness [0,1] 0.999909838836921 Centerline is valid? [True, True] Translation: X:101.44, Y:-38.87, Z:2.02 [[ 9.69833388e-01 2.43747478e-01 -3.21987375e-03 1.01436792e+02] [ 2.43743423e-01 -9.69838427e-01 -1.60275705e-03 -3.88703359e+01] [-3.51342528e-03 7.69584252e-04 -9.99993532e-01 2.01803214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.02 meters Centerline goodness [0,1] 0.9999550551697791 Centerline is valid? [True, True] Translation: X:101.43, Y:-38.88, Z:2.02 [[ 9.47644241e-01 3.19313631e-01 -3.03282879e-03 1.01432987e+02] [ 3.19309304e-01 -9.47648784e-01 -1.83030721e-03 -3.88791849e+01] [-3.45849856e-03 7.66069635e-04 -9.99993726e-01 2.01863881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.05 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.43, Y:-38.89, Z:2.02 [[ 9.19670313e-01 3.92681461e-01 -2.79039500e-03 1.01429035e+02] [ 3.92676994e-01 -9.19674228e-01 -2.02312758e-03 -3.88872979e+01] [-3.36069906e-03 7.64886451e-04 -9.99994060e-01 2.01818107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.08 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.43, Y:-38.89, Z:2.02 [[ 8.86754186e-01 4.62230902e-01 -3.09943452e-03 1.01425380e+02] [ 4.62224916e-01 -8.86759277e-01 -2.47199310e-03 -3.88949223e+01] [-3.89108392e-03 7.59414369e-04 -9.99992141e-01 2.01869288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.11 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.42, Y:-38.90, Z:2.02 [[ 8.48533765e-01 5.29136227e-01 -2.30283393e-03 1.01421256e+02] [ 5.29131593e-01 -8.48536539e-01 -2.34519741e-03 -3.89018095e+01] [-3.19496764e-03 7.71476999e-04 -9.99994598e-01 2.01810272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.14 meters Centerline goodness [0,1] 0.9998871204424878 Centerline is valid? [True, True] Translation: X:101.42, Y:-38.91, Z:2.02 [[ 8.05620115e-01 5.92425624e-01 -2.84780157e-03 1.01417741e+02] [ 5.92418300e-01 -8.05624785e-01 -3.04345607e-03 -3.89091306e+01] [-4.09728090e-03 7.64779662e-04 -9.99991314e-01 2.01930039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.17 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.41, Y:-38.92, Z:2.02 [[ 7.57814473e-01 6.52469682e-01 -7.33407475e-04 1.01413497e+02] [ 6.52468010e-01 -7.57814415e-01 -1.67600495e-03 -3.89164061e+01] [-1.64932917e-03 7.91575891e-04 -9.99998327e-01 2.01691673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.2 meters Centerline goodness [0,1] 0.9996817530858585 Centerline is valid? [True, True] Translation: X:101.41, Y:-38.93, Z:2.02 [[ 7.05409805e-01 7.08796642e-01 -2.08010303e-03 1.01411074e+02] [ 7.08789890e-01 -7.05412446e-01 -3.18965579e-03 -3.89254471e+01] [-3.72814787e-03 7.75658474e-04 -9.99992750e-01 2.01935084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.22999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.41, Y:-38.94, Z:2.02 [[ 6.47352729e-01 7.62190539e-01 -1.59432350e-04 1.01409870e+02] [ 7.62189643e-01 -6.47352263e-01 -1.41248112e-03 -3.89351984e+01] [-1.17978864e-03 7.92855819e-04 -9.99998990e-01 2.01659563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.25999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.41, Y:-38.95, Z:2.02 [[ 5.85891184e-01 8.10389703e-01 2.23761388e-04 1.01408503e+02] [ 8.10389417e-01 -5.85890688e-01 -1.04632302e-03 -3.89457003e+01] [-7.16829691e-04 7.94365296e-04 -9.99999428e-01 2.01710779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.28999999999999 meters Centerline goodness [0,1] 0.9999089004281679 Centerline is valid? [True, True] Translation: X:101.41, Y:-38.95, Z:2.02 [[ 5.21282487e-01 8.53384182e-01 8.45545626e-05 1.01407360e+02] [ 8.53383438e-01 -5.21281897e-01 -1.37581874e-03 -3.89547138e+01] [-1.13002519e-03 7.89347679e-04 -9.99999050e-01 2.01808941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.41, Y:-38.97, Z:2.02 [[ 4.51991320e-01 8.92022027e-01 7.41731080e-04 1.01408778e+02] [ 8.92022333e-01 -4.51991227e-01 -2.97553686e-04 -3.89650304e+01] [ 6.98314989e-05 7.96132371e-04 -9.99999681e-01 2.01678871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.35 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.41, Y:-38.98, Z:2.02 [[ 3.80399138e-01 9.24822051e-01 8.18559921e-04 1.01409450e+02] [ 9.24822387e-01 -3.80399188e-01 -9.92048769e-05 -3.89766797e+01] [ 2.19632672e-04 7.94759989e-04 -9.99999660e-01 2.01693290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.38 meters Centerline goodness [0,1] 0.9999772048599239 Centerline is valid? [True, True] Translation: X:101.41, Y:-38.99, Z:2.02 [[ 3.06251125e-01 9.51950489e-01 7.17819672e-04 1.01408753e+02] [ 9.51950753e-01 -3.06250949e-01 -3.45342336e-04 -3.89865330e+01] [-1.08915849e-04 7.89090457e-04 -9.99999683e-01 2.01683112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.41 meters Centerline goodness [0,1] 0.9998174766141912 Centerline is valid? [True, True] Translation: X:101.41, Y:-39.00, Z:2.02 [[ 2.28962072e-01 9.73435246e-01 4.37405177e-04 1.01413446e+02] [ 9.73434374e-01 -2.28961186e-01 -1.51522526e-03 -3.89973242e+01] [-1.37482487e-03 7.72714349e-04 -9.99998756e-01 2.01823134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.44 meters Centerline goodness [0,1] 0.9998628602774794 Centerline is valid? [True, True] Translation: X:101.42, Y:-39.01, Z:2.02 [[ 1.50643745e-01 9.88587916e-01 6.28058452e-04 1.01419378e+02] [ 9.88587695e-01 -1.50643065e-01 -1.01810533e-03 -3.90080843e+01] [-9.11873977e-04 7.74262057e-04 -9.99999285e-01 2.01850450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.47 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.43, Y:-39.02, Z:2.02 [[ 7.12261250e-02 9.97459864e-01 8.12165854e-04 1.01426184e+02] [ 9.97460127e-01 -7.12263951e-02 3.08605096e-04 -3.90193560e+01] [ 3.65668843e-04 7.88122311e-04 -9.99999623e-01 2.01762679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.5 meters Centerline goodness [0,1] 0.9999316410700451 Centerline is valid? [True, True] Translation: X:101.43, Y:-39.03, Z:2.02 [[-7.06371602e-03 9.99974756e-01 7.69357481e-04 1.01432432e+02] [ 9.99973565e-01 7.06503028e-03 -1.71914371e-03 -3.90299123e+01] [-1.72453585e-03 7.57193600e-04 -9.99998226e-01 2.02075529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.53 meters Centerline goodness [0,1] 0.9998399195023784 Centerline is valid? [True, True] Translation: X:101.44, Y:-39.04, Z:2.02 [[-8.45155451e-02 9.96421638e-01 1.02043754e-03 1.01438637e+02] [ 9.96416267e-01 8.45185233e-02 -3.35298077e-03 -3.90388252e+01] [-3.42722847e-03 7.33401567e-04 -9.99993858e-01 2.02238411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.45, Y:-39.05, Z:2.02 [[-1.62349485e-01 9.86732720e-01 1.08798827e-03 1.01445829e+02] [ 9.86730970e-01 1.62351406e-01 -2.00335092e-03 -3.90470238e+01] [-2.15340832e-03 7.48308731e-04 -9.99997401e-01 2.02133136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.58999999999999 meters Centerline goodness [0,1] 0.9998166945443714 Centerline is valid? [True, True] Translation: X:101.45, Y:-39.06, Z:2.02 [[-2.37587089e-01 9.71364654e-01 1.75637751e-03 1.01451922e+02] [ 9.71356114e-01 2.37592480e-01 -4.13683337e-03 -3.90569824e+01] [-4.43567580e-03 7.23209837e-04 -9.99989901e-01 2.02342405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.61999999999999 meters Centerline goodness [0,1] 0.9999083556716384 Centerline is valid? [True, True] Translation: X:101.46, Y:-39.07, Z:2.02 [[-3.11424328e-01 9.50269570e-01 1.62267377e-03 1.01457104e+02] [ 9.50266394e-01 3.11427670e-01 -2.56633784e-03 -3.90667504e+01] [-2.94405827e-03 7.42752312e-04 -9.99995390e-01 2.02223961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.64999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.46, Y:-39.08, Z:2.02 [[-3.84403689e-01 9.23164320e-01 1.20076708e-03 1.01462670e+02] [ 9.23164179e-01 3.84404818e-01 -9.13273985e-04 -3.90755501e+01] [-1.30468261e-03 7.57439268e-04 -9.99998862e-01 2.02079818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.67999999999999 meters Centerline goodness [0,1] 0.9998625492531843 Centerline is valid? [True, True] Translation: X:101.47, Y:-39.08, Z:2.02 [[-4.53993512e-01 8.91003397e-01 1.68447820e-03 1.01470898e+02] [ 8.91002179e-01 4.53996017e-01 -1.65319924e-03 -3.90830861e+01] [-2.23775253e-03 7.50332023e-04 -9.99997215e-01 2.02085896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.71 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.48, Y:-39.09, Z:2.02 [[-5.21674655e-01 8.53144261e-01 6.51227035e-04 1.01480389e+02] [ 8.53144510e-01 5.21674501e-01 4.00719660e-04 -3.90907159e+01] [ 2.14314070e-06 7.64636060e-04 -9.99999708e-01 2.01998320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.74 meters Centerline goodness [0,1] 0.9999080079113196 Centerline is valid? [True, True] Translation: X:101.49, Y:-39.10, Z:2.02 [[-5.83710779e-01 8.11961604e-01 2.82861295e-04 1.01485573e+02] [ 8.11961448e-01 5.83710349e-01 9.14246688e-04 -3.91012291e+01] [ 5.77224142e-04 7.63328114e-04 -9.99999542e-01 2.02015855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.77 meters Centerline goodness [0,1] 0.9999309948246119 Centerline is valid? [True, True] Translation: X:101.49, Y:-39.11, Z:2.02 [[-6.44417301e-01 7.64674009e-01 -4.30987743e-05 1.01492084e+02] [ 7.64673396e-01 6.44416853e-01 1.23165556e-03 -3.91089260e+01] [ 9.69588573e-04 7.60743666e-04 -9.99999241e-01 2.01962122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.8 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.50, Y:-39.11, Z:2.02 [[-7.01674115e-01 7.12497224e-01 -1.06846894e-03 1.01501934e+02] [ 7.12494339e-01 7.01674520e-01 2.16447500e-03 -3.91133699e+01] [ 2.29189986e-03 7.57478007e-04 -9.99997087e-01 2.01827997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.83 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.51, Y:-39.12, Z:2.02 [[-7.54657324e-01 6.56117503e-01 -1.46458870e-03 1.01511958e+02] [ 6.56114004e-01 7.54658370e-01 2.27136625e-03 -3.91171064e+01] [ 2.59554727e-03 7.53166025e-04 -9.99996348e-01 2.01804495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.86 meters Centerline goodness [0,1] 0.9999312919405446 Centerline is valid? [True, True] Translation: X:101.55, Y:-39.11, Z:2.02 [[-7.97469321e-01 6.03359368e-01 -3.93898456e-04 1.01547662e+02] [ 6.03358659e-01 7.97469133e-01 1.14507168e-03 -3.91114706e+01] [ 1.00501158e-03 6.75497491e-04 -9.99999267e-01 2.01862341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.57, Y:-39.09, Z:2.02 [[-8.37538271e-01 5.46377903e-01 -9.11645831e-04 1.01570956e+02] [ 5.46376533e-01 8.37538499e-01 1.39517937e-03 -3.90942605e+01] [ 1.52583366e-03 6.70414226e-04 -9.99998611e-01 2.01901058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.92 meters Centerline goodness [0,1] 0.9997931842728129 Centerline is valid? [True, True] Translation: X:101.59, Y:-39.08, Z:2.02 [[-8.72689066e-01 4.88275654e-01 8.24800901e-04 1.01594999e+02] [ 4.88276025e-01 8.72689190e-01 3.18074464e-04 -3.90771185e+01] [-5.64486813e-04 6.80310612e-04 -9.99999609e-01 2.02103568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.95 meters Centerline goodness [0,1] 0.9999083808607618 Centerline is valid? [True, True] Translation: X:101.61, Y:-39.06, Z:2.02 [[-9.03022218e-01 4.29591387e-01 1.45365057e-03 1.01608199e+02] [ 4.29591936e-01 9.03023124e-01 7.30284527e-05 -3.90550035e+01] [-1.28130769e-03 6.90422880e-04 -9.99998941e-01 2.02275289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.97999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.64, Y:-39.04, Z:2.02 [[-9.30416227e-01 3.66503227e-01 1.01481288e-03 1.01639048e+02] [ 3.66503713e-01 9.30416528e-01 3.36621617e-04 -3.90380240e+01] [-8.20825766e-04 6.85130902e-04 -9.99999428e-01 2.02256047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.00999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.66, Y:-39.01, Z:2.02 [[-9.54045709e-01 2.99659413e-01 1.01093979e-03 1.01655947e+02] [ 2.99659928e-01 9.54045999e-01 3.99791660e-04 -3.90143410e+01] [-8.44681724e-04 6.84357661e-04 -9.99999409e-01 2.02280691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.03999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.67, Y:-38.99, Z:2.02 [[-9.72175694e-01 2.34245866e-01 1.81527696e-03 1.01674485e+02] [ 2.34246742e-01 9.72177136e-01 2.83187483e-04 -3.89921507e+01] [-1.69843526e-03 7.00530702e-04 -9.99998312e-01 2.02429884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.69, Y:-38.97, Z:2.02 [[-9.85347736e-01 1.70529302e-01 3.09792628e-03 1.01687929e+02] [ 1.70530774e-01 9.85352327e-01 2.15457043e-04 -3.89688057e+01] [-3.01580713e-03 7.40591876e-04 -9.99995178e-01 2.02494821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.1 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.70, Y:-38.94, Z:2.02 [[-9.94656868e-01 1.03193695e-01 2.96259561e-03 1.01699692e+02] [ 1.03195442e-01 9.94661000e-01 4.42403677e-04 -3.89427370e+01] [-2.90112504e-03 7.45766218e-04 -9.99995514e-01 2.02496194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.13 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.77, Y:-38.02, Z:1.22 [[-9.93126843e-01 -1.15072298e-01 2.13878655e-02 1.01773966e+02] [ 1.15044036e-01 -9.93357116e-01 -2.55127169e-03 -3.80228789e+01] [ 2.15393691e-02 -7.31900246e-05 9.99767998e-01 1.22432813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.16 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.61, Y:-38.93, Z:2.02 [[-9.94700912e-01 1.02798547e-01 1.59824481e-03 1.01608161e+02] [ 1.02799578e-01 9.94701923e-01 5.76322964e-04 -3.89338114e+01] [-1.53053203e-03 7.37567870e-04 -9.99998557e-01 2.02304301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.19 meters Centerline goodness [0,1] 0.9998856123172657 Centerline is valid? [True, True] Translation: X:101.68, Y:-38.02, Z:1.23 [[-9.94306034e-01 -1.04652126e-01 2.00859007e-02 1.01678278e+02] [ 1.04627879e-01 -9.94508880e-01 -2.25718229e-03 -3.80158609e+01] [ 2.02118256e-02 -1.42784774e-04 9.99795710e-01 1.22591955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.22 meters Centerline goodness [0,1] 0.9998172806797159 Centerline is valid? [True, True] Translation: X:101.52, Y:-38.92, Z:2.02 [[-9.95172398e-01 9.81366976e-02 1.04283545e-03 1.01517117e+02] [ 9.81373736e-02 9.95172686e-01 6.18010899e-04 -3.89232661e+01] [-9.77151811e-04 7.17368521e-04 -9.99999265e-01 2.02459867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.25 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.58, Y:-38.02, Z:1.23 [[-9.94651600e-01 -1.01684249e-01 1.81247661e-02 1.01576671e+02] [ 1.01665167e-01 -9.94816716e-01 -1.97352980e-03 -3.80171224e+01] [ 1.82314972e-02 -1.20317196e-04 9.99833785e-01 1.22847779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.28 meters Centerline goodness [0,1] 0.9997726445980356 Centerline is valid? [True, True] Translation: X:101.42, Y:-38.91, Z:2.03 [[-9.96024564e-01 8.90789482e-02 9.69986075e-05 1.01422355e+02] [ 8.90789937e-02 9.96024334e-01 6.77788769e-04 -3.89115892e+01] [-3.62362626e-05 6.83734801e-04 -9.99999766e-01 2.02774555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.31 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.43, Y:-38.88, Z:2.03 [[-9.99891936e-01 1.46879316e-02 -6.16447652e-04 1.01426316e+02] [ 1.46875296e-02 9.99891920e-01 6.51787726e-04 -3.88795320e+01] [ 6.25954440e-04 6.42663199e-04 -9.99999598e-01 2.02611206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.33999999999999 meters Centerline goodness [0,1] 0.99988711534554 Centerline is valid? [True, True] Translation: X:101.42, Y:-37.99, Z:1.23 [[-9.99314312e-01 -3.25637373e-02 1.76212664e-02 1.01415041e+02] [ 3.25613135e-02 -9.99469650e-01 -4.24520072e-04 -3.79941026e+01] [ 1.76257449e-02 1.49542595e-04 9.99844643e-01 1.22876361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.36999999999999 meters Centerline goodness [0,1] 0.9999097717224578 Centerline is valid? [True, True] Translation: X:101.32, Y:-38.87, Z:2.03 [[-9.99997789e-01 1.30766425e-03 -1.64669631e-03 1.01318396e+02] [ 1.30659576e-03 9.99998935e-01 6.49776499e-04 -3.88694106e+01] [ 1.64754425e-03 6.47623496e-04 -9.99998433e-01 2.02752390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.39999999999999 meters Centerline goodness [0,1] 0.9999774987624319 Centerline is valid? [True, True] Translation: X:101.32, Y:-38.84, Z:2.03 [[-9.97334149e-01 -7.29294638e-02 -2.42668928e-03 1.01321748e+02] [-7.29307355e-02 9.97336911e-01 4.39632377e-04 -3.88356371e+01] [ 2.38816464e-03 6.15440617e-04 -9.99996959e-01 2.02642849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.42999999999999 meters Centerline goodness [0,1] 0.9998204224561719 Centerline is valid? [True, True] Translation: X:101.31, Y:-38.81, Z:2.03 [[-9.89268128e-01 -1.46088114e-01 -2.61409311e-03 1.01309946e+02] [-1.46089229e-01 9.89271388e-01 2.40016190e-04 -3.88055028e+01] [ 2.55098401e-03 6.19331215e-04 -9.99996554e-01 2.02818585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.28, Y:-38.78, Z:2.03 [[-9.74581026e-01 -2.24022496e-01 -2.39700402e-03 1.01283084e+02] [-2.24023392e-01 9.74583761e-01 1.08927605e-04 -3.87750723e+01] [ 2.31167896e-03 6.43143749e-04 -9.99997121e-01 2.02763620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.49 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.24, Y:-38.75, Z:2.03 [[-9.54766407e-01 -2.97348718e-01 -2.20179641e-03 1.01239847e+02] [-2.97349449e-01 9.54768718e-01 5.07946569e-06 -3.87543037e+01] [ 2.10069596e-03 6.59552653e-04 -9.99997576e-01 2.02900050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.52 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.18, Y:-38.74, Z:2.03 [[-9.29094809e-01 -3.69837176e-01 -1.81616850e-03 1.01179773e+02] [-3.69837782e-01 9.29096343e-01 -2.32482351e-06 -3.87426512e+01] [ 1.68825532e-03 6.69527747e-04 -9.99998351e-01 2.03012317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.55 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.11, Y:-38.74, Z:2.03 [[-8.96353163e-01 -4.43337523e-01 -1.68727159e-03 1.01105612e+02] [-4.43338042e-01 8.96354492e-01 -7.37182323e-05 -3.87375480e+01] [ 1.54507553e-03 6.81954113e-04 -9.99998574e-01 2.03207128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.58 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:101.03, Y:-38.74, Z:2.03 [[-8.59215517e-01 -5.11610724e-01 -1.77819692e-03 1.01027966e+02] [-5.11611129e-01 8.59217079e-01 -2.53934294e-04 -3.87443711e+01] [ 1.65777267e-03 6.91561045e-04 -9.99998387e-01 2.03319135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.61 meters Centerline goodness [0,1] 0.9999778142609931 Centerline is valid? [True, True] Translation: X:100.94, Y:-38.76, Z:2.03 [[-8.17157456e-01 -5.76411148e-01 -1.96974209e-03 1.00941033e+02] [-5.76411324e-01 8.17159532e-01 -5.34420430e-04 -3.87638139e+01] [ 1.91763941e-03 6.98676005e-04 -9.99997917e-01 2.03436837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.64 meters Centerline goodness [0,1] 0.9998003460668176 Centerline is valid? [True, True] Translation: X:100.85, Y:-38.79, Z:2.04 [[-7.69911916e-01 -6.38146877e-01 -2.05059957e-03 1.00853793e+02] [-6.38146791e-01 7.69914322e-01 -7.80889365e-04 -3.87911217e+01] [ 2.07710809e-03 7.07367512e-04 -9.99997593e-01 2.03645856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.67 meters Centerline goodness [0,1] 0.9998229775181448 Centerline is valid? [True, True] Translation: X:100.77, Y:-38.83, Z:2.04 [[-7.18936605e-01 -6.95071793e-01 -2.31534766e-03 1.00770673e+02] [-6.95071050e-01 7.18939977e-01 -1.24296030e-03 -3.88259326e+01] [ 2.52854264e-03 7.15721471e-04 -9.99996547e-01 2.03745309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.7 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.68, Y:-38.88, Z:2.04 [[-6.63201825e-01 -7.48436384e-01 -2.51363941e-03 1.00683009e+02] [-7.48434702e-01 6.63206193e-01 -1.74430640e-03 -3.88769193e+01] [ 2.97256360e-03 7.24467772e-04 -9.99995319e-01 2.03638163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.72999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.60, Y:-38.94, Z:2.04 [[-6.04141082e-01 -7.96874244e-01 -2.23437708e-03 1.00597374e+02] [-7.96872642e-01 6.04144783e-01 -1.75313279e-03 -3.89370589e+01] [ 2.74691362e-03 7.21374431e-04 -9.99995967e-01 2.03731920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.75999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.52, Y:-39.00, Z:2.04 [[-5.41304580e-01 -8.40823812e-01 -2.16077853e-03 1.00515201e+02] [-8.40821696e-01 5.41308410e-01 -2.02032676e-03 -3.90049287e+01] [ 2.86838644e-03 7.23217339e-04 -9.99995625e-01 2.03871020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.78999999999999 meters Centerline goodness [0,1] 0.999911067633065 Centerline is valid? [True, True] Translation: X:100.44, Y:-39.08, Z:2.04 [[-4.75318531e-01 -8.79811871e-01 -1.83481108e-03 1.00438205e+02] [-8.79810140e-01 4.75321531e-01 -1.88667059e-03 -3.90793718e+01] [ 2.53204040e-03 7.17515903e-04 -9.99996537e-01 2.04117721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.36, Y:-39.18, Z:2.04 [[-4.05561481e-01 -9.14066576e-01 -1.47649428e-03 1.00356800e+02] [-9.14065495e-01 4.05563546e-01 -1.57512173e-03 -3.91797989e+01] [ 2.03857839e-03 7.10803775e-04 -9.99997669e-01 2.04160147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.85 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.30, Y:-39.26, Z:2.04 [[-3.33432930e-01 -9.42773002e-01 -1.24398547e-03 1.00296327e+02] [-9.42772238e-01 3.33434499e-01 -1.39359044e-03 -3.92576061e+01] [ 1.72862712e-03 7.08126025e-04 -9.99998255e-01 2.04285994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.88 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.24, Y:-39.36, Z:2.04 [[-2.59742063e-01 -9.65677561e-01 -9.53125422e-04 1.00235323e+02] [-9.65677424e-01 2.59742880e-01 -8.65277043e-04 -3.93584012e+01] [ 1.08314617e-03 6.95662858e-04 -9.99999171e-01 2.04430354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.91 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.18, Y:-39.47, Z:2.05 [[-1.85035158e-01 -9.82731511e-01 -8.75542883e-04 1.00181847e+02] [-9.82731342e-01 1.85035930e-01 -9.02580827e-04 -3.94687420e+01] [ 1.04900151e-03 6.93414246e-04 -9.99999209e-01 2.04576152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.94 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.14, Y:-39.57, Z:2.05 [[-1.09391098e-01 -9.93998496e-01 -7.60477627e-04 1.00139441e+02] [-9.93998534e-01 1.09391584e-01 -6.29126842e-04 -3.95698279e+01] [ 7.08540986e-04 6.87092770e-04 -9.99999513e-01 2.04739252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.97 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.11, Y:-39.68, Z:2.05 [[-3.55824725e-02 -9.99366496e-01 -7.02655533e-04 1.00106491e+02] [-9.99366571e-01 3.55828704e-02 -5.62128120e-04 -3.96836241e+01] [ 5.86774511e-04 6.82208542e-04 -9.99999595e-01 2.04926899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.0 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.08, Y:-39.80, Z:2.05 [[ 3.94204408e-02 -9.99222497e-01 -6.56051930e-04 1.00081578e+02] [-9.99222551e-01 -3.94200529e-02 -5.94008871e-04 -3.97997830e+01] [ 5.67685426e-04 6.78957975e-04 -9.99999608e-01 2.05026167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.03 meters Centerline goodness [0,1] 0.9999326720229813 Centerline is valid? [True, True] Translation: X:100.07, Y:-39.92, Z:2.05 [[ 1.13167479e-01 -9.93575738e-01 -6.12249531e-04 1.00066200e+02] [-9.93575798e-01 -1.13167129e-01 -5.79025574e-04 -3.99188544e+01] [ 5.06019240e-04 6.73843180e-04 -9.99999645e-01 2.05219177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.06 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.07, Y:-40.05, Z:2.05 [[ 1.83199971e-01 -9.83075595e-01 -3.80402393e-04 1.00065980e+02] [-9.83074527e-01 -1.83199154e-01 -1.59514672e-03 -4.00456730e+01] [ 1.49846042e-03 6.66194736e-04 -9.99998655e-01 2.05144026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.08999999999999 meters Centerline goodness [0,1] 0.9998191681735985 Centerline is valid? [True, True] Translation: X:100.07, Y:-40.15, Z:2.05 [[ 2.54531958e-01 -9.67064334e-01 -2.35797487e-04 1.00067344e+02] [-9.67063110e-01 -2.54531228e-01 -1.67214078e-03 -4.01546855e+01] [ 1.55704989e-03 6.53644318e-04 -9.99998574e-01 2.05391308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.11999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.08, Y:-40.26, Z:2.05 [[ 3.25910482e-01 -9.45400620e-01 1.57633161e-04 1.00076371e+02] [-9.45397717e-01 -3.25909887e-01 -2.42928711e-03 -4.02645752e+01] [ 2.34802375e-03 6.42704105e-04 -9.99997037e-01 2.05251038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.14999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.10, Y:-40.38, Z:2.05 [[ 3.95271525e-01 -9.18564199e-01 4.83541015e-04 1.00097876e+02] [-9.18560407e-01 -3.95271321e-01 -2.71317966e-03 -4.03829678e+01] [ 2.68335960e-03 6.28281028e-04 -9.99996202e-01 2.05366460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.17999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.13, Y:-40.49, Z:2.05 [[ 4.60073906e-01 -8.87880241e-01 8.23580784e-04 1.00126612e+02] [-8.87875697e-01 -4.60074245e-01 -2.90444095e-03 -4.04922832e+01] [ 2.95770404e-03 6.05020131e-04 -9.99995443e-01 2.05478727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.21 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.16, Y:-40.60, Z:2.06 [[ 5.25464181e-01 -8.50814989e-01 1.11783588e-03 1.00163379e+02] [-8.50810120e-01 -5.25465035e-01 -2.93890081e-03 -4.06020775e+01] [ 3.08784452e-03 5.93221029e-04 -9.99995057e-01 2.05656155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.24 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.20, Y:-40.71, Z:2.06 [[ 5.88643595e-01 -8.08391315e-01 1.48316594e-03 1.00204160e+02] [-8.08385868e-01 -5.88645177e-01 -3.02405339e-03 -4.07097833e+01] [ 3.31767698e-03 5.81119278e-04 -9.99994328e-01 2.05706254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.27 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.25, Y:-40.81, Z:2.06 [[ 6.49543274e-01 -7.60321226e-01 2.27357575e-03 1.00253467e+02] [-7.60313262e-01 -6.49547011e-01 -3.52481011e-03 -4.08126827e+01] [ 4.15678228e-03 5.60886898e-04 -9.99991203e-01 2.05731621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.3 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.31, Y:-40.91, Z:2.06 [[ 7.06467088e-01 -7.07741693e-01 2.43923965e-03 1.00309226e+02] [-7.07734498e-01 -7.06471074e-01 -3.24054323e-03 -4.09097866e+01] [ 4.01671980e-03 5.63003086e-04 -9.99991774e-01 2.05844972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.33 meters Centerline goodness [0,1] 0.999931717309662 Centerline is valid? [True, True] Translation: X:100.30, Y:-40.92, Z:2.06 [[ 7.59856224e-01 -6.50088353e-01 1.91111797e-03 1.00302803e+02] [-6.50084132e-01 -7.59858395e-01 -2.41667570e-03 -4.09171700e+01] [ 3.02323176e-03 5.93938605e-04 -9.99995254e-01 2.05959573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.36 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.29, Y:-40.93, Z:2.06 [[ 8.10140721e-01 -5.86234863e-01 8.35451407e-04 1.00293440e+02] [-5.86233573e-01 -8.10140907e-01 -1.38153503e-03 -4.09260398e+01] [ 1.48673736e-03 6.29468120e-04 -9.99998697e-01 2.06084128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.39 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.28, Y:-40.93, Z:2.06 [[ 8.54304113e-01 -5.19773488e-01 -5.19242102e-05 1.00283943e+02] [-5.19773384e-01 -8.54303868e-01 -7.27923931e-04 -4.09345057e+01] [ 3.33996507e-04 6.48857231e-04 -9.99999734e-01 2.06163519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.42 meters Centerline goodness [0,1] 0.9998866418790242 Centerline is valid? [True, True] Translation: X:100.27, Y:-40.94, Z:2.06 [[ 8.92961094e-01 -4.50132953e-01 -8.99674877e-04 1.00274335e+02] [-4.50133348e-01 -8.92961301e-01 -2.88257656e-04 -4.09411807e+01] [-6.73620578e-04 6.62376537e-04 -9.99999554e-01 2.06389743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.45 meters Centerline goodness [0,1] 0.999954694755918 Centerline is valid? [True, True] Translation: X:100.27, Y:-40.95, Z:2.06 [[ 9.26019056e-01 -3.77476079e-01 -7.19861560e-04 1.00265602e+02] [-3.77476422e-01 -9.26019102e-01 -4.16450799e-04 -4.09511646e+01] [-5.09405340e-04 6.57372141e-04 -9.99999654e-01 2.06354975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.47999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.26, Y:-40.96, Z:2.06 [[ 9.53360346e-01 -3.01832992e-01 -9.46725651e-04 1.00258274e+02] [-3.01833455e-01 -9.53360589e-01 -3.89343116e-04 -4.09614380e+01] [-7.85054327e-04 6.56937762e-04 -9.99999476e-01 2.06254337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.50999999999999 meters Centerline goodness [0,1] 0.9999320282762371 Centerline is valid? [True, True] Translation: X:100.25, Y:-40.97, Z:2.06 [[ 9.74078186e-01 -2.26209788e-01 -9.05590682e-04 1.00249085e+02] [-2.26210265e-01 -9.74078386e-01 -4.62934289e-04 -4.09698676e+01] [-7.77396043e-04 6.55788100e-04 -9.99999483e-01 2.06296779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.53999999999999 meters Centerline goodness [0,1] 0.9999093278930069 Centerline is valid? [True, True] Translation: X:100.24, Y:-40.98, Z:2.06 [[ 9.88801951e-01 -1.49230852e-01 -9.24514805e-04 1.00239514e+02] [-1.49231373e-01 -9.88802167e-01 -5.22148085e-04 -4.09770272e+01] [-8.36241639e-04 6.54267659e-04 -9.99999436e-01 2.06309390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.57 meters Centerline goodness [0,1] 0.9999546988606763 Centerline is valid? [True, True] Translation: X:100.23, Y:-40.99, Z:2.06 [[ 9.97462405e-01 -7.11951072e-02 -8.91972881e-05 1.00231711e+02] [-7.11951498e-02 -9.97462201e-01 -6.39480208e-04 -4.09859243e+01] [-4.34430613e-05 6.44207880e-04 -9.99999792e-01 2.06155323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.6 meters Centerline goodness [0,1] 0.9998640719512472 Centerline is valid? [True, True] Translation: X:100.22, Y:-40.99, Z:2.06 [[ 9.99975351e-01 7.01794317e-03 -2.16438351e-04 1.00224593e+02] [ 7.01780215e-03 -9.99975167e-01 -6.45574748e-04 -4.09948233e+01] [-2.20963582e-04 6.44039914e-04 -9.99999768e-01 2.06219846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.63 meters Centerline goodness [0,1] 0.9998416038739166 Centerline is valid? [True, True] Translation: X:100.22, Y:-41.01, Z:2.06 [[ 9.96332801e-01 8.55619849e-02 3.10896599e-04 1.00218210e+02] [ 8.55621627e-02 -9.96332646e-01 -6.12175442e-04 -4.10053502e+01] [ 2.57377485e-04 6.36531459e-04 -9.99999764e-01 2.06192602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.66 meters Centerline goodness [0,1] 0.9999547275731716 Centerline is valid? [True, True] Translation: X:100.21, Y:-41.02, Z:2.06 [[ 9.86284375e-01 1.65043194e-01 1.96867219e-03 1.00212560e+02] [ 1.65044088e-01 -9.86286145e-01 -2.99476082e-04 -4.10180138e+01] [ 1.89224761e-03 6.20286286e-04 -9.99998017e-01 2.06073829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.69 meters Centerline goodness [0,1] 0.9999097045080024 Centerline is valid? [True, True] Translation: X:100.21, Y:-41.03, Z:2.06 [[ 9.70080311e-01 2.42780130e-01 1.41388605e-03 1.00206900e+02] [ 2.42780761e-01 -9.70081140e-01 -2.90605714e-04 -4.10290149e+01] [ 1.30103089e-03 6.25175211e-04 -9.99998958e-01 2.06187540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.72 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.20, Y:-41.04, Z:2.06 [[ 9.47646832e-01 3.19312485e-01 2.24041697e-03 1.00202859e+02] [ 3.19313070e-01 -9.47649277e-01 1.00859550e-04 -4.10398146e+01] [ 2.15533524e-03 6.19815189e-04 -9.99997485e-01 2.06120847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.20, Y:-41.05, Z:2.06 [[ 9.18812252e-01 3.94691108e-01 1.72501818e-03 1.00201263e+02] [ 3.94691598e-01 -9.18813658e-01 6.07328696e-05 -4.10528246e+01] [ 1.60894099e-03 6.25048077e-04 -9.99998510e-01 2.06208492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.78 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.20, Y:-41.06, Z:2.06 [[ 8.84648129e-01 4.66256739e-01 1.53028131e-03 1.00198622e+02] [ 4.66257147e-01 -8.84649231e-01 9.98330871e-05 -4.10637905e+01] [ 1.40031003e-03 6.25187443e-04 -9.99998824e-01 2.06276922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.81 meters Centerline goodness [0,1] 0.9999098672795692 Centerline is valid? [True, True] Translation: X:100.20, Y:-41.07, Z:2.06 [[ 8.45003201e-01 5.34761026e-01 4.84382909e-04 1.00197647e+02] [ 5.34761216e-01 -8.45003107e-01 -4.35956305e-04 -4.10745439e+01] [ 1.76172623e-04 6.27413667e-04 -9.99999788e-01 2.06476846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.83999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.20, Y:-41.09, Z:2.06 [[ 7.99637729e-01 6.00482131e-01 8.43792670e-04 1.00196613e+02] [ 6.00482438e-01 -7.99637930e-01 -1.48453347e-04 -4.10861509e+01] [ 5.85585041e-04 6.25391577e-04 -9.99999633e-01 2.06430758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.86999999999999 meters Centerline goodness [0,1] 0.9999101325544821 Centerline is valid? [True, True] Translation: X:100.20, Y:-41.10, Z:2.07 [[ 7.48918756e-01 6.62661516e-01 -6.41966540e-04 1.00198399e+02] [ 6.62660330e-01 -7.48918773e-01 -1.39963622e-03 -4.10979521e+01] [-1.40826585e-03 6.22808057e-04 -9.99998814e-01 2.06728666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.89999999999999 meters Centerline goodness [0,1] 0.9999101325544821 Centerline is valid? [True, True] Translation: X:100.20, Y:-41.11, Z:2.07 [[ 6.94741402e-01 7.19259399e-01 -5.48975158e-04 1.00198942e+02] [ 7.19258182e-01 -6.94741342e-01 -1.46157322e-03 -4.11088627e+01] [-1.43264601e-03 6.20560554e-04 -9.99998781e-01 2.06750485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.92999999999999 meters Centerline goodness [0,1] 0.9998427920138343 Centerline is valid? [True, True] Translation: X:100.20, Y:-41.12, Z:2.07 [[ 6.35430611e-01 7.72157119e-01 -1.15024321e-03 1.00201374e+02] [ 7.72153739e-01 -6.35431354e-01 -2.36580472e-03 -4.11198500e+01] [-2.55767356e-03 6.15140142e-04 -9.99996540e-01 2.06875619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96 meters Centerline goodness [0,1] 0.9997079373637977 Centerline is valid? [True, True] Translation: X:100.20, Y:-41.13, Z:2.07 [[ 5.72277884e-01 8.20058004e-01 -1.70108579e-03 1.00202644e+02] [ 8.20050765e-01 -5.72280090e-01 -3.49875785e-03 -4.11303102e+01] [-3.84268190e-03 6.07285034e-04 -9.99992432e-01 2.07047454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.99 meters Centerline goodness [0,1] 0.9998431723983421 Centerline is valid? [True, True] Translation: X:100.21, Y:-41.14, Z:2.07 [[ 5.05755001e-01 8.62675897e-01 -1.47517201e-03 1.00206954e+02] [ 8.62668139e-01 -5.05756793e-01 -3.70788695e-03 -4.11417774e+01] [-3.94478297e-03 6.02698470e-04 -9.99992038e-01 2.06943179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.02 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.21, Y:-41.15, Z:2.07 [[ 4.36754581e-01 8.99580372e-01 -7.68510875e-04 1.00212088e+02] [ 8.99575682e-01 -4.36754839e-01 -2.96712031e-03 -4.11525378e+01] [-3.00481403e-03 6.04569693e-04 -9.99995303e-01 2.06705119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.05 meters Centerline goodness [0,1] 0.9998426895590813 Centerline is valid? [True, True] Translation: X:100.22, Y:-41.16, Z:2.07 [[ 3.65155689e-01 9.30946123e-01 -7.99301271e-04 1.00216873e+02] [ 9.30939031e-01 -3.65156070e-01 -3.68301561e-03 -4.11636407e+01] [-3.72055881e-03 6.00773352e-04 -9.99992898e-01 2.06880460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.08 meters Centerline goodness [0,1] 0.9999326327135543 Centerline is valid? [True, True] Translation: X:100.22, Y:-41.17, Z:2.07 [[ 2.91359127e-01 9.56613728e-01 -1.86178878e-04 1.00223072e+02] [ 9.56610158e-01 -2.91358561e-01 -2.68237515e-03 -4.11735604e+01] [-2.62024170e-03 6.03433875e-04 -9.99996385e-01 2.06733349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.11 meters Centerline goodness [0,1] 0.9999775920406928 Centerline is valid? [True, True] Translation: X:100.23, Y:-41.18, Z:2.07 [[ 2.15951480e-01 9.76404014e-01 3.98605040e-04 1.00229040e+02] [ 9.76403683e-01 -2.15950996e-01 -1.00727857e-03 -4.11841104e+01] [-8.97431684e-04 6.06722727e-04 -9.99999413e-01 2.06687338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.14 meters Centerline goodness [0,1] 0.9999103078682423 Centerline is valid? [True, True] Translation: X:100.23, Y:-41.19, Z:2.07 [[ 1.39118078e-01 9.90275709e-01 4.25294911e-04 1.00234825e+02] [ 9.90275015e-01 -1.39117414e-01 -1.31887861e-03 -4.11934427e+01] [-1.24688752e-03 6.04638782e-04 -9.99999040e-01 2.06751070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.17 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.24, Y:-41.20, Z:2.07 [[ 6.14937482e-02 9.98107321e-01 5.42783234e-04 1.00242735e+02] [ 9.98106998e-01 -6.14931823e-02 -1.00410337e-03 -4.12022773e+01] [-9.68825454e-04 6.03501824e-04 -9.99999349e-01 2.06638308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.2 meters Centerline goodness [0,1] 0.9999102152589168 Centerline is valid? [True, True] Translation: X:100.25, Y:-41.21, Z:2.07 [[-1.56113471e-02 9.99877940e-01 6.25560295e-04 1.00248229e+02] [ 9.99877020e-01 1.56122612e-02 -1.48393312e-03 -4.12108069e+01] [-1.49351840e-03 6.02317169e-04 -9.99998703e-01 2.06790979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.22999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.26, Y:-41.22, Z:2.07 [[-9.33526619e-02 9.95632848e-01 7.15782045e-04 1.00256491e+02] [ 9.95632316e-01 9.33534688e-02 -1.19173930e-03 -4.12185845e+01] [-1.25335553e-03 6.01403699e-04 -9.99999034e-01 2.06677591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.25999999999999 meters Centerline goodness [0,1] 0.9998876126683001 Centerline is valid? [True, True] Translation: X:100.26, Y:-41.23, Z:2.07 [[-1.69832172e-01 9.85472512e-01 9.80562763e-04 1.00264523e+02] [ 9.85470370e-01 1.69833933e-01 -2.14129169e-03 -4.12257939e+01] [-2.27671693e-03 6.02655331e-04 -9.99997227e-01 2.06832363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.28999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.27, Y:-41.23, Z:2.07 [[-2.45898761e-01 9.69294950e-01 1.04846789e-03 1.00273209e+02] [ 9.69293666e-01 2.45900261e-01 -1.68861300e-03 -4.12334504e+01] [-1.89458258e-03 6.01045446e-04 -9.99998025e-01 2.06811372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.28, Y:-41.24, Z:2.07 [[-3.19108008e-01 9.47717676e-01 1.13388782e-03 1.00280981e+02] [ 9.47716716e-01 3.19109452e-01 -1.47757943e-03 -4.12398842e+01] [-1.76216247e-03 6.03097009e-04 -9.99998266e-01 2.06737698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.35 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.29, Y:-41.25, Z:2.07 [[-3.91234241e-01 9.20290549e-01 1.03640444e-03 1.00290342e+02] [ 9.20290304e-01 3.91235152e-01 -9.01438764e-04 -4.12467391e+01] [-1.23506342e-03 6.01119243e-04 -9.99999057e-01 2.06764436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.38 meters Centerline goodness [0,1] 0.999864831377143 Centerline is valid? [True, True] Translation: X:100.30, Y:-41.25, Z:2.07 [[-4.60666120e-01 8.87573014e-01 9.32809503e-04 1.00299449e+02] [ 8.87573077e-01 4.60666676e-01 -4.97476658e-04 -4.12522009e+01] [-8.71261110e-04 5.98765959e-04 -9.99999441e-01 2.06881990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.41 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.31, Y:-41.26, Z:2.07 [[-5.27914745e-01 8.49297233e-01 4.82012400e-04 1.00310261e+02] [ 8.49297369e-01 5.27914635e-01 3.42268980e-04 -4.12560444e+01] [ 3.62266969e-05 5.90060704e-04 -9.99999825e-01 2.06696698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.44 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.32, Y:-41.26, Z:2.07 [[-5.91001158e-01 8.06670556e-01 -4.94454287e-04 1.00319567e+02] [ 8.06669085e-01 5.91001088e-01 1.64352665e-03 -4.12608590e+01] [ 1.61800758e-03 5.72465166e-04 -9.99998527e-01 2.06616072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.47 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.33, Y:-41.26, Z:2.07 [[-6.51912398e-01 7.58293844e-01 -8.19575869e-04 1.00330192e+02] [ 7.58291866e-01 6.51912667e-01 1.82220557e-03 -4.12649843e+01] [ 1.91605915e-03 5.66440686e-04 -9.99998004e-01 2.06604196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.34, Y:-41.27, Z:2.07 [[-7.09189721e-01 7.05017050e-01 -9.48051845e-04 1.00342481e+02] [ 7.05015133e-01 7.09190130e-01 1.73834544e-03 -4.12652792e+01] [ 1.89791218e-03 5.64425818e-04 -9.99998040e-01 2.06557718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.53 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.37, Y:-41.25, Z:2.07 [[-7.57615688e-01 6.52699970e-01 -1.10346699e-03 1.00369519e+02] [ 6.52698157e-01 7.57616322e-01 1.61974909e-03 -4.12532384e+01] [ 1.89321479e-03 5.06916454e-04 -9.99998079e-01 2.06576273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.39, Y:-41.24, Z:2.07 [[-8.02294637e-01 5.96927394e-01 -1.00069586e-03 1.00394648e+02] [ 5.96926018e-01 8.02295100e-01 1.37930780e-03 -4.12377932e+01] [ 1.62619999e-03 5.09269854e-04 -9.99998548e-01 2.06610998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.58999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.42, Y:-41.22, Z:2.07 [[-8.42872011e-01 5.38113443e-01 -8.34028541e-04 1.00419602e+02] [ 5.38112479e-01 8.42872268e-01 1.14007273e-03 -4.12202851e+01] [ 1.31646799e-03 5.12134226e-04 -9.99999002e-01 2.06635843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.61999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.44, Y:-41.20, Z:2.07 [[-8.79391856e-01 4.76097146e-01 -1.21306875e-03 1.00435675e+02] [ 4.76095813e-01 8.79392544e-01 1.23694210e-03 -4.11975233e+01] [ 1.65566822e-03 5.10219851e-04 -9.99998499e-01 2.06712258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.64999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.46, Y:-41.18, Z:2.07 [[-9.11691871e-01 4.10873730e-01 -8.43230270e-04 1.00458690e+02] [ 4.10872966e-01 9.11692115e-01 9.45175064e-04 -4.11774321e+01] [ 1.15711399e-03 5.15247900e-04 -9.99999198e-01 2.06687229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.67999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.47, Y:-41.15, Z:2.07 [[-9.38794518e-01 3.44476593e-01 -8.53936600e-04 1.00472239e+02] [ 3.44475899e-01 9.38794765e-01 8.62307652e-04 -4.11522099e+01] [ 1.09871601e-03 5.15369119e-04 -9.99999264e-01 2.06665819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.71 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.49, Y:-41.13, Z:2.07 [[-9.61123710e-01 2.76116049e-01 -1.06864622e-03 1.00492237e+02] [ 2.76115243e-01 9.61124166e-01 8.42730014e-04 -4.11288452e+01] [ 1.25979299e-03 5.14898286e-04 -9.99999074e-01 2.06671617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.74 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.49, Y:-41.10, Z:2.07 [[-9.78669635e-01 2.05432593e-01 -1.78747242e-03 1.00491365e+02] [ 2.05431262e-01 9.78671132e-01 9.00945312e-04 -4.10988025e+01] [ 1.93443119e-03 5.14525105e-04 -9.99997997e-01 2.06729634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.77 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.51, Y:-41.07, Z:2.07 [[-9.90913684e-01 1.34493162e-01 -1.28823196e-03 1.00512191e+02] [ 1.34492352e-01 9.90914387e-01 6.96129880e-04 -4.10741608e+01] [ 1.37015229e-03 5.16547278e-04 -9.99998928e-01 2.06746355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.8 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.64, Y:-40.21, Z:1.28 [[-9.79901891e-01 -1.99022223e-01 1.35069803e-02 1.00635713e+02] [ 1.99009433e-01 -9.79994880e-01 -2.29808293e-03 -4.02055568e+01] [ 1.36941411e-02 4.36120676e-04 9.99906136e-01 1.27869694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.83 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.45, Y:-41.06, Z:2.07 [[-9.91615692e-01 1.29220608e-01 -5.93993144e-04 1.00446858e+02] [ 1.29220252e-01 9.91615733e-01 6.03106088e-04 -4.10645656e+01] [ 6.66946682e-04 5.21293517e-04 -9.99999642e-01 2.06849623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.86 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.57, Y:-40.20, Z:1.28 [[-9.80710738e-01 -1.94911281e-01 1.46983098e-02 1.00566279e+02] [ 1.94896520e-01 -9.80820765e-01 -2.44391286e-03 -4.01968003e+01] [ 1.48927537e-02 4.67877856e-04 9.99888987e-01 1.27784038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.38, Y:-41.06, Z:2.07 [[-9.92107440e-01 1.25386746e-01 9.95337662e-04 1.00383562e+02] [ 1.25387192e-01 9.92107803e-01 3.99212950e-04 -4.10570928e+01] [-9.37426248e-04 5.20864732e-04 -9.99999425e-01 2.07021809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.92 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.40, Y:-41.03, Z:2.07 [[-9.98481139e-01 5.50809086e-02 1.22807213e-03 1.00399338e+02] [ 5.50814928e-02 9.98481762e-01 4.47084756e-04 -4.10313397e+01] [-1.20158179e-03 5.14049743e-04 -9.99999146e-01 2.07018572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.95 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.44, Y:-40.15, Z:1.28 [[-9.92842692e-01 -1.18343406e-01 1.60694745e-02 1.00438087e+02] [ 1.18334680e-01 -9.92972641e-01 -1.49612374e-03 -4.01528833e+01] [ 1.61336049e-02 4.16160601e-04 9.99869758e-01 1.27846816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.97999999999999 meters Centerline goodness [0,1] 0.9999315880689592 Centerline is valid? [True, True] Translation: X:100.31, Y:-41.03, Z:2.07 [[-9.98726903e-01 5.03874940e-02 2.38200301e-03 1.00305571e+02] [ 5.03886224e-02 9.98729600e-01 4.16060866e-04 -4.10267524e+01] [-2.35801265e-03 5.35557030e-04 -9.99997076e-01 2.07081571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.00999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.30, Y:-41.00, Z:2.07 [[-9.99777871e-01 -2.09748018e-02 2.06556207e-03 1.00303842e+02] [-2.09736901e-02 9.99779872e-01 5.58383922e-04 -4.09993109e+01] [-2.07681937e-03 5.14937430e-04 -9.99997711e-01 2.07089818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.03999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.29, Y:-40.12, Z:1.28 [[-9.99060683e-01 -4.04301870e-02 1.55933144e-02 1.00292648e+02] [ 4.04305541e-02 -9.99182308e-01 -2.91830012e-04 -4.01194810e+01] [ 1.55923626e-02 3.38890451e-04 9.99878374e-01 1.28108538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.19, Y:-41.00, Z:2.07 [[-9.99648430e-01 -2.64908422e-02 1.11918945e-03 1.00192099e+02] [-2.64902314e-02 9.99648917e-01 5.57164450e-04 -4.10001315e+01] [-1.13355628e-03 5.27320980e-04 -9.99999218e-01 2.07071513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.1 meters Centerline goodness [0,1] 0.9999772484244533 Centerline is valid? [True, True] Translation: X:100.21, Y:-40.97, Z:2.07 [[-9.95215797e-01 -9.76929580e-02 1.26596253e-03 1.00212681e+02] [-9.76922110e-02 9.95216471e-01 6.39192888e-04 -4.09708353e+01] [-1.32235141e-03 5.12460181e-04 -9.99998994e-01 2.06979802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.13 meters Centerline goodness [0,1] 0.9999544107590609 Centerline is valid? [True, True] Translation: X:100.20, Y:-40.94, Z:2.07 [[-9.85677977e-01 -1.68629959e-01 1.69199304e-03 1.00204316e+02] [-1.68628792e-01 9.85679295e-01 8.10908646e-04 -4.09439038e+01] [-1.80450599e-03 5.13976052e-04 -9.99998240e-01 2.07168743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.16 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.18, Y:-40.92, Z:2.07 [[-9.70975302e-01 -2.39169051e-01 2.26457371e-03 1.00178179e+02] [-2.39167123e-01 9.70977804e-01 1.09122487e-03 -4.09203093e+01] [-2.45983803e-03 5.17940818e-04 -9.99996840e-01 2.07139913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.19 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:100.13, Y:-40.91, Z:2.07 [[-9.50706410e-01 -3.10077540e-01 3.04004716e-03 1.00129756e+02] [-3.10074121e-01 9.50711122e-01 1.54963333e-03 -4.09053795e+01] [-3.37071314e-03 5.30606392e-04 -9.99994178e-01 2.07216351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.22 meters Centerline goodness [0,1] 0.999886257649173 Centerline is valid? [True, True] Translation: X:100.06, Y:-40.90, Z:2.08 [[-9.25251493e-01 -3.79330292e-01 4.26671925e-03 1.00063954e+02] [-3.79323516e-01 9.25261175e-01 2.33000150e-03 -4.08999438e+01] [-4.83166981e-03 5.37370413e-04 -9.99988183e-01 2.07502575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.25 meters Centerline goodness [0,1] 0.9999090578392142 Centerline is valid? [True, True] Translation: X:99.99, Y:-40.91, Z:2.08 [[-8.94233824e-01 -4.47580916e-01 4.14621219e-03 9.99855907e+01] [-4.47573233e-01 8.94243274e-01 2.67722797e-03 -4.09054405e+01] [-4.90599851e-03 5.38334215e-04 -9.99987821e-01 2.07699198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.28 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.91, Y:-40.91, Z:2.07 [[-8.57772794e-01 -5.14015656e-01 3.70657954e-03 9.99103091e+01] [-5.14008042e-01 8.57780634e-01 2.84904292e-03 -4.09142310e+01] [-4.64388481e-03 5.38619819e-04 -9.99989072e-01 2.07433964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.31 meters Centerline goodness [0,1] 0.9999545960180708 Centerline is valid? [True, True] Translation: X:99.83, Y:-40.94, Z:2.07 [[-8.16139231e-01 -5.77844347e-01 3.55897557e-03 9.98262373e+01] [-5.77835853e-01 8.16146814e-01 3.17895364e-03 -4.09359202e+01] [-4.74158696e-03 5.37965090e-04 -9.99988614e-01 2.07476441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.33999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.73, Y:-40.97, Z:2.07 [[-7.69157549e-01 -6.39053961e-01 2.58838205e-03 9.97324237e+01] [-6.39047866e-01 7.69161721e-01 2.84112786e-03 -4.09716183e+01] [-3.80651841e-03 5.31174910e-04 -9.99992614e-01 2.07495414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.36999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.64, Y:-41.01, Z:2.08 [[-7.17586726e-01 -6.96465463e-01 2.26919549e-03 9.96449744e+01] [-6.96459460e-01 7.17590119e-01 2.93983209e-03 -4.10117916e+01] [-3.67584378e-03 5.29181820e-04 -9.99993104e-01 2.07573987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.39999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.55, Y:-41.06, Z:2.08 [[-6.60608525e-01 -7.50728753e-01 1.64817461e-03 9.95541895e+01] [-7.50724209e-01 6.60610375e-01 2.66355093e-03 -4.10634081e+01] [-3.08840552e-03 5.22239873e-04 -9.99995094e-01 2.07689437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.42999999999999 meters Centerline goodness [0,1] 0.9998869622227748 Centerline is valid? [True, True] Translation: X:99.46, Y:-41.14, Z:2.08 [[-6.00564571e-01 -7.99574540e-01 1.65853537e-03 9.94587445e+01] [-7.99568813e-01 6.00566638e-01 3.07038655e-03 -4.11353504e+01] [-3.45106392e-03 5.17852224e-04 -9.99993911e-01 2.07854371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.37, Y:-41.22, Z:2.08 [[-5.35841181e-01 -8.44317967e-01 1.18304642e-03 9.93666131e+01] [-8.44313404e-01 5.35842241e-01 2.82283444e-03 -4.12173878e+01] [-3.01729607e-03 5.13728992e-04 -9.99995316e-01 2.07797891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.49 meters Centerline goodness [0,1] 0.9999097187739809 Centerline is valid? [True, True] Translation: X:99.30, Y:-41.27, Z:2.08 [[-4.68055921e-01 -8.83697848e-01 1.32966151e-03 9.93004500e+01] [-8.83690684e-01 4.68057535e-01 3.59440601e-03 -4.12729911e+01] [-3.79872694e-03 5.07373525e-04 -9.99992656e-01 2.08024674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.52 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.22, Y:-41.36, Z:2.08 [[-3.95822499e-01 -9.18326290e-01 1.17239186e-03 9.92230877e+01] [-9.18317881e-01 3.95823931e-01 3.96036190e-03 -4.13630349e+01] [-4.10096520e-03 4.90971934e-04 -9.99991470e-01 2.08084980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.55 meters Centerline goodness [0,1] 0.9998422535211268 Centerline is valid? [True, True] Translation: X:99.15, Y:-41.47, Z:2.08 [[-3.23290659e-01 -9.46298736e-01 1.36065012e-03 9.91518207e+01] [-9.46283151e-01 3.23293173e-01 5.45188074e-03 -4.14653898e+01] [-5.59899675e-03 4.74981829e-04 -9.99984213e-01 2.08381499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.58 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.09, Y:-41.56, Z:2.08 [[-2.47481309e-01 -9.68892325e-01 8.14788377e-04 9.90922806e+01] [-9.68879088e-01 2.47482205e-01 5.08643264e-03 -4.15593397e+01] [-5.12985117e-03 4.69365587e-04 -9.99986732e-01 2.08490912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.61 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.04, Y:-41.67, Z:2.09 [[-1.71151038e-01 -9.85244696e-01 4.60170009e-04 9.90393919e+01] [-9.85230262e-01 1.71151031e-01 5.35310896e-03 -4.16669173e+01] [-5.35288078e-03 4.62816735e-04 -9.99985566e-01 2.08547472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.64 meters Centerline goodness [0,1] 0.9998195882100895 Centerline is valid? [True, True] Translation: X:99.00, Y:-41.78, Z:2.09 [[-9.46765950e-02 -9.95508069e-01 1.66723446e-04 9.89950946e+01] [-9.95486860e-01 9.46756688e-02 6.51383912e-03 -4.17777019e+01] [-6.50036406e-03 4.50737109e-04 -9.99978771e-01 2.08732866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.67 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.96, Y:-41.89, Z:2.09 [[-1.62771503e-02 -9.99867449e-01 -3.72908920e-04 9.89599039e+01] [-9.99853805e-01 1.62749726e-02 5.24350965e-03 -4.18945084e+01] [-5.23674553e-03 4.58203797e-04 -9.99986183e-01 2.08631845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.7 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.93, Y:-42.01, Z:2.09 [[ 6.11441974e-02 -9.98128632e-01 -7.88414605e-04 9.89342401e+01] [-9.98113999e-01 -6.11475853e-02 5.42389627e-03 -4.20125886e+01] [-5.46195581e-03 4.55287869e-04 -9.99984980e-01 2.08648825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.72999999999999 meters Centerline goodness [0,1] 0.9999774576767881 Centerline is valid? [True, True] Translation: X:98.92, Y:-42.14, Z:2.09 [[ 1.38079365e-01 -9.90420409e-01 -1.22556338e-03 9.89172823e+01] [-9.90405208e-01 -1.38084059e-01 5.50601699e-03 -4.21388296e+01] [-5.62250237e-03 4.53537025e-04 -9.99984091e-01 2.08776781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.75999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.91, Y:-42.26, Z:2.09 [[ 2.14700472e-01 -9.76678417e-01 -1.72533651e-03 9.89095873e+01] [-9.76661471e-01 -2.14706940e-01 5.77067109e-03 -4.22602779e+01] [-6.00653163e-03 4.46103889e-04 -9.99981861e-01 2.08905701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.78999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.91, Y:-42.37, Z:2.09 [[ 2.90192058e-01 -9.56965590e-01 -2.33003872e-03 9.89107370e+01] [-9.56945688e-01 -2.90201087e-01 6.18696227e-03 -4.23736745e+01] [-6.59688977e-03 4.34313187e-04 -9.99978146e-01 2.08869031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.92, Y:-42.49, Z:2.09 [[ 3.63492706e-01 -9.31592812e-01 -2.80807415e-03 9.89214664e+01] [-9.31573545e-01 -3.63503295e-01 6.00701656e-03 -4.24931479e+01] [-6.61683765e-03 4.32420887e-04 -9.99978015e-01 2.08969863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.85 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.94, Y:-42.61, Z:2.09 [[ 4.35018053e-01 -9.00414760e-01 -3.54307224e-03 9.89410709e+01] [-9.00392313e-01 -4.35032280e-01 6.37161571e-03 -4.26118189e+01] [-7.27844762e-03 4.18387146e-04 -9.99973424e-01 2.09081998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.88 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.97, Y:-42.73, Z:2.09 [[ 5.04971279e-01 -8.63123178e-01 -4.73152278e-03 9.89688552e+01] [-8.63092116e-01 -5.04993302e-01 7.33241763e-03 -4.27292489e+01] [-8.71816692e-03 3.81079704e-04 -9.99961923e-01 2.09252552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.91 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.00, Y:-42.84, Z:2.09 [[ 5.70755108e-01 -8.21100106e-01 -5.76390701e-03 9.90013595e+01] [-8.21064421e-01 -5.70784099e-01 7.66350759e-03 -4.28362687e+01] [-9.58245336e-03 3.58552865e-04 -9.99954023e-01 2.09415474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.94 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.05, Y:-42.95, Z:2.09 [[ 6.32979534e-01 -7.74136205e-01 -7.07428476e-03 9.90513950e+01] [-7.74093559e-01 -6.33018979e-01 8.13226468e-03 -4.29518702e+01] [-1.07736370e-02 3.28601165e-04 -9.99941909e-01 2.09497279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.97 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.10, Y:-43.05, Z:2.10 [[ 6.91379843e-01 -7.22447867e-01 -7.93677686e-03 9.90962377e+01] [-7.22405336e-01 -6.91425328e-01 7.84522224e-03 -4.30472085e+01] [-1.11554526e-02 3.09541429e-04 -9.99937728e-01 2.09588454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.0 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.15, Y:-43.15, Z:2.10 [[ 7.45833691e-01 -6.66075438e-01 -8.69579543e-03 9.91534835e+01] [-6.66034553e-01 -7.45884328e-01 7.38535222e-03 -4.31458310e+01] [-1.14052592e-02 2.83455711e-04 -9.99934918e-01 2.09703635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.03 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.15, Y:-43.15, Z:2.10 [[ 7.95995687e-01 -6.05235855e-01 -8.96808709e-03 9.91490274e+01] [-6.05201517e-01 -7.96046152e-01 6.45354156e-03 -4.31515989e+01] [-1.10449260e-02 2.90508666e-04 -9.99938961e-01 2.09592951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.06 meters Centerline goodness [0,1] 0.9998202247191011 Centerline is valid? [True, True] Translation: X:99.14, Y:-43.16, Z:2.10 [[ 8.40990654e-01 -5.40948691e-01 -1.04515041e-02 9.91415669e+01] [-5.40910765e-01 -8.41055554e-01 6.41084348e-03 -4.31583629e+01] [-1.22582329e-02 2.61871620e-04 -9.99924831e-01 2.09733594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.08999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.14, Y:-43.16, Z:2.10 [[ 8.81382602e-01 -4.72298960e-01 -9.91975160e-03 9.91369882e+01] [-4.72272448e-01 -8.81438382e-01 5.01143999e-03 -4.31622283e+01] [-1.11105477e-02 2.67829345e-04 -9.99938240e-01 2.09672352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.11999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.13, Y:-43.17, Z:2.10 [[ 9.15645052e-01 -4.01846751e-01 -1.06455089e-02 9.91323524e+01] [-4.01822826e-01 -9.15706898e-01 4.39239939e-03 -4.31655203e+01] [-1.15132373e-02 2.55729697e-04 -9.99933688e-01 2.09727241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.14999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.13, Y:-43.17, Z:2.10 [[ 9.44315123e-01 -3.28859428e-01 -1.09738403e-02 9.91291789e+01] [-3.28840310e-01 -9.44378850e-01 3.55488640e-03 -4.31679654e+01] [-1.15325206e-02 2.51708051e-04 -9.99933467e-01 2.09795995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.17999999999999 meters Centerline goodness [0,1] 0.9999323882716189 Centerline is valid? [True, True] Translation: X:99.13, Y:-43.17, Z:2.10 [[ 9.66930455e-01 -2.54789343e-01 -1.13086537e-02 9.91256555e+01] [-2.54775028e-01 -9.66996548e-01 2.71306923e-03 -4.31711089e+01] [-1.16266902e-02 2.57813295e-04 -9.99932375e-01 2.09607718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.21 meters Centerline goodness [0,1] 0.9999097737576974 Centerline is valid? [True, True] Translation: X:99.12, Y:-43.18, Z:2.10 [[ 9.83778078e-01 -1.79039531e-01 -1.12044172e-02 9.91205205e+01] [-1.79031054e-01 -9.83841843e-01 1.76329419e-03 -4.31769529e+01] [-1.13390738e-02 2.71248435e-04 -9.99935674e-01 2.09560227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.24 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.11, Y:-43.18, Z:2.09 [[ 9.94729273e-01 -1.02132134e-01 -9.09398814e-03 9.91135025e+01] [-1.02130806e-01 -9.94770790e-01 6.11524897e-04 -4.31825931e+01] [-9.10889011e-03 3.20474621e-04 -9.99958462e-01 2.09423663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.27 meters Centerline goodness [0,1] 0.9998647917793402 Centerline is valid? [True, True] Translation: X:99.11, Y:-43.19, Z:2.10 [[ 9.99607769e-01 -2.63606725e-02 -9.45637515e-03 9.91062053e+01] [-2.63626680e-02 -9.99652441e-01 -8.64138443e-05 -4.31900743e+01] [-9.45081058e-03 3.35675229e-04 -9.99955284e-01 2.09522153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.3 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.10, Y:-43.19, Z:2.09 [[ 9.98895850e-01 4.65058512e-02 -6.65487025e-03 9.90999557e+01] [ 4.65020276e-02 -9.98917930e-01 -7.28217840e-04 -4.31942855e+01] [-6.68153560e-03 4.17948818e-04 -9.99977591e-01 2.09401211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.33 meters Centerline goodness [0,1] 0.9998192825517304 Centerline is valid? [True, True] Translation: X:99.09, Y:-43.20, Z:2.09 [[ 9.92646455e-01 1.20850291e-01 -6.94422266e-03 9.90933541e+01] [ 1.20844235e-01 -9.92670648e-01 -1.28668922e-03 -4.32008296e+01] [-7.04882278e-03 4.38058211e-04 -9.99975061e-01 2.09444632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.36 meters Centerline goodness [0,1] 0.9997734994337486 Centerline is valid? [True, True] Translation: X:99.09, Y:-43.20, Z:2.09 [[ 9.81158933e-01 1.93139788e-01 -4.91634914e-03 9.90869100e+01] [ 1.93134897e-01 -9.81171133e-01 -1.45557428e-03 -4.32036853e+01] [-5.10490917e-03 4.78631127e-04 -9.99986855e-01 2.09260902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.39 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.08, Y:-43.21, Z:2.09 [[ 9.63541333e-01 2.67536981e-01 -3.47336593e-03 9.90815474e+01] [ 2.67533384e-01 -9.63547469e-01 -1.47065650e-03 -4.32108370e+01] [-3.74020795e-03 4.87796986e-04 -9.99992886e-01 2.09216092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.42 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.08, Y:-43.22, Z:2.09 [[ 9.40456014e-01 3.39888734e-01 -4.25838684e-03 9.90767058e+01] [ 3.39882812e-01 -9.40465524e-01 -2.06705475e-03 -4.32186013e+01] [-4.70743464e-03 4.96621581e-04 -9.99988797e-01 2.09334612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.45 meters Centerline goodness [0,1] 0.9999548705914209 Centerline is valid? [True, True] Translation: X:99.07, Y:-43.23, Z:2.10 [[ 9.12826233e-01 4.08296813e-01 -6.47919239e-03 9.90710279e+01] [ 4.08282308e-01 -9.12849072e-01 -3.48267672e-03 -4.32254977e+01] [-7.33649057e-03 5.33739044e-04 -9.99972945e-01 2.09665447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.47999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.07, Y:-43.23, Z:2.10 [[ 8.78776023e-01 4.77191285e-01 -6.41712403e-03 9.90676358e+01] [ 4.77173939e-01 -8.78799283e-01 -4.10509162e-03 -4.32346150e+01] [-7.59827794e-03 5.45371738e-04 -9.99970984e-01 2.09749921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.50999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.06, Y:-43.24, Z:2.10 [[ 8.39418826e-01 5.43447967e-01 -6.35145605e-03 9.90645719e+01] [ 5.43427276e-01 -8.39442671e-01 -4.77471974e-03 -4.32436814e+01] [-7.92649497e-03 5.56435177e-04 -9.99968430e-01 2.09836251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.53999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.06, Y:-43.25, Z:2.10 [[ 7.94955782e-01 6.06641633e-01 -5.58871778e-03 9.90624338e+01] [ 6.06621550e-01 -7.94975230e-01 -4.96765569e-03 -4.32547289e+01] [-7.45647896e-03 5.58829970e-04 -9.99972044e-01 2.09736180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.06, Y:-43.27, Z:2.10 [[ 7.45900257e-01 6.66042736e-01 -4.45877558e-03 9.90608872e+01] [ 6.66026197e-01 -7.45913376e-01 -4.72659641e-03 -4.32657046e+01] [-6.47397555e-03 5.55908138e-04 -9.99978889e-01 2.09516124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.6 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.06, Y:-43.28, Z:2.10 [[ 6.91810010e-01 7.22070385e-01 -3.64268474e-03 9.90587306e+01] [ 7.22055961e-01 -6.91819381e-01 -4.59718217e-03 -4.32779220e+01] [-5.83956900e-03 5.50154407e-04 -9.99982798e-01 2.09569797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.63 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.06, Y:-43.29, Z:2.10 [[ 6.33168600e-01 7.74008430e-01 -2.91090399e-03 9.90597446e+01] [ 7.73996033e-01 -6.33175060e-01 -4.41418616e-03 -4.32904023e+01] [-5.25972911e-03 5.41895930e-04 -9.99986021e-01 2.09500317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.66 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.06, Y:-43.30, Z:2.09 [[ 5.69911310e-01 8.21703934e-01 -1.93474926e-03 9.90634779e+01] [ 8.21695730e-01 -5.69914354e-01 -3.70892531e-03 -4.33039932e+01] [-4.15027990e-03 5.23983280e-04 -9.99991250e-01 2.09493171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.69 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.07, Y:-43.32, Z:2.10 [[ 5.02942016e-01 8.64319000e-01 -1.41263471e-03 9.90669650e+01] [ 8.64312270e-01 -5.02943737e-01 -3.44916238e-03 -4.33163647e+01] [-3.69165236e-03 5.13771166e-04 -9.99993054e-01 2.09549338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.72 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.07, Y:-43.33, Z:2.10 [[ 4.32536886e-01 9.01615553e-01 -1.11243447e-03 9.90717901e+01] [ 9.01608938e-01 -4.32538020e-01 -3.49051373e-03 -4.33286510e+01] [-3.62827167e-03 5.06795076e-04 -9.99993289e-01 2.09555066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.08, Y:-43.34, Z:2.10 [[ 3.59168082e-01 9.33272393e-01 -9.64270303e-04 9.90760040e+01] [ 9.33264359e-01 -3.59169025e-01 -3.90488897e-03 -4.33411740e+01] [-3.99066110e-03 5.02592377e-04 -9.99991911e-01 2.09596594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.78 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.08, Y:-43.35, Z:2.10 [[ 2.80949429e-01 9.59722374e-01 -6.19290724e-04 9.90817404e+01] [ 9.59714822e-01 -2.80949694e-01 -3.83804286e-03 -4.33535316e+01] [-3.85744515e-03 4.83953464e-04 -9.99992443e-01 2.09693910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.81 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.09, Y:-43.36, Z:2.10 [[ 2.02585348e-01 9.79264562e-01 -3.07803795e-04 9.90873923e+01] [ 9.79257201e-01 -2.02585028e-01 -3.82635918e-03 -4.33640050e+01] [-3.80937439e-03 4.73745225e-04 -9.99992632e-01 2.09723997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.83999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.10, Y:-43.37, Z:2.10 [[ 1.22249469e-01 9.92499404e-01 -3.41291050e-05 9.90981948e+01] [ 9.92491279e-01 -1.22248607e-01 -4.04205100e-03 -4.33748905e+01] [-4.01590545e-03 4.60265750e-04 -9.99991830e-01 2.09682917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.86999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.11, Y:-43.39, Z:2.10 [[ 4.09090579e-02 9.99162832e-01 2.90037216e-04 9.91098283e+01] [ 9.99155569e-01 -4.09076471e-02 -3.83568794e-03 -4.33856719e+01] [-3.82061208e-03 4.46706679e-04 -9.99992602e-01 2.09811638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.89999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.12, Y:-43.39, Z:2.10 [[-4.44055553e-02 9.99013420e-01 5.77692907e-04 9.91243543e+01] [ 9.99007496e-01 4.44072964e-02 -3.46634642e-03 -4.33938468e+01] [-3.48858037e-03 4.23194507e-04 -9.99993825e-01 2.09746709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.92999999999999 meters Centerline goodness [0,1] 0.9999097920707231 Centerline is valid? [True, True] Translation: X:99.14, Y:-43.40, Z:2.10 [[-1.26023437e-01 9.92026817e-01 9.41967272e-04 9.91369918e+01] [ 9.92017676e-01 1.26026337e-01 -4.27692719e-03 -4.34013055e+01] [-4.36153916e-03 3.95455118e-04 -9.99990410e-01 2.09720825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96 meters Centerline goodness [0,1] 0.9998645414728857 Centerline is valid? [True, True] Translation: X:99.15, Y:-43.41, Z:2.10 [[-2.09217790e-01 9.77868242e-01 1.27230918e-03 9.91511177e+01] [ 9.77859335e-01 2.09221335e-01 -4.18977888e-03 -4.34081750e+01] [-4.36324593e-03 3.67563128e-04 -9.99990413e-01 2.09740214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.99 meters Centerline goodness [0,1] 0.9998418615158703 Centerline is valid? [True, True] Translation: X:99.16, Y:-43.41, Z:2.10 [[-2.87361470e-01 9.57820941e-01 1.55892144e-03 9.91611956e+01] [ 9.57812890e-01 2.87365473e-01 -3.94364778e-03 -4.34135875e+01] [-4.22528862e-03 3.59902627e-04 -9.99991009e-01 2.09716005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.02 meters Centerline goodness [0,1] 0.9999322630901578 Centerline is valid? [True, True] Translation: X:99.17, Y:-43.42, Z:2.10 [[-3.63159018e-01 9.31725661e-01 1.67904237e-03 9.91719031e+01] [ 9.31719884e-01 3.63162716e-01 -3.30141705e-03 -4.34179922e+01] [-3.68578057e-03 3.65457791e-04 -9.99993141e-01 2.09709680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.05 meters Centerline goodness [0,1] 0.9999322355492308 Centerline is valid? [True, True] Translation: X:99.18, Y:-43.42, Z:2.10 [[-4.36063248e-01 8.99914208e-01 1.80625549e-03 9.91834359e+01] [ 8.99909659e-01 4.36066834e-01 -2.88465397e-03 -4.34208576e+01] [-3.38358921e-03 3.67575183e-04 -9.99994208e-01 2.09738768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.08 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.19, Y:-43.42, Z:2.10 [[-5.06431205e-01 8.62278594e-01 1.74949936e-03 9.91945007e+01] [ 8.62275786e-01 5.06434086e-01 -2.23264878e-03 -4.34247057e+01] [-2.81117136e-03 3.77867924e-04 -9.99995977e-01 2.09743412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.11 meters Centerline goodness [0,1] 0.9998196288864338 Centerline is valid? [True, True] Translation: X:99.21, Y:-43.43, Z:2.10 [[-5.72118054e-01 8.20168263e-01 2.22553620e-03 9.92052036e+01] [ 8.20164354e-01 5.72122268e-01 -2.55798079e-03 -4.34265680e+01] [-3.37125347e-03 3.61838466e-04 -9.99994252e-01 2.09800506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.14 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.22, Y:-43.43, Z:2.10 [[-6.34901871e-01 7.72589862e-01 2.12602338e-03 9.92163737e+01] [ 7.72587364e-01 6.34905321e-01 -1.99977063e-03 -4.34273529e+01] [-2.89482607e-03 3.72880683e-04 -9.99995740e-01 2.09748041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.17 meters Centerline goodness [0,1] 0.9998640596325079 Centerline is valid? [True, True] Translation: X:99.23, Y:-43.43, Z:2.10 [[-6.93098655e-01 7.20838592e-01 2.44510464e-03 9.92293220e+01] [ 7.20835869e-01 6.93102872e-01 -2.01485809e-03 -4.34272720e+01] [-3.14709651e-03 3.66023696e-04 -9.99994981e-01 2.09815624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.2 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.24, Y:-43.43, Z:2.10 [[-7.47423904e-01 6.64341337e-01 2.84536565e-03 9.92385293e+01] [ 6.64338255e-01 7.47429235e-01 -2.05448177e-03 -4.34283869e+01] [-3.49158664e-03 3.54716464e-04 -9.99993841e-01 2.09748652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.22999999999999 meters Centerline goodness [0,1] 0.9998640010879913 Centerline is valid? [True, True] Translation: X:99.26, Y:-43.41, Z:2.10 [[-7.92081395e-01 6.10406879e-01 3.24114939e-03 9.92570486e+01] [ 6.10403288e-01 7.92087969e-01 -2.11570217e-03 -4.34087836e+01] [-3.85871459e-03 3.02599913e-04 -9.99992509e-01 2.09825392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.25999999999999 meters Centerline goodness [0,1] 0.9998637354651163 Centerline is valid? [True, True] Translation: X:99.28, Y:-43.39, Z:2.10 [[-8.32841919e-01 5.53498581e-01 3.69572541e-03 9.92821821e+01] [ 5.53494664e-01 8.32850067e-01 -2.10290839e-03 -4.33936638e+01] [-4.24194196e-03 2.94174037e-04 -9.99990960e-01 2.09909559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.28999999999999 meters Centerline goodness [0,1] 0.9998862757585407 Centerline is valid? [True, True] Translation: X:99.30, Y:-43.38, Z:2.10 [[-8.68637258e-01 4.95420021e-01 5.32140341e-03 9.93029335e+01] [ 4.95412531e-01 8.68653519e-01 -2.73650075e-03 -4.33812044e+01] [-5.97817306e-03 2.59263427e-04 -9.99982097e-01 2.09895797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32 meters Centerline goodness [0,1] 0.9998408910103421 Centerline is valid? [True, True] Translation: X:99.33, Y:-43.37, Z:2.10 [[-9.00918022e-01 4.33948019e-01 5.98619049e-03 9.93272620e+01] [ 4.33940317e-01 9.00937873e-01 -2.59818338e-03 -4.33650514e+01] [-6.52066226e-03 2.56899166e-04 -9.99978707e-01 2.09978248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.35 meters Centerline goodness [0,1] 0.9998409922086182 Centerline is valid? [True, True] Translation: X:99.35, Y:-43.35, Z:2.10 [[-9.28707308e-01 3.70749708e-01 6.88406259e-03 9.93491534e+01] [ 3.70741512e-01 9.28732788e-01 -2.47800561e-03 -4.33465214e+01] [-7.31217449e-03 2.50865851e-04 -9.99973234e-01 2.10013312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.38 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.36, Y:-43.32, Z:2.10 [[-9.52211064e-01 3.05355291e-01 7.22740974e-03 9.93604913e+01] [ 3.05348525e-01 9.52238458e-01 -2.04882856e-03 -4.33240804e+01] [-7.50783815e-03 2.55961678e-04 -9.99971783e-01 2.09972929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.41 meters Centerline goodness [0,1] 0.9998634843348274 Centerline is valid? [True, True] Translation: X:99.38, Y:-43.30, Z:2.10 [[-9.70328499e-01 2.41684854e-01 7.14392346e-03 9.93833644e+01] [ 2.41680516e-01 9.70354752e-01 -1.47732271e-03 -4.33047203e+01] [-7.28918660e-03 2.93058784e-04 -9.99973391e-01 2.10089044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.44 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.39, Y:-43.28, Z:2.10 [[-9.84546517e-01 1.74961857e-01 7.51692345e-03 9.93932461e+01] [ 1.74959138e-01 9.84575164e-01 -1.02281734e-03 -4.32822319e+01] [-7.57993016e-03 3.08143196e-04 -9.99971224e-01 2.10001937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.47 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.57, Y:-42.43, Z:1.32 [[-9.65369525e-01 -2.60257304e-01 1.81056620e-02 9.95713167e+01] [ 2.60220845e-01 -9.65539178e-01 -4.38260842e-03 -4.24283420e+01] [ 1.86223319e-02 4.80634066e-04 9.99826474e-01 1.32167804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.5 meters Centerline goodness [0,1] 0.999840575749294 Centerline is valid? [True, True] Translation: X:99.33, Y:-43.28, Z:2.10 [[-9.83597808e-01 1.80279498e-01 5.88681175e-03 9.93292543e+01] [ 1.80278596e-01 9.83615349e-01 -6.87916411e-04 -4.32782308e+01] [-5.91437562e-03 3.84633081e-04 -9.99982436e-01 2.10031532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.53 meters Centerline goodness [0,1] 0.9999083346701194 Centerline is valid? [True, True] Translation: X:99.37, Y:-43.27, Z:2.10 [[-9.92799895e-01 1.19681890e-01 4.96117612e-03 9.93698005e+01] [ 1.19682564e-01 9.92812197e-01 -1.61882289e-04 -4.32655170e+01] [-4.94489054e-03 4.33049560e-04 -9.99987680e-01 2.09828610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.47, Y:-42.37, Z:1.33 [[-9.85570532e-01 -1.68574734e-01 1.52736970e-02 9.94725145e+01] [ 1.68556493e-01 -9.85688867e-01 -2.48312869e-03 -4.23664523e+01] [ 1.54737058e-02 1.27182322e-04 9.99880267e-01 1.32606531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.58999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.29, Y:-43.26, Z:2.10 [[-9.92534840e-01 1.21899103e-01 3.89869899e-03 9.92932463e+01] [ 1.21899987e-01 9.92542389e-01 -1.08444806e-05 -4.32616099e+01] [-3.87094594e-03 4.64487832e-04 -9.99992400e-01 2.09672432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.61999999999999 meters Centerline goodness [0,1] 0.9999312510025895 Centerline is valid? [True, True] Translation: X:99.40, Y:-42.36, Z:1.33 [[-9.87626045e-01 -1.56152908e-01 1.45280843e-02 9.93972063e+01] [ 1.56136595e-01 -9.87732893e-01 -2.25741930e-03 -4.23555659e+01] [ 1.47023693e-02 3.88795157e-05 9.99891914e-01 1.32706422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.64999999999999 meters Centerline goodness [0,1] 0.9998396518153705 Centerline is valid? [True, True] Translation: X:99.22, Y:-43.25, Z:2.10 [[-9.92239565e-01 1.24282681e-01 3.80286680e-03 9.92156839e+01] [ 1.24283648e-01 9.92246731e-01 1.81406585e-05 -4.32537966e+01] [-3.77112758e-03 4.90634039e-04 -9.99992769e-01 2.09728170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.67999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.22, Y:-43.23, Z:2.10 [[-9.98482804e-01 5.49089527e-02 4.13485588e-03 9.92246141e+01] [ 5.49105197e-02 9.98491244e-01 2.66312738e-04 -4.32265994e+01] [-4.11399443e-03 4.92955774e-04 -9.99991416e-01 2.09741334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.71 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.23, Y:-43.20, Z:2.10 [[-9.99859094e-01 -1.62733718e-02 4.11945428e-03 9.92282271e+01] [-1.62711995e-02 9.99867458e-01 5.60296517e-04 -4.31987062e+01] [-4.12802619e-03 4.93189105e-04 -9.99991358e-01 2.09758403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.74 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.23, Y:-43.17, Z:2.10 [[-9.96287336e-01 -8.59885782e-02 4.18433953e-03 9.92285442e+01] [-8.59856899e-02 9.96295996e-01 8.65671215e-04 -4.31705171e+01] [-4.24327856e-03 5.02663947e-04 -9.99990871e-01 2.09839404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.77 meters Centerline goodness [0,1] 0.9998177718047425 Centerline is valid? [True, True] Translation: X:99.21, Y:-43.14, Z:2.10 [[-9.87831709e-01 -1.55472418e-01 4.10386776e-03 9.92120292e+01] [-1.55468900e-01 9.87840101e-01 1.16482771e-03 -4.31441059e+01] [-4.23506373e-03 5.12629945e-04 -9.99990901e-01 2.09903343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.8 meters Centerline goodness [0,1] 0.9998406954780273 Centerline is valid? [True, True] Translation: X:99.17, Y:-43.13, Z:2.10 [[-9.74444311e-01 -2.24595113e-01 3.91405879e-03 9.91689244e+01] [-2.24591091e-01 9.74452029e-01 1.44400196e-03 -4.31252065e+01] [-4.13837831e-03 5.28036757e-04 -9.99991297e-01 2.09927250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.83 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:99.11, Y:-43.11, Z:2.10 [[-9.55399464e-01 -2.95292594e-01 3.76124871e-03 9.91109759e+01] [-2.95288070e-01 9.55406720e-01 1.71880531e-03 -4.31132003e+01] [-4.10107278e-03 5.31493800e-04 -9.99991449e-01 2.09937544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.86 meters Centerline goodness [0,1] 0.9999318847489953 Centerline is valid? [True, True] Translation: X:99.04, Y:-43.11, Z:2.10 [[-9.31014728e-01 -3.64964905e-01 3.49220247e-03 9.90403486e+01] [-3.64960135e-01 9.31021125e-01 1.94024951e-03 -4.31092021e+01] [-3.95943725e-03 5.31886181e-04 -9.99992020e-01 2.10045177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.89 meters Centerline goodness [0,1] 0.9999773196343925 Centerline is valid? [True, True] Translation: X:98.96, Y:-43.11, Z:2.10 [[-9.00831031e-01 -4.34156780e-01 3.36824082e-03 9.89612545e+01] [-4.34151453e-01 9.00837169e-01 2.21582185e-03 -4.31139455e+01] [-3.99625061e-03 5.33754431e-04 -9.99991873e-01 2.10133669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.92 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.87, Y:-43.13, Z:2.10 [[-8.64164310e-01 -5.03201378e-01 2.90152430e-03 9.88733699e+01] [-5.03196456e-01 8.64169028e-01 2.28420950e-03 -4.31271583e+01] [-3.65682480e-03 5.13895584e-04 -9.99993182e-01 2.10159021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.95 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.78, Y:-43.15, Z:2.10 [[-8.22225052e-01 -5.69156807e-01 2.54811679e-03 9.87813964e+01] [-5.69152083e-01 8.22228848e-01 2.37225443e-03 -4.31514787e+01] [-3.44531989e-03 5.00261041e-04 -9.99993940e-01 2.10175877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.97999999999999 meters Centerline goodness [0,1] 0.9997971556717528 Centerline is valid? [True, True] Translation: X:98.69, Y:-43.19, Z:2.10 [[-7.75052058e-01 -6.31892180e-01 2.56525914e-03 9.86883029e+01] [-6.31886455e-01 7.75056142e-01 2.73585173e-03 -4.31858306e+01] [-3.71698316e-03 4.99475013e-04 -9.99992967e-01 2.10302243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.00999999999999 meters Centerline goodness [0,1] 0.9999326901503254 Centerline is valid? [True, True] Translation: X:98.59, Y:-43.23, Z:2.10 [[-7.22254339e-01 -6.91624609e-01 2.01752466e-03 9.85936153e+01] [-6.91619913e-01 7.22256998e-01 2.59318683e-03 -4.32316315e+01] [-3.25068313e-03 4.77580213e-04 -9.99994602e-01 2.10350059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.03999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.50, Y:-43.28, Z:2.10 [[-6.61709902e-01 -7.49757168e-01 2.04796479e-03 9.84954362e+01] [-7.49751257e-01 6.61712913e-01 3.01225978e-03 -4.32847356e+01] [-3.61362812e-03 4.57777950e-04 -9.99993366e-01 2.10468816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.40, Y:-43.35, Z:2.11 [[-5.99021317e-01 -8.00730547e-01 2.01303681e-03 9.84009400e+01] [-8.00723302e-01 5.99024534e-01 3.43543472e-03 -4.33515468e+01] [-3.95671596e-03 4.46013147e-04 -9.99992073e-01 2.10631051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.1 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.31, Y:-43.43, Z:2.11 [[-5.32580548e-01 -8.46377337e-01 1.83391020e-03 9.83106075e+01] [-8.46369246e-01 5.32583530e-01 3.72602599e-03 -4.34259326e+01] [-4.13033432e-03 4.32243773e-04 -9.99991377e-01 2.10600413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.13 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.23, Y:-43.50, Z:2.11 [[-4.59468208e-01 -8.88192550e-01 1.72045076e-03 9.82263306e+01] [-8.88182714e-01 4.59471253e-01 4.19934409e-03 -4.35039811e+01] [-4.52032380e-03 4.01390472e-04 -9.99989703e-01 2.10989934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.16 meters Centerline goodness [0,1] 0.9998667939524455 Centerline is valid? [True, True] Translation: X:98.15, Y:-43.59, Z:2.11 [[-3.87081592e-01 -9.22044280e-01 1.47876854e-03 9.81509546e+01] [-9.22033266e-01 3.87084222e-01 4.52350060e-03 -4.35927090e+01] [-4.74327583e-03 3.87490021e-04 -9.99988676e-01 2.10917285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.19 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.08, Y:-43.69, Z:2.11 [[-3.11571084e-01 -9.50222428e-01 8.93042519e-04 9.80817101e+01] [-9.50214367e-01 3.11572136e-01 3.93201465e-03 -4.36914199e+01] [-4.01453567e-03 3.76520233e-04 -9.99991871e-01 2.10930564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.22 meters Centerline goodness [0,1] 0.9998892482168963 Centerline is valid? [True, True] Translation: X:98.02, Y:-43.79, Z:2.11 [[-2.35098387e-01 -9.71971410e-01 5.71337471e-04 9.80206024e+01] [-9.71963554e-01 2.35098794e-01 3.92518448e-03 -4.37934482e+01] [-3.94948784e-03 3.67485341e-04 -9.99992133e-01 2.10966979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.25 meters Centerline goodness [0,1] 0.9998897439855344 Centerline is valid? [True, True] Translation: X:97.96, Y:-43.90, Z:2.11 [[-1.54313943e-01 -9.88021865e-01 -2.25465517e-05 9.79637884e+01] [-9.88019328e-01 1.54313495e-01 2.26980377e-03 -4.39036163e+01] [-2.23913652e-03 3.72538798e-04 -9.99997424e-01 2.10982327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.28 meters Centerline goodness [0,1] 0.9998236370450387 Centerline is valid? [True, True] Translation: X:97.92, Y:-44.02, Z:2.11 [[-7.53683926e-02 -9.97155720e-01 -2.76136502e-04 9.79191674e+01] [-9.97154794e-01 7.53679318e-02 1.41134466e-03 -4.40150467e+01] [-1.38651857e-03 3.81721615e-04 -9.99998966e-01 2.11053489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.31 meters Centerline goodness [0,1] 0.9998672566371681 Centerline is valid? [True, True] Translation: X:97.88, Y:-44.13, Z:2.11 [[ 3.83485175e-03 -9.99992569e-01 -3.94556976e-04 9.78833410e+01] [-9.99992493e-01 -3.83507008e-03 5.54090203e-04 -4.41295923e+01] [-5.55599240e-04 3.92429160e-04 -9.99999769e-01 2.11102747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.33999999999999 meters Centerline goodness [0,1] 0.999911492676019 Centerline is valid? [True, True] Translation: X:97.86, Y:-44.25, Z:2.11 [[ 8.30758491e-02 -9.96543141e-01 -4.15009167e-04 9.78575743e+01] [-9.96543205e-01 -8.30759268e-02 1.73546593e-04 -4.42516844e+01] [-2.07423938e-04 3.99157035e-04 -9.99999899e-01 2.11168458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.36999999999999 meters Centerline goodness [0,1] 0.9998007483008258 Centerline is valid? [True, True] Translation: X:97.84, Y:-44.37, Z:2.11 [[ 1.62230461e-01 -9.86752768e-01 -5.03111845e-04 9.78397562e+01] [-9.86752601e-01 -1.62230785e-01 6.90187698e-04 -4.43707784e+01] [-7.62664851e-04 3.84477453e-04 -9.99999635e-01 2.11412512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.39999999999999 meters Centerline goodness [0,1] 0.999845987987063 Centerline is valid? [True, True] Translation: X:97.83, Y:-44.49, Z:2.12 [[ 2.39169127e-01 -9.70977721e-01 -6.27890829e-04 9.78321672e+01] [-9.70977293e-01 -2.39169659e-01 9.85642880e-04 -4.44865891e+01] [-1.10720971e-03 3.73932389e-04 -9.99999317e-01 2.11566681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.42999999999999 meters Centerline goodness [0,1] 0.9998231027772864 Centerline is valid? [True, True] Translation: X:97.83, Y:-44.61, Z:2.12 [[ 3.14001811e-01 -9.49421968e-01 -8.87913863e-04 9.78349794e+01] [-9.49420768e-01 -3.14002865e-01 1.55112713e-03 -4.46073574e+01] [-1.75148167e-03 3.55947133e-04 -9.99998403e-01 2.11696192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.46 meters Centerline goodness [0,1] 0.9998673446827328 Centerline is valid? [True, True] Translation: X:97.85, Y:-44.73, Z:2.12 [[ 3.86665605e-01 -9.22219241e-01 -1.17561175e-03 9.78488755e+01] [-9.22217304e-01 -3.86667241e-01 1.92054599e-03 -4.47305903e+01] [-2.22573501e-03 3.41560425e-04 -9.99997465e-01 2.11804606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.49 meters Centerline goodness [0,1] 0.9998671066911781 Centerline is valid? [True, True] Translation: X:97.87, Y:-44.84, Z:2.12 [[ 4.56713169e-01 -8.89612654e-01 -1.55146741e-03 9.78686096e+01] [-8.89609727e-01 -4.56715687e-01 2.30553010e-03 -4.48418452e+01] [-2.75960825e-03 3.27234540e-04 -9.99996139e-01 2.11928779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.52 meters Centerline goodness [0,1] 0.9999555525923951 Centerline is valid? [True, True] Translation: X:97.90, Y:-44.96, Z:2.12 [[ 5.23458950e-01 -8.52049024e-01 -1.78570928e-03 9.78986442e+01] [-8.52046014e-01 -5.23461896e-01 2.28762509e-03 -4.49555178e+01] [-2.88391949e-03 3.24028641e-04 -9.99995789e-01 2.11962361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.55 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.94, Y:-45.06, Z:2.12 [[ 5.87093363e-01 -8.09516789e-01 -1.98815213e-03 9.79353207e+01] [-8.09513887e-01 -5.87096640e-01 2.19123217e-03 -4.50611551e+01] [-2.94107666e-03 3.22978892e-04 -9.99995623e-01 2.12002373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.58 meters Centerline goodness [0,1] 0.9998665806853305 Centerline is valid? [True, True] Translation: X:97.98, Y:-45.16, Z:2.12 [[ 6.46805988e-01 -7.62649511e-01 -2.78146128e-03 9.79774964e+01] [-7.62644380e-01 -6.46811899e-01 2.81387167e-03 -4.51625545e+01] [-3.94508011e-03 3.01236770e-04 -9.99992173e-01 2.12179458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.61 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.03, Y:-45.27, Z:2.12 [[ 7.02762893e-01 -7.11419462e-01 -2.58175026e-03 9.80334643e+01] [-7.11416241e-01 -7.02767564e-01 2.16393456e-03 -4.52653335e+01] [-3.35383550e-03 3.15966155e-04 -9.99994326e-01 2.12220520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.64 meters Centerline goodness [0,1] 0.999911067633065 Centerline is valid? [True, True] Translation: X:98.09, Y:-45.35, Z:2.12 [[ 7.53821312e-01 -6.57074006e-01 -2.67951126e-03 9.80880070e+01] [-6.57071317e-01 -7.53826005e-01 1.90740952e-03 -4.53545634e+01] [-3.27319449e-03 3.22784048e-04 -9.99994591e-01 2.12396640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.67 meters Centerline goodness [0,1] 0.9999111288853341 Centerline is valid? [True, True] Translation: X:98.08, Y:-45.36, Z:2.12 [[ 8.02300477e-01 -5.96914810e-01 -2.57978827e-03 9.80846099e+01] [-5.96913026e-01 -8.02304553e-01 1.49776300e-03 -4.53596749e+01] [-2.96381279e-03 3.38253255e-04 -9.99995551e-01 2.12379839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.7 meters Centerline goodness [0,1] 0.9998887380671577 Centerline is valid? [True, True] Translation: X:98.08, Y:-45.37, Z:2.12 [[ 8.45871002e-01 -5.33382728e-01 -2.26115884e-03 9.80807402e+01] [-5.33381881e-01 -8.45873952e-01 1.01280613e-03 -4.53666961e+01] [-2.45286866e-03 3.49357815e-04 -9.99996931e-01 2.12301473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.72999999999999 meters Centerline goodness [0,1] 0.999933269568699 Centerline is valid? [True, True] Translation: X:98.07, Y:-45.37, Z:2.12 [[ 8.83867117e-01 -4.67738081e-01 -8.03492747e-05 9.80747681e+01] [-4.67738073e-01 -8.83867033e-01 -4.03070893e-04 -4.53719091e+01] [ 1.17513531e-04 3.93843523e-04 -9.99999916e-01 2.12180721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.75999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.07, Y:-45.38, Z:2.12 [[ 9.17375873e-01 -3.98020251e-01 1.17806383e-03 9.80710870e+01] [-3.98019305e-01 -9.17376537e-01 -9.60382288e-04 -4.53769438e+01] [ 1.46297972e-03 4.12139392e-04 -9.99998845e-01 2.12075596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.78999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.07, Y:-45.38, Z:2.12 [[ 9.45364007e-01 -3.26012218e-01 1.71105470e-03 9.80664332e+01] [-3.26010855e-01 -9.45365464e-01 -1.03048147e-03 -4.53826439e+01] [ 1.95352157e-03 4.16357685e-04 -9.99998005e-01 2.12044217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.06, Y:-45.39, Z:2.12 [[ 9.67833949e-01 -2.51579867e-01 2.24001795e-03 9.80628434e+01] [-2.51578164e-01 -9.67836450e-01 -1.01645627e-03 -4.53881041e+01] [ 2.42369096e-03 4.20221286e-04 -9.99996975e-01 2.12013933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.85 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.06, Y:-45.39, Z:2.12 [[ 9.84536336e-01 -1.75165985e-01 2.25431865e-03 9.80576367e+01] [-1.75164536e-01 -9.84538827e-01 -8.26123091e-04 -4.53945160e+01] [ 2.36417290e-03 4.18471520e-04 -9.99997118e-01 2.12034948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.88 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.05, Y:-45.40, Z:2.12 [[ 9.95243590e-01 -9.73954350e-02 2.07975756e-03 9.80510607e+01] [-9.73943428e-02 -9.95245677e-01 -6.20360991e-04 -4.54022258e+01] [ 2.13029005e-03 4.14853679e-04 -9.99997645e-01 2.12082734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.91 meters Centerline goodness [0,1] 0.9999777069353724 Centerline is valid? [True, True] Translation: X:98.04, Y:-45.41, Z:2.12 [[ 9.99838280e-01 -1.79402836e-02 1.24919344e-03 9.80435277e+01] [-1.79397638e-02 -9.99838979e-01 -4.26057822e-04 -4.54107925e+01] [ 1.25663589e-03 4.03578684e-04 -9.99999129e-01 2.12239020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.94 meters Centerline goodness [0,1] 0.9999107819958067 Centerline is valid? [True, True] Translation: X:98.04, Y:-45.42, Z:2.12 [[ 9.98109502e-01 6.14585674e-02 5.16888232e-04 9.80383688e+01] [ 6.14587578e-02 -9.98109559e-01 -3.60901623e-04 -4.54195357e+01] [ 4.93730589e-04 3.91986647e-04 -9.99999801e-01 2.12326740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.97 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.03, Y:-45.43, Z:2.12 [[ 9.90070279e-01 1.40572638e-01 4.20376516e-04 9.80339027e+01] [ 1.40572782e-01 -9.90070291e-01 -3.33514385e-04 -4.54287431e+01] [ 3.69319303e-04 3.89296176e-04 -9.99999856e-01 2.12353992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.0 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.03, Y:-45.44, Z:2.12 [[ 9.75818657e-01 2.18581232e-01 -4.40611704e-04 9.80291254e+01] [ 2.18581022e-01 -9.75818685e-01 -4.80368913e-04 -4.54385582e+01] [-5.34956763e-04 3.72443591e-04 -9.99999788e-01 2.12480104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.03 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.03, Y:-45.45, Z:2.13 [[ 9.55318128e-01 2.95574269e-01 -1.76799661e-03 9.80259786e+01] [ 2.95573078e-01 -9.55319702e-01 -9.06680959e-04 -4.54464477e+01] [-1.95699355e-03 3.43596557e-04 -9.99998026e-01 2.12569602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.06 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.02, Y:-45.46, Z:2.13 [[ 9.29154552e-01 3.69684817e-01 -2.22590689e-03 9.80233379e+01] [ 3.69682880e-01 -9.29157159e-01 -1.24159389e-03 -4.54560550e+01] [-2.52721573e-03 3.30752944e-04 -9.99996752e-01 2.12616956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.08999999999999 meters Centerline goodness [0,1] 0.9998877766306056 Centerline is valid? [True, True] Translation: X:98.02, Y:-45.47, Z:2.13 [[ 8.97357260e-01 4.41296406e-01 -2.72575822e-03 9.80207082e+01] [ 4.41293270e-01 -8.97361344e-01 -1.69357302e-03 -4.54665814e+01] [-3.19335775e-03 3.16881287e-04 -9.99994851e-01 2.12706355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.11999999999999 meters Centerline goodness [0,1] 0.9998433478796016 Centerline is valid? [True, True] Translation: X:98.02, Y:-45.48, Z:2.13 [[ 8.60127384e-01 5.10071353e-01 -2.84586232e-03 9.80191492e+01] [ 5.10067333e-01 -8.60132036e-01 -2.04871182e-03 -4.54756640e+01] [-3.49280656e-03 3.10571740e-04 -9.99993852e-01 2.12718862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.14999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.02, Y:-45.48, Z:2.13 [[ 8.18135609e-01 5.75023922e-01 -1.27048190e-03 9.80171571e+01] [ 5.75022526e-01 -8.18136523e-01 -1.31286319e-03 -4.54840464e+01] [-1.79435539e-03 3.43544416e-04 -9.99998331e-01 2.12591933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.17999999999999 meters Centerline goodness [0,1] 0.9999102414504981 Centerline is valid? [True, True] Translation: X:98.02, Y:-45.49, Z:2.13 [[ 7.71242793e-01 6.36540010e-01 -1.16994795e-03 9.80156447e+01] [ 6.36538538e-01 -7.71243604e-01 -1.41197847e-03 -4.54927991e+01] [-1.80109567e-03 3.44261263e-04 -9.99998319e-01 2.12621865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.21 meters Centerline goodness [0,1] 0.9998653228883752 Centerline is valid? [True, True] Translation: X:98.02, Y:-45.50, Z:2.13 [[ 7.19907658e-01 6.94069625e-01 -5.65787589e-04 9.80156603e+01] [ 6.94068936e-01 -7.19907792e-01 -1.04031734e-03 -4.55021671e+01] [-1.12936756e-03 3.56236830e-04 -9.99999299e-01 2.12547346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.24 meters Centerline goodness [0,1] 0.9997753515747855 Centerline is valid? [True, True] Translation: X:98.02, Y:-45.51, Z:2.13 [[ 6.64265612e-01 7.47496612e-01 -1.13993486e-04 9.80171649e+01] [ 7.47496394e-01 -6.64265521e-01 -6.76902220e-04 -4.55131387e+01] [-5.81704058e-04 3.64433147e-04 -9.99999764e-01 2.12535686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.27 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.02, Y:-45.52, Z:2.12 [[ 6.04367330e-01 7.96705435e-01 7.61460847e-04 9.80191419e+01] [ 7.96705440e-01 -6.04367689e-01 3.71578771e-04 -4.55244630e+01] [ 7.56241159e-04 3.82089929e-04 -9.99999641e-01 2.12439177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.3 meters Centerline goodness [0,1] 0.9998652956759913 Centerline is valid? [True, True] Translation: X:98.02, Y:-45.53, Z:2.12 [[ 5.40927040e-01 8.41069300e-01 6.08400715e-04 9.80214739e+01] [ 8.41069348e-01 -5.40927251e-01 2.48010760e-04 -4.55340813e+01] [ 5.37694763e-04 3.77551466e-04 -9.99999784e-01 2.12491814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.33 meters Centerline goodness [0,1] 0.9997975344191488 Centerline is valid? [True, True] Translation: X:98.02, Y:-45.55, Z:2.13 [[ 4.74072839e-01 8.80485520e-01 4.38134072e-04 9.80233328e+01] [ 8.80485598e-01 -4.74072896e-01 2.82371099e-05 -4.55453427e+01] [ 2.32569855e-04 3.72384294e-04 -9.99999904e-01 2.12631938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.36 meters Centerline goodness [0,1] 0.9998426365128251 Centerline is valid? [True, True] Translation: X:98.02, Y:-45.55, Z:2.13 [[ 4.03869759e-01 9.14816477e-01 1.78222361e-04 9.80225183e+01] [ 9.14816414e-01 -4.03869635e-01 -4.97085667e-04 -4.55533144e+01] [-3.82763558e-04 3.63798610e-04 -9.99999861e-01 2.12695077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.39 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.02, Y:-45.56, Z:2.13 [[ 3.31175807e-01 9.43569051e-01 -1.72878888e-04 9.80212809e+01] [ 9.43567845e-01 -3.31175668e-01 -1.54898993e-03 -4.55616434e+01] [-1.51883224e-03 3.49865030e-04 -9.99998785e-01 2.12783953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.42 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.02, Y:-45.57, Z:2.13 [[ 2.56356288e-01 9.66582290e-01 -3.60484416e-04 9.80226045e+01] [ 9.66578663e-01 -2.56356322e-01 -2.66910260e-03 -4.55706554e+01] [-2.67231976e-03 3.35804690e-04 -9.99996373e-01 2.12858180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.45 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.02, Y:-45.58, Z:2.13 [[ 1.80059280e-01 9.83655710e-01 -3.15096771e-04 9.80237471e+01] [ 9.83649428e-01 -1.80059261e-01 -3.53074255e-03 -4.55806700e+01] [-3.52977116e-03 3.25798201e-04 -9.99993717e-01 2.12943974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.47999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.03, Y:-45.59, Z:2.13 [[ 1.02605186e-01 9.94722153e-01 -1.21865903e-04 9.80252767e+01] [ 9.94713021e-01 -1.02604768e-01 -4.27404330e-03 -4.55893051e+01] [-4.26398957e-03 3.17317407e-04 -9.99990859e-01 2.12997395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.50999999999999 meters Centerline goodness [0,1] 0.999841057196703 Centerline is valid? [True, True] Translation: X:98.03, Y:-45.60, Z:2.13 [[ 2.44122400e-02 9.99701963e-01 1.67358644e-04 9.80264784e+01] [ 9.99686632e-01 -2.44109374e-02 -5.54477071e-03 -4.55980624e+01] [-5.53903278e-03 3.02666472e-04 -9.99984614e-01 2.13137980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.53999999999999 meters Centerline goodness [0,1] 0.9999091218902647 Centerline is valid? [True, True] Translation: X:98.03, Y:-45.61, Z:2.13 [[-5.39745708e-02 9.98542120e-01 6.17218260e-04 9.80323659e+01] [ 9.98524634e-01 5.39772829e-02 -5.91670964e-03 -4.56070713e+01] [-5.94139955e-03 2.96955774e-04 -9.99982306e-01 2.13100425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.57 meters Centerline goodness [0,1] 0.9999089543406018 Centerline is valid? [True, True] Translation: X:98.04, Y:-45.62, Z:2.13 [[-1.32492469e-01 9.91183336e-01 1.15762290e-03 9.80384529e+01] [ 9.91162031e-01 1.32497218e-01 -6.50510748e-03 -4.56155531e+01] [-6.60113595e-03 2.85514117e-04 -9.99978172e-01 2.13206409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.6 meters Centerline goodness [0,1] 0.9999089916272297 Centerline is valid? [True, True] Translation: X:98.05, Y:-45.62, Z:2.13 [[-2.10368328e-01 9.77620762e-01 1.67679597e-03 9.80473234e+01] [ 9.77599440e-01 2.10374825e-01 -6.46284045e-03 -4.56242977e+01] [-6.67096267e-03 2.79657855e-04 -9.99977710e-01 2.13342079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.63 meters Centerline goodness [0,1] 0.9999089916272297 Centerline is valid? [True, True] Translation: X:98.05, Y:-45.63, Z:2.13 [[-2.86325550e-01 9.58129909e-01 2.18082815e-03 9.80502783e+01] [ 9.58109070e-01 2.86333720e-01 -6.32541154e-03 -4.56338787e+01] [-6.68501063e-03 2.78344293e-04 -9.99977616e-01 2.13353716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.66 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.06, Y:-45.64, Z:2.13 [[-3.61372138e-01 9.32418408e-01 2.46767128e-03 9.80575436e+01] [ 9.32401657e-01 3.61380456e-01 -5.59598531e-03 -4.56412469e+01] [-6.10956789e-03 2.78627614e-04 -9.99981298e-01 2.13148076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.69 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.07, Y:-45.65, Z:2.13 [[-4.33402977e-01 9.01195484e-01 2.92547161e-03 9.80673723e+01] [ 9.01179076e-01 4.33412763e-01 -5.44520046e-03 -4.56472491e+01] [-6.17512680e-03 2.76407707e-04 -9.99980896e-01 2.13145859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.72 meters Centerline goodness [0,1] 0.9999544221872793 Centerline is valid? [True, True] Translation: X:98.08, Y:-45.65, Z:2.13 [[-5.01932276e-01 8.64901013e-01 3.19803214e-03 9.80789549e+01] [ 8.64886924e-01 5.01942384e-01 -4.94488631e-03 -4.56524552e+01] [-5.88206505e-03 2.83938141e-04 -9.99982660e-01 2.13351280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.09, Y:-45.66, Z:2.13 [[-5.68010622e-01 8.23014145e-01 3.41337475e-03 9.80891921e+01] [ 8.23002219e-01 5.68020805e-01 -4.43989673e-03 -4.56566810e+01] [-5.59296569e-03 2.87306488e-04 -9.99984318e-01 2.13184757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.78 meters Centerline goodness [0,1] 0.9999089004281679 Centerline is valid? [True, True] Translation: X:98.10, Y:-45.66, Z:2.13 [[-6.30746979e-01 7.75979166e-01 3.81876597e-03 9.81022310e+01] [ 7.75967596e-01 6.30758475e-01 -4.24702341e-03 -4.56584689e+01] [-5.70432068e-03 2.84441462e-04 -9.99983690e-01 2.13235034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.81 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.11, Y:-45.66, Z:2.13 [[-6.89800239e-01 7.23988610e-01 4.01520367e-03 9.81149989e+01] [ 7.23978681e-01 6.89811867e-01 -3.80236586e-03 -4.56586923e+01] [-5.52260472e-03 2.84048978e-04 -9.99984710e-01 2.13233391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.83999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.13, Y:-45.66, Z:2.13 [[-7.45783264e-01 6.66177427e-01 3.86782271e-03 9.81275957e+01] [ 6.66170369e-01 7.45793241e-01 -3.07919769e-03 -4.56588376e+01] [-4.93588803e-03 2.80214777e-04 -9.99987779e-01 2.13218936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.86999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.15, Y:-45.64, Z:2.13 [[-7.92203015e-01 6.10244867e-01 3.94782814e-03 9.81511890e+01] [ 6.10238758e-01 7.92212816e-01 -2.74070250e-03 -4.56404254e+01] [-4.80001968e-03 2.37924960e-04 -9.99988452e-01 2.13204393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.89999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.16, Y:-45.61, Z:2.13 [[-8.34462733e-01 5.51049763e-01 4.01330102e-03 9.81574986e+01] [ 5.51044696e-01 8.34472352e-01 -2.37421746e-03 -4.56093612e+01] [-4.65730071e-03 2.30312252e-04 -9.99989128e-01 2.13226510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.92999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.18, Y:-45.59, Z:2.13 [[-8.72316412e-01 4.88924216e-01 4.14591543e-03 9.81789486e+01] [ 4.88919883e-01 8.72326236e-01 -2.07035229e-03 -4.55893043e+01] [-4.62883618e-03 2.21018206e-04 -9.99989262e-01 2.13269284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.96 meters Centerline goodness [0,1] 0.9998183593306541 Centerline is valid? [True, True] Translation: X:98.21, Y:-45.57, Z:2.13 [[-9.05411166e-01 4.24504725e-01 5.13409839e-03 9.82139533e+01] [ 4.24499096e-01 9.05425702e-01 -2.19467453e-03 -4.55747027e+01] [-5.58019435e-03 1.92337298e-04 -9.99984412e-01 2.13419232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.99 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.23, Y:-45.55, Z:2.13 [[-9.33788116e-01 3.57798885e-01 4.43987012e-03 9.82347603e+01] [ 3.57795868e-01 9.33798649e-01 -1.48339904e-03 -4.55514620e+01] [-4.67670324e-03 2.03386783e-04 -9.99989043e-01 2.13395983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.02 meters Centerline goodness [0,1] 0.9999547930652563 Centerline is valid? [True, True] Translation: X:98.24, Y:-45.52, Z:2.14 [[-9.57822659e-01 2.87323564e-01 4.57430941e-03 9.82409500e+01] [ 2.87321204e-01 9.57833563e-01 -1.17909406e-03 -4.55195458e+01] [-4.72020859e-03 1.84933084e-04 -9.99988843e-01 2.13505113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.05 meters Centerline goodness [0,1] 0.9998646575836867 Centerline is valid? [True, True] Translation: X:98.26, Y:-45.49, Z:2.14 [[-9.76125074e-01 2.17147423e-01 5.18037564e-03 9.82594542e+01] [ 2.17145239e-01 9.76138807e-01 -9.87277572e-04 -4.54928242e+01] [-5.27115047e-03 1.61187512e-04 -9.99986094e-01 2.13609467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.08 meters Centerline goodness [0,1] 0.9997972379300245 Centerline is valid? [True, True] Translation: X:98.27, Y:-45.47, Z:2.14 [[-9.89321203e-01 1.45649727e-01 5.45114292e-03 9.82690236e+01] [ 1.45648320e-01 9.89336210e-01 -6.56445430e-04 -4.54658077e+01] [-5.48862417e-03 1.44514423e-04 -9.99984927e-01 2.13605722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.11 meters Centerline goodness [0,1] 0.9997979525862069 Centerline is valid? [True, True] Translation: X:98.27, Y:-45.43, Z:2.14 [[-9.97379850e-01 7.21840730e-02 4.78478776e-03 9.82701669e+01] [ 7.21839675e-02 9.97391316e-01 -1.94948785e-04 -4.54342241e+01] [-4.78637796e-03 1.50946974e-04 -9.99988534e-01 2.13635168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.14 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.28, Y:-45.41, Z:2.14 [[-9.99996050e-01 -4.03902821e-04 2.78142601e-03 9.82790315e+01] [-4.03308398e-04 9.99999896e-01 2.14269257e-04 -4.54072181e+01] [-2.78151227e-03 2.13146638e-04 -9.99996109e-01 2.13514315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.17 meters Centerline goodness [0,1] 0.9997984818969571 Centerline is valid? [True, True] Translation: X:98.29, Y:-44.60, Z:1.34 [[-9.90506857e-01 -1.36947916e-01 1.18925883e-02 9.82912011e+01] [ 1.36946492e-01 -9.90578002e-01 -9.37814631e-04 -4.45990383e+01] [ 1.19089681e-02 6.99736425e-04 9.99928841e-01 1.34476649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.19999999999999 meters Centerline goodness [0,1] 0.9998437395361297 Centerline is valid? [True, True] Translation: X:98.19, Y:-45.40, Z:2.14 [[-9.99973231e-01 -7.01489825e-03 2.08030021e-03 9.81936569e+01] [-7.01437949e-03 9.99975366e-01 2.56560217e-04 -4.53979373e+01] [-2.08204871e-03 2.41961334e-04 -9.99997803e-01 2.13649612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.22999999999999 meters Centerline goodness [0,1] 0.999799563493831 Centerline is valid? [True, True] Translation: X:98.23, Y:-44.60, Z:1.35 [[-9.91256050e-01 -1.31558092e-01 1.01936872e-02 9.82259094e+01] [ 1.31557114e-01 -9.91308294e-01 -7.69340331e-04 -4.45988566e+01] [ 1.02062996e-02 5.78438803e-04 9.99947747e-01 1.34548298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.25999999999999 meters Centerline goodness [0,1] 0.9999106983389892 Centerline is valid? [True, True] Translation: X:98.13, Y:-45.40, Z:2.14 [[-9.99944956e-01 -1.04908532e-02 -1.64965582e-04 9.81273718e+01] [-1.04909051e-02 9.99944919e-01 3.16735750e-04 -4.53959376e+01] [ 1.61633667e-04 3.18448954e-04 -9.99999936e-01 2.13552662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.28999999999999 meters Centerline goodness [0,1] 0.9998663845896893 Centerline is valid? [True, True] Translation: X:98.16, Y:-44.60, Z:1.35 [[-9.92210379e-01 -1.24322757e-01 7.90039126e-03 9.81584868e+01] [ 1.24322637e-01 -9.92241716e-01 -5.08198402e-04 -4.45969814e+01] [ 7.90227841e-03 4.77957746e-04 9.99968662e-01 1.34681455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.32 meters Centerline goodness [0,1] 0.9998216713849446 Centerline is valid? [True, True] Translation: X:98.05, Y:-45.40, Z:2.14 [[-9.99927396e-01 -1.20451853e-02 -3.41444988e-04 9.80471450e+01] [-1.20452935e-02 9.99927403e-01 3.16688951e-04 -4.53957839e+01] [ 3.37605623e-04 3.20778763e-04 -9.99999892e-01 2.13592769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.35 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:98.09, Y:-44.60, Z:1.35 [[-9.93115128e-01 -1.16925227e-01 7.12981210e-03 9.80947787e+01] [ 1.16925097e-01 -9.93140640e-01 -4.36438618e-04 -4.45951016e+01] [ 7.13193684e-03 4.00220181e-04 9.99974487e-01 1.34831109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.38 meters Centerline goodness [0,1] 0.999754732546991 Centerline is valid? [True, True] Translation: X:98.00, Y:-45.40, Z:2.14 [[-9.99937323e-01 -1.11808768e-02 -5.82263404e-04 9.79969127e+01] [-1.11810652e-02 9.99937438e-01 3.21384926e-04 -4.53977482e+01] [ 5.78633612e-04 3.27875107e-04 -9.99999779e-01 2.13715359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.41 meters Centerline goodness [0,1] 0.9999331133505752 Centerline is valid? [True, True] Translation: X:98.00, Y:-45.37, Z:2.14 [[-9.96806048e-01 -7.98503499e-02 -1.27410590e-03 9.80010197e+01] [-7.98507074e-02 9.96806807e-01 2.32090539e-04 -4.53724994e+01] [ 1.25150492e-03 3.33087510e-04 -9.99999161e-01 2.13668170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.44 meters Centerline goodness [0,1] 0.9998662833455907 Centerline is valid? [True, True] Translation: X:97.96, Y:-44.56, Z:1.35 [[-9.99543694e-01 -2.92177325e-02 7.66342852e-03 9.79607564e+01] [ 2.92201667e-02 -9.99572979e-01 2.05838913e-04 -4.45618153e+01] [ 7.65414193e-03 4.29671647e-04 9.99970614e-01 1.34566895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.47 meters Centerline goodness [0,1] 0.9997990308822544 Centerline is valid? [True, True] Translation: X:97.91, Y:-45.38, Z:2.14 [[-9.96862287e-01 -7.91503167e-02 -8.98593059e-04 9.79067208e+01] [-7.91505768e-02 9.96862638e-01 2.57593164e-04 -4.53804429e+01] [ 8.75385267e-04 3.27909070e-04 -9.99999563e-01 2.13912320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.91, Y:-45.36, Z:2.14 [[-9.89508883e-01 -1.44447114e-01 -2.68365492e-03 9.79050548e+01] [-1.44447478e-01 9.89512467e-01 -5.84944648e-05 -4.53569644e+01] [ 2.66395936e-03 3.29766394e-04 -9.99996397e-01 2.13821772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.53 meters Centerline goodness [0,1] 0.9999108932947204 Centerline is valid? [True, True] Translation: X:97.89, Y:-45.33, Z:2.14 [[-9.77239687e-01 -2.12123050e-01 -2.53094390e-03 9.78947350e+01] [-2.12123181e-01 9.77242911e-01 -2.19574066e-04 -4.53328665e+01] [ 2.51992371e-03 3.22295380e-04 -9.99996773e-01 2.13946708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.56 meters Centerline goodness [0,1] 0.9998213926904959 Centerline is valid? [True, True] Translation: X:97.86, Y:-45.31, Z:2.14 [[-9.60118328e-01 -2.79581344e-01 -2.65860475e-03 9.78618511e+01] [-2.79581170e-01 9.60121957e-01 -4.44315109e-04 -4.53147644e+01] [ 2.67680701e-03 3.16700746e-04 -9.99996367e-01 2.14025738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.58999999999999 meters Centerline goodness [0,1] 0.9999776576254524 Centerline is valid? [True, True] Translation: X:97.81, Y:-45.30, Z:2.14 [[-9.37439521e-01 -3.48131594e-01 -3.39662599e-03 9.78094337e+01] [-3.48130526e-01 9.37445620e-01 -9.19824549e-04 -4.53049444e+01] [ 3.50437215e-03 3.20189310e-04 -9.99993808e-01 2.13916282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.61999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.75, Y:-45.30, Z:2.14 [[-9.09756757e-01 -4.15122478e-01 -3.99638821e-03 9.77477980e+01] [-4.15119977e-01 9.09765480e-01 -1.47560703e-03 -4.53021657e+01] [ 4.24833368e-03 3.16537114e-04 -9.99990926e-01 2.13914924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.64999999999999 meters Centerline goodness [0,1] 0.999955192113812 Centerline is valid? [True, True] Translation: X:97.68, Y:-45.31, Z:2.14 [[-8.77480320e-01 -4.79592074e-01 -4.44178422e-03 9.76754799e+01] [-4.79587660e-01 8.77491509e-01 -2.08015200e-03 -4.53100805e+01] [ 4.89525235e-03 3.04932459e-04 -9.99987972e-01 2.14059703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.67999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.59, Y:-45.33, Z:2.14 [[-8.39202953e-01 -5.43800469e-01 -4.41064258e-03 9.75924551e+01] [-5.43794820e-01 8.39214489e-01 -2.49716453e-03 -4.53287865e+01] [ 5.05943440e-03 3.02856743e-04 -9.99987155e-01 2.14086574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.71 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.51, Y:-45.36, Z:2.14 [[-7.95877172e-01 -6.05440987e-01 -4.55386859e-03 9.75078845e+01] [-6.05433196e-01 7.95890144e-01 -3.08616863e-03 -4.53555068e+01] [ 5.49287210e-03 3.00852056e-04 -9.99984869e-01 2.14189658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.74 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.42, Y:-45.39, Z:2.14 [[-7.47891336e-01 -6.63806977e-01 -4.34128129e-03 9.74198290e+01] [-6.63798057e-01 7.47903877e-01 -3.45409302e-03 -4.53937166e+01] [ 5.53971215e-03 2.98447840e-04 -9.99984611e-01 2.14252088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.77 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.33, Y:-45.44, Z:2.14 [[-6.95205789e-01 -7.18799042e-01 -4.10472628e-03 9.73300875e+01] [-7.18788973e-01 6.95217843e-01 -3.81615964e-03 -4.54422318e+01] [ 5.59673084e-03 2.97415721e-04 -9.99984294e-01 2.14365816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.8 meters Centerline goodness [0,1] 0.9999552061636319 Centerline is valid? [True, True] Translation: X:97.24, Y:-45.50, Z:2.15 [[-6.38502188e-01 -7.69610682e-01 -3.78878119e-03 9.72423410e+01] [-7.69599793e-01 6.38513361e-01 -4.10459429e-03 -4.55002906e+01] [ 5.57812702e-03 2.95052782e-04 -9.99984399e-01 2.14523885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.83 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.16, Y:-45.57, Z:2.15 [[-5.77369283e-01 -8.16475492e-01 -3.53291804e-03 9.71557234e+01] [-8.16463235e-01 5.77380016e-01 -4.48364662e-03 -4.55692545e+01] [ 5.70062386e-03 2.95777851e-04 -9.99983708e-01 2.14536222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.86 meters Centerline goodness [0,1] 0.9999101910685018 Centerline is valid? [True, True] Translation: X:97.07, Y:-45.65, Z:2.15 [[-5.13996449e-01 -8.57786040e-01 -3.28019683e-03 9.70722788e+01] [-8.57772005e-01 5.14006835e-01 -4.91545380e-03 -4.56505061e+01] [ 5.90245124e-03 2.87135209e-04 -9.99982539e-01 2.14688836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.89 meters Centerline goodness [0,1] 0.999910170899863 Centerline is valid? [True, True] Translation: X:97.00, Y:-45.73, Z:2.15 [[-4.46281308e-01 -8.94887852e-01 -2.95396303e-03 9.69985042e+01] [-8.94872314e-01 4.46290992e-01 -5.28129609e-03 -4.57293732e+01] [ 6.04449481e-03 2.86476008e-04 -9.99981691e-01 2.14741000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.92 meters Centerline goodness [0,1] 0.9999101305353973 Centerline is valid? [True, True] Translation: X:96.93, Y:-45.82, Z:2.15 [[-3.76328195e-01 -9.26482552e-01 -2.67775533e-03 9.69270408e+01] [-9.26464145e-01 3.76337617e-01 -5.84697268e-03 -4.58235513e+01] [ 6.42485824e-03 2.80463627e-04 -9.99979321e-01 2.14754429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.94999999999999 meters Centerline goodness [0,1] 0.9998427955443766 Centerline is valid? [True, True] Translation: X:96.86, Y:-45.93, Z:2.15 [[-3.04171909e-01 -9.52614216e-01 -2.36744445e-03 9.68619269e+01] [-9.52591955e-01 3.04181000e-01 -6.51817829e-03 -4.59261596e+01] [ 6.92944092e-03 2.72561807e-04 -9.99975954e-01 2.14814847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.97999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.80, Y:-46.04, Z:2.15 [[-2.29141070e-01 -9.73391020e-01 -2.07159310e-03 9.68041757e+01] [-9.73361176e-01 2.29150276e-01 -7.62706608e-03 -4.60370007e+01] [ 7.89882376e-03 2.68734217e-04 -9.99968768e-01 2.14624300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.00999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.76, Y:-46.14, Z:2.15 [[-1.54063500e-01 -9.88059459e-01 -1.71576214e-03 9.67578602e+01] [-9.88014827e-01 1.54072854e-01 -9.39452973e-03 -4.61388802e+01] [ 9.54670633e-03 2.47844304e-04 -9.99954398e-01 2.14533184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.03999999999999 meters Centerline goodness [0,1] 0.9999776156153467 Centerline is valid? [True, True] Translation: X:96.72, Y:-46.24, Z:2.15 [[-7.84260167e-02 -9.96919404e-01 -1.03015306e-03 9.67187735e+01] [-9.96867659e-01 7.84324445e-02 -1.01598152e-02 -4.62444319e+01] [ 1.02093143e-02 2.30132434e-04 -9.99947857e-01 2.14558165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.69, Y:-46.36, Z:2.15 [[-9.98373781e-04 -9.99999475e-01 -2.30976797e-04 9.66870608e+01] [-9.99934066e-01 1.00095074e-03 -1.14395153e-02 -4.63616394e+01] [ 1.14397405e-02 2.19540656e-04 -9.99934540e-01 2.14560133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.1 meters Centerline goodness [0,1] 0.9999552131852383 Centerline is valid? [True, True] Translation: X:96.66, Y:-46.48, Z:2.15 [[ 7.54208137e-02 -9.97151549e-01 7.00013331e-04 9.66645380e+01] [-9.97080143e-01 -7.54237913e-02 -1.19348273e-02 -4.64832581e+01] [ 1.19536291e-02 2.02164992e-04 -9.99928532e-01 2.14666628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.13 meters Centerline goodness [0,1] 0.9998653380016159 Centerline is valid? [True, True] Translation: X:95.81, Y:-46.67, Z:1.36 [[ 2.68579030e-02 9.99639254e-01 -1.18658736e-04 9.58121033e+01] [-9.99629397e-01 2.68571105e-02 -4.44573282e-03 -4.66682957e+01] [-4.44094221e-03 2.38017821e-04 9.99990111e-01 1.35891526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.16 meters Centerline goodness [0,1] 0.99982008725768 Centerline is valid? [True, True] Translation: X:96.69, Y:-46.78, Z:2.15 [[ 8.35337487e-02 -9.96504645e-01 7.77718617e-04 9.66871986e+01] [-9.96438846e-01 -8.35371712e-02 -1.14528287e-02 -4.67793072e+01] [ 1.14777654e-02 1.81748674e-04 -9.99934112e-01 2.15066514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.19 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.68, Y:-46.90, Z:2.15 [[ 1.60942224e-01 -9.86962734e-01 1.47058142e-03 9.66761602e+01] [-9.86909728e-01 -1.60948824e-01 -1.02306145e-02 -4.69042210e+01] [ 1.03339236e-02 1.95206745e-04 -9.99946585e-01 2.15019259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.22 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.67, Y:-47.03, Z:2.15 [[ 2.36472005e-01 -9.71636129e-01 2.05537598e-03 9.66748388e+01] [-9.71591801e-01 -2.36480854e-01 -9.28319842e-03 -4.70284269e+01] [ 9.50594804e-03 1.98230095e-04 -9.99954798e-01 2.15195120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.25 meters Centerline goodness [0,1] 0.9999099078808081 Centerline is valid? [True, True] Translation: X:96.68, Y:-47.14, Z:2.15 [[ 3.10028877e-01 -9.50723319e-01 2.69551592e-03 9.66807941e+01] [-9.50681893e-01 -3.10040537e-01 -8.87711866e-03 -4.71444260e+01] [ 9.27540292e-03 1.89584952e-04 -9.99956965e-01 2.15479607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.28 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.70, Y:-47.27, Z:2.16 [[ 3.82166421e-01 -9.24089125e-01 2.84897777e-03 9.67001642e+01] [-9.24059411e-01 -3.82176987e-01 -7.41312132e-03 -4.72703240e+01] [ 7.93919853e-03 2.00421317e-04 -9.99968464e-01 2.15528996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.31 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.72, Y:-47.38, Z:2.16 [[ 4.52184969e-01 -8.91917733e-01 3.39269679e-03 9.67222344e+01] [-8.91889282e-01 -4.52197654e-01 -7.12670022e-03 -4.73815661e+01] [ 7.89059984e-03 1.96676814e-04 -9.99968849e-01 2.15629793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.33999999999999 meters Centerline goodness [0,1] 0.999887458359593 Centerline is valid? [True, True] Translation: X:96.75, Y:-47.49, Z:2.16 [[ 5.18859418e-01 -8.54850786e-01 3.87775625e-03 9.67548232e+01] [-8.54824143e-01 -5.18873874e-01 -6.75177224e-03 -4.74936554e+01] [ 7.78382422e-03 1.88420950e-04 -9.99969688e-01 2.15872615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.36999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.80, Y:-47.60, Z:2.16 [[ 5.83799827e-01 -8.11888293e-01 3.89382164e-03 9.67972214e+01] [-8.11867859e-01 -5.83812777e-01 -5.76380994e-03 -4.76041341e+01] [ 6.95283263e-03 2.03642607e-04 -9.99975808e-01 2.15751557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.39999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.85, Y:-47.72, Z:2.16 [[ 6.44600025e-01 -7.64508552e-01 4.18115185e-03 9.68521268e+01] [-7.64490366e-01 -6.44613553e-01 -5.27707146e-03 -4.77161450e+01] [ 6.72959341e-03 2.05150088e-04 -9.99977335e-01 2.15808064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.42999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.90, Y:-47.80, Z:2.16 [[ 7.01674454e-01 -7.12482923e-01 4.58741393e-03 9.68975814e+01] [-7.12465755e-01 -7.01689420e-01 -4.95041224e-03 -4.78049046e+01] [ 6.74602400e-03 2.05202480e-04 -9.99977224e-01 2.15875087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.46 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.89, Y:-47.81, Z:2.16 [[ 7.55776365e-01 -6.54810622e-01 5.01354396e-03 9.68923789e+01] [-6.54794308e-01 -7.55792963e-01 -4.62725668e-03 -4.78112517e+01] [ 6.81917807e-03 2.14331184e-04 -9.99976726e-01 2.15890772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.49 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.89, Y:-47.82, Z:2.16 [[ 8.04854084e-01 -5.93448598e-01 5.35400443e-03 9.68865896e+01] [-5.93433656e-01 -8.04871862e-01 -4.21673684e-03 -4.78180624e+01] [ 6.81170408e-03 2.16611450e-04 -9.99976777e-01 2.15865423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.52 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.88, Y:-47.82, Z:2.16 [[ 8.48764684e-01 -5.28740490e-01 5.65739873e-03 9.68792760e+01] [-5.28727031e-01 -8.48783510e-01 -3.77877763e-03 -4.78236729e+01] [ 6.79989949e-03 2.16073372e-04 -9.99976857e-01 2.15878006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.55 meters Centerline goodness [0,1] 0.9999326705119286 Centerline is valid? [True, True] Translation: X:96.87, Y:-47.83, Z:2.16 [[ 8.87525660e-01 -4.60709108e-01 6.73209441e-03 9.68711673e+01] [-4.60694093e-01 -8.87551168e-01 -3.72508551e-03 -4.78279404e+01] [ 7.69125908e-03 2.04672844e-04 -9.99970401e-01 2.15966290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.58 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.86, Y:-47.84, Z:2.16 [[ 9.21506996e-01 -3.88291997e-01 7.36081362e-03 9.68633076e+01] [-3.88277752e-01 -9.21536369e-01 -3.33278148e-03 -4.78366385e+01] [ 8.07734983e-03 2.13141284e-04 -9.99967355e-01 2.15773127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.61 meters Centerline goodness [0,1] 0.9998878194341613 Centerline is valid? [True, True] Translation: X:96.86, Y:-47.85, Z:2.16 [[ 9.49041920e-01 -3.15043991e-01 8.16812041e-03 9.68560319e+01] [-3.15030448e-01 -9.49077047e-01 -2.92838799e-03 -4.78450977e+01] [ 8.67474664e-03 2.05956323e-04 -9.99962352e-01 2.15925862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.64 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.85, Y:-47.85, Z:2.16 [[ 9.71146813e-01 -2.38346350e-01 8.05507876e-03 9.68490069e+01] [-2.38336252e-01 -9.71180193e-01 -2.20515239e-03 -4.78515533e+01] [ 8.34852297e-03 2.21709433e-04 -9.99965126e-01 2.15653013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.67 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.84, Y:-47.86, Z:2.16 [[ 9.86993449e-01 -1.60524614e-01 8.70518446e-03 9.68397596e+01] [-1.60516350e-01 -9.87031812e-01 -1.64446517e-03 -4.78593428e+01] [ 8.85627113e-03 2.25751912e-04 -9.99960757e-01 2.15623494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.69999999999999 meters Centerline goodness [0,1] 0.9998430282100731 Centerline is valid? [True, True] Translation: X:96.83, Y:-47.87, Z:2.16 [[ 9.96576853e-01 -8.20551831e-02 1.00758770e-02 9.68316690e+01] [-8.20487410e-02 -9.96627763e-01 -1.05176792e-03 -4.78696561e+01] [ 1.01282018e-02 2.21454539e-04 -9.99948684e-01 2.15865371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.72999999999999 meters Centerline goodness [0,1] 0.9999104584527221 Centerline is valid? [True, True] Translation: X:96.82, Y:-47.88, Z:2.16 [[ 9.99947801e-01 -2.23907082e-03 9.96904297e-03 9.68242243e+01] [-2.23659893e-03 -9.99997465e-01 -2.59098209e-04 -4.78797955e+01] [ 9.96959784e-03 2.36787934e-04 -9.99950274e-01 2.15829439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.75999999999999 meters Centerline goodness [0,1] 0.9999106225141887 Centerline is valid? [True, True] Translation: X:96.82, Y:-47.89, Z:2.16 [[ 9.96908072e-01 7.80487240e-02 9.09356769e-03 9.68179437e+01] [ 7.80478459e-02 -9.96949512e-01 4.51939248e-04 -4.78921044e+01] [ 9.10110115e-03 2.59191485e-04 -9.99958551e-01 2.15927146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.78999999999999 meters Centerline goodness [0,1] 0.9999552232122868 Centerline is valid? [True, True] Translation: X:96.81, Y:-47.90, Z:2.16 [[ 9.87524193e-01 1.57258897e-01 8.09990902e-03 9.68122669e+01] [ 1.57255873e-01 -9.87557373e-01 1.01281001e-03 -4.79033943e+01] [ 8.15839826e-03 2.73583873e-04 -9.99966682e-01 2.15873479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.82 meters Centerline goodness [0,1] 0.9999328257948947 Centerline is valid? [True, True] Translation: X:96.81, Y:-47.91, Z:2.16 [[ 9.72047243e-01 2.34676775e-01 7.13918928e-03 9.68069983e+01] [ 2.34672547e-01 -9.72073420e-01 1.43622326e-03 -4.79141064e+01] [ 7.27686438e-03 2.79294869e-04 -9.99973484e-01 2.15956042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.85 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.80, Y:-47.92, Z:2.16 [[ 9.50209608e-01 3.11577938e-01 4.57040429e-03 9.68020793e+01] [ 3.11575791e-01 -9.50220555e-01 1.19261897e-03 -4.79229668e+01] [ 4.71448586e-03 2.90789325e-04 -9.99988844e-01 2.15979622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.88 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.80, Y:-47.93, Z:2.16 [[ 9.22736662e-01 3.85414780e-01 3.53543073e-03 9.67985657e+01] [ 3.85413144e-01 -9.22743389e-01 1.16045345e-03 -4.79320917e+01] [ 3.70955125e-03 2.91808533e-04 -9.99993077e-01 2.16044230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.91 meters Centerline goodness [0,1] 0.9999105465605153 Centerline is valid? [True, True] Translation: X:96.80, Y:-47.94, Z:2.16 [[ 8.89650023e-01 4.56628156e-01 3.68288288e-03 9.67963146e+01] [ 4.56625576e-01 -8.89657598e-01 1.56225944e-03 -4.79419074e+01] [ 3.98987638e-03 2.91834371e-04 -9.99991998e-01 2.16285133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.94 meters Centerline goodness [0,1] 0.9999105285525757 Centerline is valid? [True, True] Translation: X:96.79, Y:-47.95, Z:2.16 [[ 8.50841535e-01 5.25412427e-01 3.23497715e-03 9.67926224e+01] [ 5.25409907e-01 -8.50847634e-01 1.65321565e-03 -4.79513936e+01] [ 3.62109270e-03 2.93064499e-04 -9.99993401e-01 2.16334242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.97 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.79, Y:-47.96, Z:2.16 [[ 8.06350637e-01 5.91432187e-01 2.57240173e-03 9.67897591e+01] [ 5.91430306e-01 -8.06354687e-01 1.52054078e-03 -4.79602737e+01] [ 2.97356496e-03 2.95307316e-04 -9.99995535e-01 2.16177742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.0 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.79, Y:-47.97, Z:2.16 [[ 7.57234859e-01 6.53138213e-01 2.41717214e-03 9.67857635e+01] [ 6.53136083e-01 -7.57238659e-01 1.69419356e-03 -4.79682357e+01] [ 2.93691875e-03 2.95839921e-04 -9.99995643e-01 2.16163407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.03 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.78, Y:-47.98, Z:2.16 [[ 7.03572258e-01 7.10620028e-01 2.29193471e-03 9.67839254e+01] [ 7.10617565e-01 -7.03575929e-01 1.89442548e-03 -4.79773931e+01] [ 2.95876678e-03 2.95823854e-04 -9.99995579e-01 2.16126081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.06 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.78, Y:-47.99, Z:2.16 [[ 6.45064536e-01 7.64124610e-01 2.30771145e-03 9.67819143e+01] [ 7.64121295e-01 -6.45068595e-01 2.27030673e-03 -4.79874078e+01] [ 3.22342942e-03 2.98877103e-04 -9.99994760e-01 2.16123364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.08999999999999 meters Centerline goodness [0,1] 0.9998879325802402 Centerline is valid? [True, True] Translation: X:96.78, Y:-48.00, Z:2.16 [[ 5.82603186e-01 8.12752796e-01 2.53378545e-03 9.67791709e+01] [ 8.12747268e-01 -5.82608616e-01 3.01313616e-03 -4.79954806e+01] [ 3.92514007e-03 3.03864479e-04 -9.99992250e-01 2.16310313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.11999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.78, Y:-48.01, Z:2.16 [[ 5.15681824e-01 8.56777385e-01 2.18362294e-03 9.67821688e+01] [ 8.56772084e-01 -5.15686355e-01 3.02982356e-03 -4.80065409e+01] [ 3.72194887e-03 3.08442236e-04 -9.99993026e-01 2.16046775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.14999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.79, Y:-48.02, Z:2.16 [[ 4.43482572e-01 8.96281762e-01 1.48694329e-03 9.67876470e+01] [ 8.96278860e-01 -4.43484956e-01 2.30218035e-03 -4.80198074e+01] [ 2.72283924e-03 3.11738970e-04 -9.99996244e-01 2.16127784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.17999999999999 meters Centerline goodness [0,1] 0.9998200346433311 Centerline is valid? [True, True] Translation: X:96.79, Y:-48.03, Z:2.17 [[ 3.70279815e-01 9.28919608e-01 1.10441484e-03 9.67933212e+01] [ 9.28917645e-01 -3.70281333e-01 1.93488797e-03 -4.80304195e+01] [ 2.20629957e-03 3.09460476e-04 -9.99997518e-01 2.16540607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.21 meters Centerline goodness [0,1] 0.9999550531496505 Centerline is valid? [True, True] Translation: X:96.80, Y:-48.04, Z:2.16 [[ 2.94350834e-01 9.55697161e-01 7.23454396e-04 9.67982030e+01] [ 9.55696297e-01 -2.94351567e-01 1.32027391e-03 -4.80411357e+01] [ 1.47473196e-03 3.02778961e-04 -9.99998867e-01 2.16375276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.24 meters Centerline goodness [0,1] 0.9999325524404775 Centerline is valid? [True, True] Translation: X:96.80, Y:-48.05, Z:2.16 [[ 2.17107387e-01 9.76147620e-01 4.53381598e-04 9.68036248e+01] [ 9.76147421e-01 -2.17107663e-01 6.89213479e-04 -4.80514497e+01] [ 7.71206717e-04 2.92933940e-04 -9.99999660e-01 2.16447711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.27 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.81, Y:-48.06, Z:2.16 [[ 1.37052115e-01 9.90563784e-01 3.28675699e-04 9.68103242e+01] [ 9.90563783e-01 -1.37052211e-01 2.87964165e-04 -4.80600488e+01] [ 3.30292604e-04 2.86108146e-04 -9.99999905e-01 2.16388220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.3 meters Centerline goodness [0,1] 0.9998202287589043 Centerline is valid? [True, True] Translation: X:96.82, Y:-48.07, Z:2.17 [[ 5.80112093e-02 9.98315900e-01 2.52781618e-04 9.68189156e+01] [ 9.98315877e-01 -5.80111205e-02 -3.45763806e-04 -4.80692038e+01] [-3.30517360e-04 2.72414079e-04 -9.99999908e-01 2.16802464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.33 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.83, Y:-48.08, Z:2.17 [[-2.08210121e-02 9.99783180e-01 2.79006273e-04 9.68287852e+01] [ 9.99782397e-01 2.08213520e-02 -1.27640136e-03 -4.80783786e+01] [-1.28193390e-03 2.52369593e-04 -9.99999146e-01 2.16658018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.36 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.83, Y:-48.09, Z:2.17 [[-9.93107235e-02 9.95056329e-01 5.31634003e-04 9.68278608e+01] [ 9.95051197e-01 9.93119224e-02 -3.20274111e-03 -4.80865375e+01] [-3.23970540e-03 2.10936515e-04 -9.99994730e-01 2.16758601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.39 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.83, Y:-48.09, Z:2.17 [[-1.76690454e-01 9.84266089e-01 8.66061226e-04 9.68327415e+01] [ 9.84259182e-01 1.76692464e-01 -3.69278134e-03 -4.80939115e+01] [-3.78770594e-03 1.99949501e-04 -9.99992807e-01 2.16714042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.42 meters Centerline goodness [0,1] 0.9999324430832977 Centerline is valid? [True, True] Translation: X:96.84, Y:-48.10, Z:2.17 [[-2.52418048e-01 9.67617490e-01 1.23351505e-03 9.68401023e+01] [ 9.67609437e-01 2.52420986e-01 -3.95268356e-03 -4.81014815e+01] [-4.13605083e-03 1.95832135e-04 -9.99991427e-01 2.16927234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.44999999999999 meters Centerline goodness [0,1] 0.9997058357658453 Centerline is valid? [True, True] Translation: X:96.85, Y:-48.11, Z:2.17 [[-3.26583583e-01 9.45166734e-01 1.73421571e-03 9.68473091e+01] [ 9.45156291e-01 3.26588134e-01 -4.44714038e-03 -4.81077027e+01] [-4.76966342e-03 1.86741850e-04 -9.99988608e-01 2.17194611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.47999999999999 meters Centerline goodness [0,1] 0.9999093135032193 Centerline is valid? [True, True] Translation: X:96.85, Y:-48.12, Z:2.17 [[-3.97925460e-01 9.17416021e-01 1.78143170e-03 9.68528777e+01] [ 9.17409038e-01 3.97929393e-01 -3.58529631e-03 -4.81156170e+01] [-3.99809231e-03 2.07620858e-04 -9.99991986e-01 2.16935066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.50999999999999 meters Centerline goodness [0,1] 0.999818148754319 Centerline is valid? [True, True] Translation: X:96.86, Y:-48.12, Z:2.17 [[-4.67210837e-01 8.84144023e-01 1.83872192e-03 9.68612337e+01] [ 8.84138930e-01 4.67214403e-01 -3.00893986e-03 -4.81209607e+01] [-3.51941356e-03 2.19876324e-04 -9.99993783e-01 2.16998169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.53999999999999 meters Centerline goodness [0,1] 0.9998405285340016 Centerline is valid? [True, True] Translation: X:96.87, Y:-48.13, Z:2.17 [[-5.33643831e-01 8.45707632e-01 1.69197745e-03 9.68716886e+01] [ 8.45704694e-01 5.33646461e-01 -2.24165468e-03 -4.81270240e+01] [-2.79870225e-03 2.34668085e-04 -9.99996056e-01 2.16968782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.88, Y:-48.13, Z:2.17 [[-5.96471558e-01 8.02632783e-01 1.51549765e-03 9.68808746e+01] [ 8.02631174e-01 5.96473432e-01 -1.62591904e-03 -4.81323721e+01] [-2.20897001e-03 2.46571200e-04 -9.99997530e-01 2.16586870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.6 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.89, Y:-48.14, Z:2.17 [[-6.55571519e-01 7.55131898e-01 1.34161443e-03 9.68902909e+01] [ 7.55131057e-01 6.55572842e-01 -1.15580431e-03 -4.81380547e+01] [-1.75231068e-03 2.55382336e-04 -9.99998432e-01 2.16581544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.63 meters Centerline goodness [0,1] 0.9999081367843281 Centerline is valid? [True, True] Translation: X:96.90, Y:-48.14, Z:2.17 [[-7.09258222e-01 7.04947323e-01 1.43047580e-03 9.68984522e+01] [ 7.04946589e-01 7.09259616e-01 -1.05069422e-03 -4.81429508e+01] [-1.75526279e-03 2.63195527e-04 -9.99998425e-01 2.16797886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.66 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.91, Y:-48.15, Z:2.17 [[-7.61392372e-01 6.48288948e-01 1.75956484e-03 9.69103683e+01] [ 6.48287979e-01 7.61394359e-01 -1.15152487e-03 -4.81461795e+01] [-2.08624359e-03 2.63942482e-04 -9.99997789e-01 2.16630515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.69 meters Centerline goodness [0,1] 0.9999311626626282 Centerline is valid? [True, True] Translation: X:96.93, Y:-48.13, Z:2.17 [[-8.05235635e-01 5.92951301e-01 2.08021251e-03 9.69328761e+01] [ 5.92950056e-01 8.05238287e-01 -1.23793691e-03 -4.81280536e+01] [-2.40910306e-03 2.36631212e-04 -9.99997070e-01 2.16825923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.72 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.96, Y:-48.11, Z:2.17 [[-8.45786895e-01 5.33516864e-01 2.07001196e-03 9.69565714e+01] [ 5.33515921e-01 8.45789396e-01 -1.02955367e-03 -4.81097772e+01] [-2.30007841e-03 2.33601337e-04 -9.99997328e-01 2.16651351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.98, Y:-48.09, Z:2.17 [[-8.82180502e-01 4.70903806e-01 2.67708810e-03 9.69805306e+01] [ 4.70902401e-01 8.82184535e-01 -1.17249458e-03 -4.80900570e+01] [-2.91381788e-03 2.26295352e-04 -9.99995729e-01 2.16684959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.78 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.00, Y:-48.07, Z:2.17 [[-9.15206424e-01 4.02966218e-01 3.92786771e-03 9.70040568e+01] [ 4.02963430e-01 9.15214831e-01 -1.51213471e-03 -4.80651063e+01] [-4.20418199e-03 1.98871639e-04 -9.99991143e-01 2.16808422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.81 meters Centerline goodness [0,1] 0.9998861644241058 Centerline is valid? [True, True] Translation: X:97.01, Y:-48.03, Z:2.17 [[-9.42158608e-01 3.35135540e-01 4.61812653e-03 9.70116254e+01] [ 3.35132454e-01 9.42169909e-01 -1.44955885e-03 -4.80344731e+01] [-4.83685853e-03 1.81969729e-04 -9.99988286e-01 2.17189578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.83999999999999 meters Centerline goodness [0,1] 0.999841168996188 Centerline is valid? [True, True] Translation: X:97.03, Y:-48.01, Z:2.17 [[-9.64142490e-01 2.65339500e-01 4.92017223e-03 9.70308576e+01] [ 2.65336926e-01 9.64155030e-01 -1.18066510e-03 -4.80101505e+01] [-5.05708589e-03 1.67173985e-04 -9.99987199e-01 2.17217695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.86999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.04, Y:-47.98, Z:2.17 [[-9.81188243e-01 1.92994132e-01 4.78498524e-03 9.70388963e+01] [ 1.92992596e-01 9.81199899e-01 -7.85077646e-04 -4.79802321e+01] [-4.84654241e-03 1.53157765e-04 -9.99988244e-01 2.16936808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.89999999999999 meters Centerline goodness [0,1] 0.9998640010879913 Centerline is valid? [True, True] Translation: X:97.04, Y:-47.95, Z:2.17 [[-9.92471523e-01 1.22374645e-01 4.97223060e-03 9.70374734e+01] [ 1.22373850e-01 9.92483967e-01 -4.64990193e-04 -4.79508714e+01] [-4.99176216e-03 1.46981474e-04 -9.99987530e-01 2.17264257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.92999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:97.07, Y:-47.93, Z:2.17 [[-9.98714467e-01 5.05291701e-02 4.02685937e-03 9.70679076e+01] [ 5.05294060e-02 9.98722573e-01 -4.32002087e-05 -4.79262028e+01] [-4.02389822e-03 1.60330138e-04 -9.99991891e-01 2.16913353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.96 meters Centerline goodness [0,1] 0.9998188405797102 Centerline is valid? [True, True] Translation: X:97.12, Y:-47.07, Z:1.36 [[-9.87652650e-01 -1.56284812e-01 1.08305006e-02 9.71229414e+01] [ 1.56280028e-01 -9.87711944e-01 -1.29185984e-03 -4.70654561e+01] [ 1.08993129e-02 4.16682138e-04 9.99940514e-01 1.35591637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.99 meters Centerline goodness [0,1] 0.9997517770506601 Centerline is valid? [True, True] Translation: X:96.98, Y:-47.92, Z:2.17 [[-9.98979397e-01 4.49946918e-02 3.95502677e-03 9.69839441e+01] [ 4.49949801e-02 9.98987213e-01 -1.60786681e-05 -4.79181293e+01] [-3.95174462e-03 1.61894093e-04 -9.99992179e-01 2.17323845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.02 meters Centerline goodness [0,1] 0.9998868214948617 Centerline is valid? [True, True] Translation: X:96.99, Y:-47.89, Z:2.17 [[-9.99630561e-01 -2.69507640e-02 3.52115476e-03 9.69932847e+01] [-2.69500227e-02 9.99636749e-01 2.57816126e-04 -4.78883569e+01] [-3.52682404e-03 1.62825678e-04 -9.99993767e-01 2.17225012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.05 meters Centerline goodness [0,1] 0.9998187543895422 Centerline is valid? [True, True] Translation: X:97.00, Y:-47.04, Z:1.36 [[-9.96527152e-01 -8.26247088e-02 1.03340968e-02 9.70049749e+01] [ 8.26247553e-02 -9.96580639e-01 -4.23169565e-04 -4.70356606e+01] [ 1.03337250e-02 4.32152255e-04 9.99946512e-01 1.35630553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.08 meters Centerline goodness [0,1] 0.9999322340185227 Centerline is valid? [True, True] Translation: X:96.91, Y:-47.89, Z:2.17 [[-9.99419943e-01 -3.38294731e-02 3.91717837e-03 9.69064962e+01] [-3.38286018e-02 9.99427607e-01 2.88468652e-04 -4.78864650e+01] [-3.92469495e-03 1.55788656e-04 -9.99992286e-01 2.17178766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.11 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.92, Y:-47.86, Z:2.17 [[-9.94404387e-01 -1.05568840e-01 3.89039163e-03 9.69187724e+01] [-1.05567455e-01 9.94411986e-01 5.60136552e-04 -4.78590552e+01] [-3.92778503e-03 1.46303503e-04 -9.99992276e-01 2.16994653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.14 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.90, Y:-47.83, Z:2.17 [[-9.84304919e-01 -1.76430110e-01 4.03022642e-03 9.68962153e+01] [-1.76428048e-01 9.84313160e-01 8.64330721e-04 -4.78330008e+01] [-4.11949887e-03 1.39719998e-04 -9.99991505e-01 2.17106164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.17 meters Centerline goodness [0,1] 0.999774011299435 Centerline is valid? [True, True] Translation: X:96.89, Y:-47.81, Z:2.18 [[-9.69231162e-01 -2.46111886e-01 4.46038861e-03 9.68906348e+01] [-2.46108636e-01 9.69241415e-01 1.27201179e-03 -4.78059814e+01] [-4.63625059e-03 1.35133308e-04 -9.99989243e-01 2.17627281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.19999999999999 meters Centerline goodness [0,1] 0.999909332003536 Centerline is valid? [True, True] Translation: X:96.85, Y:-47.79, Z:2.17 [[-9.48863109e-01 -3.15657524e-01 4.37354477e-03 9.68543560e+01] [-3.15653501e-01 9.48873179e-01 1.59945515e-03 -4.77887853e+01] [-4.65481938e-03 1.37139272e-04 -9.99989157e-01 2.17421059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.22999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.80, Y:-47.78, Z:2.17 [[-9.23411915e-01 -3.83790963e-01 3.86418889e-03 9.68030909e+01] [-3.83786904e-01 9.23419988e-01 1.77168416e-03 -4.77787148e+01] [-4.24822563e-03 1.52969176e-04 -9.99990965e-01 2.17173905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.25999999999999 meters Centerline goodness [0,1] 0.9998641581199483 Centerline is valid? [True, True] Translation: X:96.73, Y:-47.78, Z:2.18 [[-8.93142440e-01 -4.49758173e-01 3.76400369e-03 9.67336021e+01] [-4.49753416e-01 8.93150357e-01 2.07464599e-03 -4.77799065e+01] [-4.29491023e-03 1.60080869e-04 -9.99990764e-01 2.17502855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.28999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.66, Y:-47.79, Z:2.17 [[-8.57679862e-01 -5.14173983e-01 3.22017884e-03 9.66612510e+01] [-5.14169578e-01 8.57685889e-01 2.13555612e-03 -4.77889506e+01] [-3.85994935e-03 1.75905482e-04 -9.99992535e-01 2.17125311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.32 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.58, Y:-47.81, Z:2.17 [[-8.18997082e-01 -5.73791955e-01 2.56349761e-03 9.65797001e+01] [-5.73788359e-01 8.19001070e-01 2.04141536e-03 -4.78111114e+01] [-3.27085500e-03 2.01008142e-04 -9.99994631e-01 2.17076873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.35 meters Centerline goodness [0,1] 0.9997953289518569 Centerline is valid? [True, True] Translation: X:96.50, Y:-47.84, Z:2.18 [[-7.75070178e-01 -6.31868870e-01 2.81940162e-03 9.64961660e+01] [-6.31863699e-01 7.75075279e-01 2.56484105e-03 -4.78409429e+01] [-3.80589172e-03 2.06454275e-04 -9.99992736e-01 2.17531350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.38 meters Centerline goodness [0,1] 0.9998409488536957 Centerline is valid? [True, True] Translation: X:96.41, Y:-47.88, Z:2.18 [[-7.26572696e-01 -6.87084901e-01 2.54087949e-03 9.64073402e+01] [-6.87079622e-01 7.26577106e-01 2.70224491e-03 -4.78836666e+01] [-3.70281654e-03 2.17590850e-04 -9.99993121e-01 2.17503980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.41 meters Centerline goodness [0,1] 0.9998863739660031 Centerline is valid? [True, True] Translation: X:96.32, Y:-47.94, Z:2.18 [[-6.76225863e-01 -7.36692821e-01 1.50669290e-03 9.63199761e+01] [-7.36690148e-01 6.76227498e-01 1.99904732e-03 -4.79376657e+01] [-2.49155098e-03 2.41841686e-04 -9.99996867e-01 2.17528271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.44 meters Centerline goodness [0,1] 0.9998863739660031 Centerline is valid? [True, True] Translation: X:96.23, Y:-48.00, Z:2.18 [[-6.17730363e-01 -7.86388811e-01 1.35479618e-03 9.62322284e+01] [-7.86386001e-01 6.17731802e-01 2.11613092e-03 -4.79982914e+01] [-2.50100236e-03 2.41805568e-04 -9.99996843e-01 2.17572786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.47 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.15, Y:-48.07, Z:2.17 [[-5.57664756e-01 -8.30065423e-01 1.18833859e-03 9.61472408e+01] [-8.30062507e-01 5.57665967e-01 2.21420180e-03 -4.80718068e+01] [-2.50062834e-03 2.48386994e-04 -9.99996843e-01 2.17344778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.07, Y:-48.15, Z:2.17 [[-4.94224921e-01 -8.69333472e-01 1.02045479e-03 9.60685535e+01] [-8.69330439e-01 4.94225909e-01 2.31064425e-03 -4.81512915e+01] [-2.51305558e-03 2.54865556e-04 -9.99996810e-01 2.17424277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.53 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.00, Y:-48.24, Z:2.17 [[-4.27431041e-01 -9.04047244e-01 1.13393847e-03 9.59961068e+01] [-9.04042252e-01 4.27432464e-01 3.01590327e-03 -4.82354116e+01] [-3.21120116e-03 2.63962385e-04 -9.99994809e-01 2.17437325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.56 meters Centerline goodness [0,1] 0.9999084940406744 Centerline is valid? [True, True] Translation: X:95.93, Y:-48.32, Z:2.18 [[-3.59029084e-01 -9.33325362e-01 1.37337909e-03 9.59334735e+01] [-9.33315190e-01 3.59031597e-01 4.36683954e-03 -4.83197616e+01] [-4.56876858e-03 2.86026835e-04 -9.99989522e-01 2.17817381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.58999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.87, Y:-48.42, Z:2.18 [[-2.86770498e-01 -9.57998637e-01 1.13683558e-03 9.58714611e+01] [-9.57986547e-01 2.86772601e-01 4.82190002e-03 -4.84215962e+01] [-4.94538695e-03 2.93705483e-04 -9.99987728e-01 2.17642449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.61999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.82, Y:-48.53, Z:2.18 [[-2.12436301e-01 -9.77174587e-01 8.02807184e-04 9.58174952e+01] [-9.77161288e-01 2.12437605e-01 5.10700534e-03 -4.85288931e+01] [-5.16098227e-03 3.00441221e-04 -9.99986637e-01 2.17750504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.64999999999999 meters Centerline goodness [0,1] 0.9999542773535732 Centerline is valid? [True, True] Translation: X:95.77, Y:-48.64, Z:2.18 [[-1.36997696e-01 -9.90571257e-01 4.65093230e-04 9.57713751e+01] [-9.90555287e-01 1.36998132e-01 5.63339584e-03 -4.86407688e+01] [-5.64399690e-03 3.11061692e-04 -9.99984024e-01 2.17966224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.67999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.73, Y:-48.76, Z:2.18 [[-6.10570190e-02 -9.98134279e-01 4.15302502e-05 9.57343704e+01] [-9.98117488e-01 6.10562332e-02 5.79795465e-03 -4.87554086e+01] [-5.78967297e-03 3.12553758e-04 -9.99983191e-01 2.17907535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.71 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.71, Y:-48.87, Z:2.18 [[ 1.50848906e-02 -9.99886128e-01 -4.20231700e-04 9.57062754e+01] [-9.99867715e-01 -1.50871668e-02 6.07693374e-03 -4.88696539e+01] [-6.08258186e-03 3.28506229e-04 -9.99981447e-01 2.17988710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.74 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.69, Y:-48.99, Z:2.18 [[ 9.21091665e-02 -9.95748531e-01 -8.74612427e-04 9.56869748e+01] [-9.95731236e-01 -9.21127296e-02 5.87799034e-03 -4.89914531e+01] [-5.93356318e-03 3.29462121e-04 -9.99982342e-01 2.18002509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.77 meters Centerline goodness [0,1] 0.9999771151337621 Centerline is valid? [True, True] Translation: X:95.68, Y:-49.11, Z:2.18 [[ 1.68681505e-01 -9.85669830e-01 -1.23909622e-03 9.56777873e+01] [-9.85655534e-01 -1.68685744e-01 5.31864475e-03 -4.91146726e+01] [-5.45144554e-03 3.24165046e-04 -9.99985088e-01 2.18080438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.8 meters Centerline goodness [0,1] 0.999885452462772 Centerline is valid? [True, True] Translation: X:95.68, Y:-49.23, Z:2.18 [[ 2.44325967e-01 -9.69691889e-01 -1.56918283e-03 9.56771204e+01] [-9.69679490e-01 -2.44330795e-01 4.91422780e-03 -4.92344538e+01] [-5.14868653e-03 3.20930952e-04 -9.99986694e-01 2.18313234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.83 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.68, Y:-49.35, Z:2.18 [[ 3.19111402e-01 -9.47716355e-01 -1.27456271e-03 9.56844040e+01] [-9.47712012e-01 -3.19113817e-01 2.88325727e-03 -4.93545767e+01] [-3.13924064e-03 2.87838124e-04 -9.99995031e-01 2.17858354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.86 meters Centerline goodness [0,1] 0.9997944595427867 Centerline is valid? [True, True] Translation: X:95.70, Y:-49.48, Z:2.18 [[ 3.91549706e-01 -9.20155918e-01 -1.38374597e-03 9.57046969e+01] [-9.20152485e-01 -3.91552049e-01 2.52918015e-03 -4.94791703e+01] [-2.86904865e-03 2.82957547e-04 -9.99995844e-01 2.18197998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.89 meters Centerline goodness [0,1] 0.9998628759484414 Centerline is valid? [True, True] Translation: X:95.73, Y:-49.59, Z:2.18 [[ 4.62029581e-01 -8.86863756e-01 -1.15973397e-03 9.57290788e+01] [-8.86862267e-01 -4.62030959e-01 1.64671025e-03 -4.95903341e+01] [-1.99624063e-03 2.67695451e-04 -9.99997972e-01 2.18070468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.92 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.77, Y:-49.71, Z:2.18 [[ 5.30631063e-01 -8.47602557e-01 -7.61853967e-04 9.57651093e+01] [-8.47602267e-01 -5.30631551e-01 7.44920074e-04 -4.97094562e+01] [-1.03565991e-03 2.50471418e-04 -9.99999432e-01 2.17749499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.94999999999999 meters Centerline goodness [0,1] 0.9999088547600602 Centerline is valid? [True, True] Translation: X:95.81, Y:-49.82, Z:2.18 [[ 5.95105403e-01 -8.03646974e-01 -1.04963912e-03 9.58050249e+01] [-8.03646402e-01 -5.95106274e-01 9.91594229e-04 -4.98153853e+01] [-1.42153853e-03 2.53435617e-04 -9.99998957e-01 2.18093938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.97999999999999 meters Centerline goodness [0,1] 0.9998401899456646 Centerline is valid? [True, True] Translation: X:95.85, Y:-49.92, Z:2.18 [[ 6.56098261e-01 -7.54673235e-01 -1.83858505e-03 9.58535620e+01] [-7.54671334e-01 -6.56100784e-01 1.71439035e-03 -4.99189342e+01] [-2.50010160e-03 2.62718909e-04 -9.99996840e-01 2.18304680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.00999999999999 meters Centerline goodness [0,1] 0.9998629292029333 Centerline is valid? [True, True] Translation: X:95.91, Y:-50.02, Z:2.18 [[ 7.13475891e-01 -7.00674877e-01 -2.62095877e-03 9.59081354e+01] [-7.00671471e-01 -7.13480656e-01 2.20083388e-03 -5.00162111e+01] [-3.41207239e-03 2.66189120e-04 -9.99994143e-01 2.18476084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.03999999999999 meters Centerline goodness [0,1] 0.9997491219267436 Centerline is valid? [True, True] Translation: X:95.90, Y:-50.02, Z:2.19 [[ 7.66887207e-01 -6.41770618e-01 -3.80602066e-03 9.59021140e+01] [-6.41764453e-01 -7.66896602e-01 2.82645245e-03 -5.00229478e+01] [-4.73275845e-03 2.74998543e-04 -9.99988763e-01 2.18646402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.07 meters Centerline goodness [0,1] 0.9999771746821574 Centerline is valid? [True, True] Translation: X:95.89, Y:-50.03, Z:2.18 [[ 8.16783006e-01 -5.76929750e-01 -4.19352620e-03 9.58943898e+01] [-5.76923739e-01 -8.16793730e-01 2.64607840e-03 -5.00299852e+01] [-4.95184726e-03 2.58072949e-04 -9.99987706e-01 2.18338204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.1 meters Centerline goodness [0,1] 0.9998859619112783 Centerline is valid? [True, True] Translation: X:95.89, Y:-50.03, Z:2.19 [[ 8.59865614e-01 -5.10494303e-01 -5.16654390e-03 9.58866780e+01] [-5.10486856e-01 -8.59881097e-01 2.76926577e-03 -5.00349527e+01] [-5.85630783e-03 2.56256341e-04 -9.99982819e-01 2.18603948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.13 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.88, Y:-50.04, Z:2.18 [[ 8.97809029e-01 -4.40355486e-01 -5.09830894e-03 9.58791202e+01] [-4.40349926e-01 -8.97823471e-01 2.22648620e-03 -5.00401146e+01] [-5.55782684e-03 2.46080550e-04 -9.99984525e-01 2.18358740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.16 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.87, Y:-50.05, Z:2.18 [[ 9.30052315e-01 -3.67394217e-01 -4.91737690e-03 9.58717560e+01] [-3.67390415e-01 -9.30065285e-01 1.68795726e-03 -5.00458000e+01] [-5.19362728e-03 2.36708578e-04 -9.99986485e-01 2.18297000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.19 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.87, Y:-50.05, Z:2.18 [[ 9.56096695e-01 -2.93015224e-01 -4.60303910e-03 9.58654949e+01] [-2.93012991e-01 -9.56107747e-01 1.16737791e-03 -5.00501018e+01] [-4.74306085e-03 2.32624089e-04 -9.99988725e-01 2.18256242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.22 meters Centerline goodness [0,1] 0.9998402555910543 Centerline is valid? [True, True] Translation: X:95.86, Y:-50.05, Z:2.19 [[ 9.76019139e-01 -2.17631238e-01 -4.82544564e-03 9.58593600e+01] [-2.17629756e-01 -9.76031039e-01 8.36363431e-04 -5.00547581e+01] [-4.89180353e-03 2.33853843e-04 -9.99988008e-01 2.18547234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.25 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.85, Y:-50.06, Z:2.18 [[ 9.90237649e-01 -1.39349894e-01 -3.31755548e-03 9.58505789e+01] [-1.39349882e-01 -9.90243180e-01 2.35900447e-04 -5.00625376e+01] [-3.31805939e-03 2.28703462e-04 -9.99994469e-01 2.18090554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.28 meters Centerline goodness [0,1] 0.9999314238690653 Centerline is valid? [True, True] Translation: X:95.84, Y:-50.07, Z:2.18 [[ 9.98170615e-01 -6.03709294e-02 -3.28226604e-03 9.58408061e+01] [-6.03713413e-02 -9.98175987e-01 -2.64949020e-05 -5.00698156e+01] [-3.27467963e-03 2.24601236e-04 -9.99994613e-01 2.18156479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.31 meters Centerline goodness [0,1] 0.9999314254365914 Centerline is valid? [True, True] Translation: X:95.83, Y:-50.08, Z:2.18 [[ 9.99823600e-01 1.85586378e-02 -2.88900427e-03 9.58331589e+01] [ 1.85579151e-02 -9.99827749e-01 -2.76751264e-04 -5.00775345e+01] [-2.89364276e-03 2.23088548e-04 -9.99995789e-01 2.18170017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.33999999999999 meters Centerline goodness [0,1] 0.9998171888210964 Centerline is valid? [True, True] Translation: X:95.83, Y:-50.09, Z:2.18 [[ 9.95250324e-01 9.72747459e-02 -3.79685051e-03 9.58261418e+01] [ 9.72731997e-02 -9.95257543e-01 -5.90245043e-04 -5.00859202e+01] [-3.83626005e-03 2.18109772e-04 -9.99992618e-01 2.18402639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.36999999999999 meters Centerline goodness [0,1] 0.9998627127951675 Centerline is valid? [True, True] Translation: X:95.82, Y:-50.10, Z:2.18 [[ 9.84386722e-01 1.75978318e-01 -3.79653943e-03 9.58194598e+01] [ 1.75976172e-01 -9.84394020e-01 -8.94655718e-04 -5.00950514e+01] [-3.89473072e-03 2.12586733e-04 -9.99992393e-01 2.18382431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.39999999999999 meters Centerline goodness [0,1] 0.999885617550843 Centerline is valid? [True, True] Translation: X:95.81, Y:-50.11, Z:2.18 [[ 9.67298562e-01 2.53604180e-01 -4.29090089e-03 9.58132008e+01] [ 2.53600741e-01 -9.67308057e-01 -1.33657951e-03 -5.01050276e+01] [-4.48958516e-03 2.04695798e-04 -9.99989901e-01 2.18475513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.42999999999999 meters Centerline goodness [0,1] 0.9998859202810925 Centerline is valid? [True, True] Translation: X:95.81, Y:-50.11, Z:2.19 [[ 9.43929249e-01 3.30113845e-01 -4.73524093e-03 9.58080378e+01] [ 3.30108662e-01 -9.43941106e-01 -1.85980012e-03 -5.01149635e+01] [-5.08373433e-03 1.92375685e-04 -9.99987059e-01 2.18562528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.46 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.80, Y:-50.12, Z:2.18 [[ 9.14582023e-01 4.04374441e-01 -4.58635674e-03 9.58032180e+01] [ 4.04368338e-01 -9.14593504e-01 -2.22926012e-03 -5.01246797e+01] [-5.09610790e-03 1.84263780e-04 -9.99986998e-01 2.18283776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.49 meters Centerline goodness [0,1] 0.9997937908122351 Centerline is valid? [True, True] Translation: X:95.80, Y:-50.14, Z:2.19 [[ 8.80192499e-01 4.74581035e-01 -5.83147305e-03 9.58000732e+01] [ 4.74569322e-01 -8.80211800e-01 -3.33865888e-03 -5.01354110e+01] [-6.71739557e-03 1.71224294e-04 -9.99977423e-01 2.18748048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.52 meters Centerline goodness [0,1] 0.9997940597684316 Centerline is valid? [True, True] Translation: X:95.80, Y:-50.15, Z:2.19 [[ 8.40014931e-01 5.42537510e-01 -5.28832233e-03 9.57963038e+01] [ 5.42525477e-01 -8.40031560e-01 -3.61734562e-03 -5.01456284e+01] [-6.40490334e-03 1.69574732e-04 -9.99979474e-01 2.18712448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.55 meters Centerline goodness [0,1] 0.9998855180309101 Centerline is valid? [True, True] Translation: X:95.79, Y:-50.16, Z:2.19 [[ 7.94869960e-01 6.06759042e-01 -5.02113587e-03 9.57945855e+01] [ 6.06745591e-01 -7.94885802e-01 -4.04363120e-03 -5.01567809e+01] [-6.44473940e-03 1.67608923e-04 -9.99979218e-01 2.18551859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.58 meters Centerline goodness [0,1] 0.9999542302675241 Centerline is valid? [True, True] Translation: X:95.79, Y:-50.17, Z:2.18 [[ 7.45295907e-01 6.66717523e-01 -4.66431880e-03 9.57936554e+01] [ 6.66703017e-01 -7.45310482e-01 -4.40135575e-03 -5.01683032e+01] [-6.41082670e-03 1.70597008e-04 -9.99979436e-01 2.18405271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.61 meters Centerline goodness [0,1] 0.9998626090540633 Centerline is valid? [True, True] Translation: X:95.79, Y:-50.18, Z:2.19 [[ 6.92274308e-01 7.21617568e-01 -4.93628056e-03 9.57933220e+01] [ 7.21597374e-01 -6.92291885e-01 -5.40146191e-03 -5.01792487e+01] [-7.31513678e-03 1.77286215e-04 -9.99973228e-01 2.18638057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.64 meters Centerline goodness [0,1] 0.999839467950923 Centerline is valid? [True, True] Translation: X:95.79, Y:-50.19, Z:2.19 [[ 6.36658162e-01 7.71136360e-01 -3.88564774e-03 9.57924590e+01] [ 7.71119969e-01 -6.36669986e-01 -5.03213591e-03 -5.01903403e+01] [-6.35433826e-03 2.07449832e-04 -9.99979789e-01 2.18687560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.67 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.79, Y:-50.20, Z:2.18 [[ 5.75031340e-01 8.18126514e-01 -2.82232019e-03 9.57936616e+01] [ 8.18114776e-01 -5.75038227e-01 -4.38760119e-03 -5.02024845e+01] [-5.21255486e-03 2.14026347e-04 -9.99986392e-01 2.18271119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.69999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.79, Y:-50.22, Z:2.18 [[ 5.10614946e-01 8.59806879e-01 -2.12298506e-03 9.57941905e+01] [ 8.59797559e-01 -5.10619311e-01 -4.00958406e-03 -5.02152604e+01] [-4.53150512e-03 2.22016179e-04 -9.99989708e-01 2.18220387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.72999999999999 meters Centerline goodness [0,1] 0.9999540039556598 Centerline is valid? [True, True] Translation: X:95.80, Y:-50.23, Z:2.18 [[ 4.42850430e-01 8.96594170e-01 -1.54631715e-03 9.57960069e+01] [ 8.96586801e-01 -4.42853072e-01 -3.64218918e-03 -5.02270487e+01] [-3.95035688e-03 2.26537501e-04 -9.99992172e-01 2.18341668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.75999999999999 meters Centerline goodness [0,1] 0.9999540050134536 Centerline is valid? [True, True] Translation: X:95.80, Y:-50.24, Z:2.18 [[ 3.72372654e-01 9.28082567e-01 -1.16455000e-03 9.57986591e+01] [ 9.28075922e-01 -3.72374404e-01 -3.51937831e-03 -5.02381455e+01] [-3.69992226e-03 2.29729428e-04 -9.99993129e-01 2.18323884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.78999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.80, Y:-50.25, Z:2.18 [[ 2.98375554e-01 9.54448122e-01 -9.00641253e-04 9.58019264e+01] [ 9.54441179e-01 -2.98376825e-01 -3.64784565e-03 -5.02490735e+01] [-3.75040991e-03 2.28818868e-04 -9.99992941e-01 2.18184212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.82 meters Centerline goodness [0,1] 0.9999312415484404 Centerline is valid? [True, True] Translation: X:95.81, Y:-50.26, Z:2.18 [[ 2.23155164e-01 9.74782657e-01 -7.38236062e-04 9.58069852e+01] [ 9.74773369e-01 -2.23156266e-01 -4.26137456e-03 -5.02605197e+01] [-4.31865601e-03 2.31334887e-04 -9.99990648e-01 2.18460654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.85 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.81, Y:-50.27, Z:2.18 [[ 1.45328152e-01 9.89383460e-01 -3.13110489e-04 9.58140308e+01] [ 9.89376615e-01 -1.45328313e-01 -3.68704108e-03 -5.02711338e+01] [-3.69340128e-03 2.26046669e-04 -9.99993154e-01 2.18254832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.88 meters Centerline goodness [0,1] 0.9999770988870059 Centerline is valid? [True, True] Translation: X:95.82, Y:-50.28, Z:2.18 [[ 6.66379715e-02 9.97777219e-01 -3.50940323e-05 9.58207511e+01] [ 9.97769749e-01 -6.66376086e-02 -3.86747608e-03 -5.02828926e+01] [-3.86121811e-03 2.22704997e-04 -9.99992521e-01 2.18351180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.91 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.83, Y:-50.29, Z:2.18 [[-1.29876839e-02 9.99915620e-01 2.70322404e-04 9.58267875e+01] [ 9.99907340e-01 1.29886780e-02 -4.07505929e-03 -5.02932986e+01] [-4.07822656e-03 2.17371774e-04 -9.99991660e-01 2.18251104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.94 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.84, Y:-50.30, Z:2.18 [[-9.43015822e-02 9.95543515e-01 5.66923603e-04 9.58376000e+01] [ 9.95536250e-01 9.43030630e-02 -3.80885302e-03 -5.03024119e+01] [-3.84534155e-03 2.05212133e-04 -9.99992586e-01 2.18169561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.97 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.85, Y:-50.31, Z:2.18 [[-1.73287173e-01 9.84871024e-01 7.88592443e-04 9.58468723e+01] [ 9.84865444e-01 1.73288851e-01 -3.32138367e-03 -5.03110872e+01] [-3.40778881e-03 2.01104259e-04 -9.99994173e-01 2.18188445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.0 meters Centerline goodness [0,1] 0.9999090309522185 Centerline is valid? [True, True] Translation: X:95.86, Y:-50.32, Z:2.18 [[-2.50436534e-01 9.68132176e-01 1.27722773e-03 9.58561848e+01] [ 9.68123245e-01 2.50439716e-01 -4.16307493e-03 -5.03186772e+01] [-4.35027534e-03 1.93927799e-04 -9.99990519e-01 2.18498334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.03 meters Centerline goodness [0,1] 0.9999319063939897 Centerline is valid? [True, True] Translation: X:95.87, Y:-50.32, Z:2.18 [[-3.27127547e-01 9.44979052e-01 1.46978432e-03 9.58668272e+01] [ 9.44971948e-01 3.27130794e-01 -3.66899310e-03 -5.03248593e+01] [-3.94793333e-03 1.88676241e-04 -9.99992189e-01 2.18436117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.06 meters Centerline goodness [0,1] 0.9999091115655533 Centerline is valid? [True, True] Translation: X:95.88, Y:-50.33, Z:2.18 [[-4.00239350e-01 9.16409416e-01 1.49825527e-03 9.58782983e+01] [ 9.16404683e-01 4.00242108e-01 -2.95161261e-03 -5.03301502e+01] [-3.30455044e-03 1.91656630e-04 -9.99994522e-01 2.18465611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.08999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.89, Y:-50.33, Z:2.18 [[-4.71251166e-01 8.81997542e-01 1.63517743e-03 9.58894645e+01] [ 8.81993564e-01 4.71253965e-01 -2.65575521e-03 -5.03342040e+01] [-3.11295342e-03 1.90688228e-04 -9.99995137e-01 2.18179943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.11999999999999 meters Centerline goodness [0,1] 0.9998636301650075 Centerline is valid? [True, True] Translation: X:95.90, Y:-50.34, Z:2.19 [[-5.37608983e-01 8.43192434e-01 1.76083583e-03 9.59002663e+01] [ 8.43189047e-01 5.37611831e-01 -2.39789802e-03 -5.03378656e+01] [-2.96853564e-03 1.95585973e-04 -9.99995575e-01 2.18563675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.14999999999999 meters Centerline goodness [0,1] 0.9998411834104728 Centerline is valid? [True, True] Translation: X:95.91, Y:-50.34, Z:2.19 [[-6.01371338e-01 7.98966611e-01 2.20665555e-03 9.59114907e+01] [ 7.98962381e-01 6.01375354e-01 -2.60721177e-03 -5.03407333e+01] [-3.41010342e-03 1.95132341e-04 -9.99994167e-01 2.18578243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.17999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.92, Y:-50.34, Z:2.18 [[-6.62027435e-01 7.49476935e-01 1.99992617e-03 9.59227043e+01] [ 7.49474383e-01 6.62030426e-01 -1.96561685e-03 -5.03439774e+01] [-2.79719647e-03 1.97601148e-04 -9.99996068e-01 2.18193324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.21 meters Centerline goodness [0,1] 0.9999321082646873 Centerline is valid? [True, True] Translation: X:95.93, Y:-50.35, Z:2.18 [[-7.17976497e-01 6.96062260e-01 2.66084627e-03 9.59320340e+01] [ 6.96058473e-01 7.17981400e-01 -2.30457825e-03 -5.03465456e+01] [-3.51456807e-03 1.97471578e-04 -9.99993804e-01 2.18451602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.24 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.97, Y:-50.34, Z:2.18 [[-7.65072680e-01 6.43936698e-01 3.05323757e-03 9.59656884e+01] [ 6.43932477e-01 7.65078752e-01 -2.33828770e-03 -5.03417111e+01] [-3.84167645e-03 1.77118790e-04 -9.99992605e-01 2.18177604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.27 meters Centerline goodness [0,1] 0.9999090061193385 Centerline is valid? [True, True] Translation: X:95.99, Y:-50.33, Z:2.19 [[-8.07259394e-01 5.90184993e-01 3.73424578e-03 9.59886597e+01] [ 5.90179727e-01 8.07268010e-01 -2.50000097e-03 -5.03262505e+01] [-4.49000022e-03 1.85726884e-04 -9.99989903e-01 2.18534729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.3 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.01, Y:-50.31, Z:2.18 [[-8.46875112e-01 5.31777613e-01 3.88790625e-03 9.60117308e+01] [ 5.31773005e-01 8.46884015e-01 -2.22148329e-03 -5.03092536e+01] [-4.47394074e-03 1.86164680e-04 -9.99989975e-01 2.18261925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.33 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.03, Y:-50.29, Z:2.18 [[-8.82387260e-01 4.70506529e-01 4.04107786e-03 9.60328012e+01] [ 4.70502549e-01 8.82396494e-01 -1.94419823e-03 -5.02896991e+01] [-4.48059090e-03 1.85801684e-04 -9.99989945e-01 2.18268468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.36 meters Centerline goodness [0,1] 0.9997958813390184 Centerline is valid? [True, True] Translation: X:96.05, Y:-50.27, Z:2.19 [[-9.12640575e-01 4.08742322e-01 4.11047714e-03 9.60510489e+01] [ 4.08739122e-01 9.12649811e-01 -1.62897808e-03 -5.02679959e+01] [-4.41725846e-03 1.93441322e-04 -9.99990225e-01 2.18756231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.39 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.07, Y:-50.25, Z:2.18 [[-9.39324962e-01 3.43010502e-01 3.52305007e-03 9.60710815e+01] [ 3.43008850e-01 9.39331549e-01 -1.08196526e-03 -5.02471066e+01] [-3.68043752e-03 1.92120375e-04 -9.99993209e-01 2.18322310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.42 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.08, Y:-50.22, Z:2.18 [[-9.61103325e-01 2.76169694e-01 3.27098227e-03 9.60771480e+01] [ 2.76168774e-01 9.61108871e-01 -7.38724068e-04 -5.02204195e+01] [-3.34778328e-03 1.93353006e-04 -9.99994377e-01 2.18353843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.44999999999999 meters Centerline goodness [0,1] 0.9998185117967332 Centerline is valid? [True, True] Translation: X:96.10, Y:-50.20, Z:2.19 [[-9.77866341e-01 2.09184855e-01 4.37213900e-03 9.60958220e+01] [ 2.09183689e-01 9.77876094e-01 -7.27238500e-04 -5.01978182e+01] [-4.42753748e-03 2.03438115e-04 -9.99990178e-01 2.18859632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.47999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.11, Y:-50.17, Z:2.18 [[-9.90341526e-01 1.38606128e-01 3.46446953e-03 9.61090192e+01] [ 1.38605974e-01 9.90347566e-01 -2.85719971e-04 -5.01728336e+01] [-3.47063151e-03 1.97235823e-04 -9.99993958e-01 2.18398099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.50999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:96.12, Y:-50.15, Z:2.18 [[-9.97671905e-01 6.81241693e-02 3.14117877e-03 9.61228597e+01] [ 6.81244496e-02 9.97676831e-01 -1.77943445e-05 -5.01465161e+01] [-3.13509350e-03 1.96238157e-04 -9.99995066e-01 2.18371145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.53999999999999 meters Centerline goodness [0,1] 0.9998639640865188 Centerline is valid? [True, True] Translation: X:96.13, Y:-50.12, Z:2.19 [[-9.99993882e-01 -2.34836232e-03 2.59238812e-03 9.61269929e+01] [-2.34784763e-03 9.99997223e-01 2.01564466e-04 -5.01186670e+01] [-2.59285427e-03 1.95476700e-04 -9.99996619e-01 2.18702460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.57 meters Centerline goodness [0,1] 0.9998637416541764 Centerline is valid? [True, True] Translation: X:96.13, Y:-50.09, Z:2.19 [[-9.97281806e-01 -7.36660400e-02 1.52123875e-03 9.61293768e+01] [-7.36656611e-02 9.97282948e-01 3.03667541e-04 -5.00910232e+01] [-1.53947545e-03 1.90779055e-04 -9.99998797e-01 2.18646323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.6 meters Centerline goodness [0,1] 0.9998639579176491 Centerline is valid? [True, True] Translation: X:96.12, Y:-50.06, Z:2.19 [[-9.89466527e-01 -1.44755609e-01 1.34369883e-03 9.61249115e+01] [-1.44755212e-01 9.89467421e-01 3.88906559e-04 -5.00636554e+01] [-1.38584262e-03 1.90302614e-04 -9.99999022e-01 2.18710209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.63 meters Centerline goodness [0,1] 0.9999092188280151 Centerline is valid? [True, True] Translation: X:95.98, Y:-49.20, Z:1.38 [[-9.96402330e-01 8.45011236e-02 6.47741797e-03 9.59817025e+01] [-8.44984548e-02 -9.96423375e-01 6.85073247e-04 -4.91967173e+01] [ 6.51214013e-03 1.35276770e-04 9.99978787e-01 1.37616148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.66 meters Centerline goodness [0,1] 0.9998636797382651 Centerline is valid? [True, True] Translation: X:95.98, Y:-50.08, Z:2.19 [[-9.88142748e-01 -1.53530169e-01 1.54786192e-03 9.59825009e+01] [-1.53529667e-01 9.88143941e-01 4.39054948e-04 -5.00823770e+01] [-1.59691855e-03 1.96206238e-04 -9.99998706e-01 2.18914067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.69 meters Centerline goodness [0,1] 0.9998636673483299 Centerline is valid? [True, True] Translation: X:95.97, Y:-50.06, Z:2.19 [[-9.74300089e-01 -2.25246223e-01 1.86456042e-03 9.59668003e+01] [-2.25245438e-01 9.74301855e-01 6.23566367e-04 -5.00569361e+01] [-1.95710064e-03 1.87557040e-04 -9.99998067e-01 2.18884011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.72 meters Centerline goodness [0,1] 0.9997957099080694 Centerline is valid? [True, True] Translation: X:95.92, Y:-50.04, Z:2.19 [[-9.55011142e-01 -2.96565094e-01 1.69203146e-03 9.59199437e+01] [-2.96564274e-01 9.55012623e-01 7.22062258e-04 -5.00404083e+01] [-1.83004987e-03 1.87781419e-04 -9.99998308e-01 2.19000158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.75 meters Centerline goodness [0,1] 0.9998411726000045 Centerline is valid? [True, True] Translation: X:95.86, Y:-50.03, Z:2.19 [[-9.30275979e-01 -3.66857666e-01 1.43383886e-03 9.58593109e+01] [-3.66856911e-01 9.30277065e-01 7.67590498e-04 -5.00319480e+01] [-1.61546386e-03 1.88057308e-04 -9.99998677e-01 2.18940539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.78 meters Centerline goodness [0,1] 0.999909159039811 Centerline is valid? [True, True] Translation: X:95.79, Y:-50.03, Z:2.19 [[-8.99784498e-01 -4.36334534e-01 -1.77735234e-04 9.57937363e+01] [-4.36334557e-01 8.99784495e-01 1.25432004e-04 -5.00294953e+01] [ 1.05193093e-04 1.90413798e-04 -9.99999976e-01 2.18803962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.81 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.72, Y:-50.04, Z:2.19 [[-8.64397231e-01 -5.02807176e-01 -1.53979655e-03 9.57177691e+01] [-5.02806766e-01 8.64398581e-01 -6.70943577e-04 -5.00384031e+01] [ 1.66835320e-03 1.94258355e-04 -9.99998589e-01 2.18573211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.83999999999999 meters Centerline goodness [0,1] 0.999954680383404 Centerline is valid? [True, True] Translation: X:95.62, Y:-50.07, Z:2.19 [[-8.24375364e-01 -5.66040507e-01 -1.84463840e-03 9.56209518e+01] [-5.66039603e-01 8.24377405e-01 -1.03025827e-03 -5.00672337e+01] [ 2.10384613e-03 1.94818848e-04 -9.99997768e-01 2.18708520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.86999999999999 meters Centerline goodness [0,1] 0.9999092497220773 Centerline is valid? [True, True] Translation: X:95.54, Y:-50.09, Z:2.19 [[-7.79237503e-01 -6.26725396e-01 -2.04725884e-03 9.55389546e+01] [-6.26723874e-01 7.79240168e-01 -1.39497184e-03 -5.00948098e+01] [ 2.46957060e-03 1.96051615e-04 -9.99996931e-01 2.18816689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.89999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.46, Y:-50.13, Z:2.19 [[-7.29546455e-01 -6.83928060e-01 -2.09244652e-03 9.54596270e+01] [-6.83925990e-01 7.29549430e-01 -1.69397454e-03 -5.01293430e+01] [ 2.68509988e-03 1.95245438e-04 -9.99996376e-01 2.18679614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.92999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.37, Y:-50.18, Z:2.19 [[-6.75373998e-01 -7.37473658e-01 -1.60226410e-03 9.53698208e+01] [-7.37472232e-01 6.75375871e-01 -1.46280249e-03 -5.01815485e+01] [ 2.16090881e-03 1.93686513e-04 -9.99997646e-01 2.18796502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.96 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.28, Y:-50.24, Z:2.19 [[-6.16932125e-01 -7.87015335e-01 -1.27121299e-03 9.52811470e+01] [-7.87014271e-01 6.16933405e-01 -1.30807596e-03 -5.02441630e+01] [ 1.81372959e-03 1.93468684e-04 -9.99998336e-01 2.18915300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.99 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.20, Y:-50.31, Z:2.19 [[-5.54678775e-01 -8.32063880e-01 -1.07515568e-03 9.51977053e+01] [-8.32062941e-01 5.54679783e-01 -1.26474990e-03 -5.03127179e+01] [ 1.64871983e-03 1.93067271e-04 -9.99998622e-01 2.19004510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.02 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.10, Y:-50.41, Z:2.19 [[-4.89030861e-01 -8.72266215e-01 -6.83203311e-04 9.51034226e+01] [-8.72265846e-01 4.89031300e-01 -8.25322143e-04 -5.04139914e+01] [ 1.05400843e-03 1.92326916e-04 -9.99999426e-01 2.19095352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.05 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.04, Y:-50.48, Z:2.19 [[-4.20025561e-01 -9.07512124e-01 -5.23013648e-04 9.50371796e+01] [-9.07511896e-01 4.20025842e-01 -6.71108945e-04 -5.04822089e+01] [ 8.28718753e-04 1.92758196e-04 -9.99999638e-01 2.19160716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.08 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.97, Y:-50.57, Z:2.19 [[-3.48850684e-01 -9.37178145e-01 -5.70360023e-04 9.49700085e+01] [-9.37177650e-01 3.48851097e-01 -9.82075028e-04 -5.05696175e+01] [ 1.11934997e-03 1.91931121e-04 -9.99999355e-01 2.19214345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.11 meters Centerline goodness [0,1] 0.9998184912081679 Centerline is valid? [True, True] Translation: X:94.90, Y:-50.70, Z:2.20 [[-2.76506530e-01 -9.61011974e-01 -3.52051406e-04 9.48983213e+01] [-9.61011845e-01 2.76506688e-01 -5.34677476e-04 -5.06983213e+01] [ 6.11176026e-04 1.90483758e-04 -9.99999795e-01 2.19646168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.14 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.85, Y:-50.78, Z:2.19 [[-2.02901234e-01 -9.79198991e-01 -6.52722601e-04 9.48503216e+01] [-9.79196443e-01 2.02902200e-01 -2.24123083e-03 -5.07764904e+01] [ 2.32704981e-03 1.84395148e-04 -9.99997275e-01 2.19246082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.17 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.80, Y:-50.88, Z:2.19 [[-1.28047587e-01 -9.91767868e-01 -5.57459878e-04 9.48047425e+01] [-9.91763530e-01 1.28048679e-01 -2.93873503e-03 -5.08849235e+01] [ 2.98592498e-03 1.76570447e-04 -9.99995527e-01 2.19287390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.19999999999999 meters Centerline goodness [0,1] 0.9999096106478657 Centerline is valid? [True, True] Translation: X:94.77, Y:-51.00, Z:2.20 [[-5.31231681e-02 -9.98587913e-01 -3.29063710e-04 9.47685424e+01] [-9.98583380e-01 5.31239200e-02 -3.01380560e-03 -5.09993038e+01] [ 3.02703100e-03 1.68494651e-04 -9.99995404e-01 2.19557452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.22999999999999 meters Centerline goodness [0,1] 0.9999774001084795 Centerline is valid? [True, True] Translation: X:94.74, Y:-51.13, Z:2.19 [[ 2.18043077e-02 -9.99762254e-01 -8.77589943e-05 9.47406770e+01] [-9.99757111e-01 -2.18039137e-02 -3.21067960e-03 -5.11284043e+01] [ 3.20800278e-03 1.57744325e-04 -9.99994842e-01 2.19435278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.25999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.72, Y:-51.24, Z:2.19 [[ 9.37661726e-02 -9.95594228e-01 1.93580711e-04 9.47239327e+01] [-9.95588113e-01 -9.37662757e-02 -3.49214959e-03 -5.12386391e+01] [ 3.49491531e-03 1.34718846e-04 -9.99993884e-01 2.19348961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.28999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.71, Y:-51.36, Z:2.19 [[ 1.68393928e-01 -9.85719650e-01 5.05762316e-04 9.47142571e+01] [-9.85712779e-01 -1.68394643e-01 -3.68249565e-03 -5.13572549e+01] [ 3.71507599e-03 1.21573529e-04 -9.99993092e-01 2.19385893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.32 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.71, Y:-51.48, Z:2.19 [[ 2.42660801e-01 -9.70110851e-01 8.20323642e-04 9.47149767e+01] [-9.70103643e-01 -2.42662162e-01 -3.74115859e-03 -5.14823131e+01] [ 3.82840005e-03 1.12033588e-04 -9.99992665e-01 2.19456565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.35 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.72, Y:-51.60, Z:2.20 [[ 3.16210556e-01 -9.48688505e-01 1.00206617e-03 9.47236198e+01] [-9.48682537e-01 -3.16212123e-01 -3.36707068e-03 -5.16034275e+01] [ 3.51116672e-03 1.14060612e-04 -9.99993829e-01 2.19536415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.38 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.74, Y:-51.72, Z:2.20 [[ 3.89071571e-01 -9.21207178e-01 8.04453693e-04 9.47379882e+01] [-9.21204421e-01 -3.89072378e-01 -2.25798389e-03 -5.17189024e+01] [ 2.39306168e-03 1.37451041e-04 -9.99997127e-01 2.19696612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.41 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.77, Y:-51.84, Z:2.20 [[ 4.59957003e-01 -8.87940967e-01 6.28796675e-04 9.47651015e+01] [-8.87939633e-01 -4.59957407e-01 -1.54650042e-03 -5.18374919e+01] [ 1.66242076e-03 1.52990207e-04 -9.99998606e-01 2.19785445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.44 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.80, Y:-51.95, Z:2.20 [[ 5.28448711e-01 -8.48965178e-01 2.93994647e-04 9.47987202e+01] [-8.48964824e-01 -5.28448765e-01 -7.93712205e-04 -5.19513204e+01] [ 8.29195132e-04 1.69845078e-04 -9.99999642e-01 2.19843646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.47 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.84, Y:-52.06, Z:2.20 [[ 5.95673536e-01 -8.03226564e-01 -3.54810977e-04 9.48388142e+01] [-8.03226570e-01 -5.95673612e-01 1.61717607e-04 -5.20629301e+01] [-3.41247414e-04 1.88662706e-04 -9.99999924e-01 2.19962934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.89, Y:-52.17, Z:2.20 [[ 6.57644177e-01 -7.53328645e-01 -2.98606896e-04 9.48909316e+01] [-7.53328666e-01 -6.57644218e-01 5.95887055e-05 -5.21733653e+01] [-2.41266977e-04 1.85760969e-04 -9.99999954e-01 2.20042791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.53 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.94, Y:-52.27, Z:2.20 [[ 7.15566761e-01 -6.98544210e-01 -4.44289318e-04 9.49391021e+01] [-6.98544213e-01 -7.15566874e-01 1.74015563e-04 -5.22677085e+01] [-4.39476283e-04 1.85835979e-04 -9.99999886e-01 2.20078111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.93, Y:-52.28, Z:2.20 [[ 7.69980010e-01 -6.38067989e-01 -1.56684057e-04 9.49319263e+01] [-6.38068007e-01 -7.69980004e-01 -1.10083419e-04 -5.22767109e+01] [-5.04028850e-05 1.84737116e-04 -9.99999982e-01 2.20096950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.58999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.92, Y:-52.28, Z:2.20 [[ 8.19269454e-01 -5.73408721e-01 -8.36336265e-07 9.49249772e+01] [-5.73408706e-01 -8.19269434e-01 -2.23901233e-04 -5.22833163e+01] [ 1.27701735e-04 1.83915003e-04 -9.99999975e-01 2.20077050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.61999999999999 meters Centerline goodness [0,1] 0.9998211091234347 Centerline is valid? [True, True] Translation: X:94.92, Y:-52.29, Z:2.20 [[ 8.64703560e-01 -5.02282512e-01 -1.79743097e-04 9.49161389e+01] [-5.02282534e-01 -8.64703559e-01 -1.07380147e-04 -5.22948013e+01] [-1.01489326e-04 1.83133814e-04 -9.99999978e-01 2.20348319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.64999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.91, Y:-52.30, Z:2.20 [[ 9.03063009e-01 -4.29505676e-01 1.44115620e-03 9.49087340e+01] [-4.29504771e-01 -9.03064137e-01 -9.03262274e-04 -5.23029765e+01] [ 1.68941276e-03 1.96719281e-04 -9.99998554e-01 2.19914986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.67999999999999 meters Centerline goodness [0,1] 0.9997545300365973 Centerline is valid? [True, True] Translation: X:94.90, Y:-52.31, Z:2.20 [[ 9.34679529e-01 -3.55491237e-01 3.97379121e-04 9.49023836e+01] [-3.55491113e-01 -9.34679595e-01 -3.51941621e-04 -5.23115365e+01] [ 4.96534318e-04 1.87687883e-04 -9.99999859e-01 2.20388120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.71 meters Centerline goodness [0,1] 0.999955452601568 Centerline is valid? [True, True] Translation: X:94.90, Y:-52.32, Z:2.20 [[ 9.60578503e-01 -2.78002924e-01 1.82023373e-03 9.48963831e+01] [-2.78002006e-01 -9.60580205e-01 -7.44339408e-04 -5.23211813e+01] [ 1.95540903e-03 2.08967805e-04 -9.99998066e-01 2.20049883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.74 meters Centerline goodness [0,1] 0.9999108932947204 Centerline is valid? [True, True] Translation: X:94.89, Y:-52.33, Z:2.20 [[ 9.80316797e-01 -1.97418579e-01 2.20970629e-03 9.48925932e+01] [-1.97417557e-01 -9.80319261e-01 -6.73616106e-04 -5.23314319e+01] [ 2.29920197e-03 2.24122365e-04 -9.99997332e-01 2.20187481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.77 meters Centerline goodness [0,1] 0.9999554456548375 Centerline is valid? [True, True] Translation: X:94.89, Y:-52.34, Z:2.20 [[ 9.92999387e-01 -1.18089276e-01 2.67203757e-03 9.48859767e+01] [-1.18088203e-01 -9.93002954e-01 -5.56436692e-04 -5.23388003e+01] [ 2.71905040e-03 2.37005180e-04 -9.99996275e-01 2.20038983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.8 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.88, Y:-52.35, Z:2.20 [[ 9.99250844e-01 -3.85812713e-02 3.03923989e-03 9.48804509e+01] [-3.85803378e-02 -9.99255435e-01 -3.65219957e-04 -5.23465930e+01] [ 3.05106763e-03 2.47691449e-04 -9.99995315e-01 2.19890650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.83 meters Centerline goodness [0,1] 0.9997772332368011 Centerline is valid? [True, True] Translation: X:94.87, Y:-52.36, Z:2.20 [[ 9.99195452e-01 4.00605116e-02 1.89831111e-03 9.48740784e+01] [ 4.00608609e-02 -9.99197231e-01 -1.46317354e-04 -5.23559260e+01] [ 1.89092565e-03 2.22247612e-04 -9.99998188e-01 2.20322856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.86 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.87, Y:-52.36, Z:2.20 [[ 9.92812807e-01 1.19637209e-01 3.10931927e-03 9.48699498e+01] [ 1.19637417e-01 -9.92817644e-01 1.19575596e-04 -5.23643479e+01] [ 3.10129273e-03 2.53274743e-04 -9.99995159e-01 2.19885052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.87, Y:-52.37, Z:2.20 [[ 9.80187388e-01 1.98057526e-01 2.42910165e-03 9.48671839e+01] [ 1.98057518e-01 -9.80190369e-01 2.46559364e-04 -5.23735786e+01] [ 2.42981498e-03 2.39427464e-04 -9.99997019e-01 2.19977317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.92 meters Centerline goodness [0,1] 0.999844261018533 Centerline is valid? [True, True] Translation: X:94.86, Y:-52.38, Z:2.20 [[ 9.61709334e-01 2.74071427e-01 -9.74724088e-05 9.48648157e+01] [ 2.74071403e-01 -9.61709323e-01 -2.09532235e-04 -5.23833380e+01] [-1.51166923e-04 1.74794707e-04 -9.99999973e-01 2.20479081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.94999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.86, Y:-52.39, Z:2.20 [[ 9.37285006e-01 3.48560993e-01 -1.43234374e-03 9.48618597e+01] [ 3.48560356e-01 -9.37286090e-01 -6.80826978e-04 -5.23935181e+01] [-1.57982559e-03 1.38870676e-04 -9.99998742e-01 2.20401145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.97999999999999 meters Centerline goodness [0,1] 0.9998440389457033 Centerline is valid? [True, True] Translation: X:94.86, Y:-52.40, Z:2.21 [[ 9.07660208e-01 4.19693013e-01 -3.27443476e-03 9.48599009e+01] [ 4.19689914e-01 -9.07666110e-01 -1.61527496e-03 -5.23991205e+01] [-3.65001308e-03 9.18735631e-05 -9.99993334e-01 2.20851111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.00999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.86, Y:-52.41, Z:2.20 [[ 8.72314462e-01 4.88936439e-01 -2.93900632e-03 9.48580238e+01] [ 4.88933279e-01 -8.72319408e-01 -1.76062522e-03 -5.24066228e+01] [-3.42458608e-03 9.88408481e-05 -9.99994131e-01 2.20482113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.03999999999999 meters Centerline goodness [0,1] 0.999910778015703 Centerline is valid? [True, True] Translation: X:94.86, Y:-52.41, Z:2.21 [[ 8.32375734e-01 5.54197311e-01 -3.99721606e-03 9.48572491e+01] [ 5.54190488e-01 -8.32385328e-01 -2.75108607e-03 -5.24149369e+01] [-4.85186850e-03 7.47181685e-05 -9.99988227e-01 2.20767302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.07 meters Centerline goodness [0,1] 0.9998217389366728 Centerline is valid? [True, True] Translation: X:94.86, Y:-52.42, Z:2.21 [[ 7.87676244e-01 6.16073547e-01 -4.41816960e-03 9.48562006e+01] [ 6.16063363e-01 -7.87688632e-01 -3.54291778e-03 -5.24241674e+01] [-5.66283989e-03 6.87997500e-05 -9.99983964e-01 2.20916255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.1 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.85, Y:-52.43, Z:2.21 [[ 7.37919791e-01 6.74882084e-01 -2.92493464e-03 9.48549113e+01] [ 6.74876217e-01 -7.37925580e-01 -2.81607447e-03 -5.24326355e+01] [-4.05890230e-03 1.04068253e-04 -9.99991757e-01 2.20505755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.13 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.85, Y:-52.44, Z:2.20 [[ 6.85905173e-01 7.27688338e-01 -1.94350036e-03 9.48540416e+01] [ 7.27684845e-01 -6.85907913e-01 -2.25868035e-03 -5.24392109e+01] [-2.97667762e-03 1.34984780e-04 -9.99995561e-01 2.20302995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.16 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.86, Y:-52.45, Z:2.20 [[ 6.28514278e-01 7.77797339e-01 -1.04915159e-03 9.48552499e+01] [ 7.77795825e-01 -6.28515135e-01 -1.54229343e-03 -5.24485203e+01] [-1.85899937e-03 1.53327716e-04 -9.99998260e-01 2.20194528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.19 meters Centerline goodness [0,1] 0.9999106863752065 Centerline is valid? [True, True] Translation: X:94.86, Y:-52.46, Z:2.20 [[ 5.67810849e-01 8.23158434e-01 -1.01556190e-03 9.48559590e+01] [ 8.23156594e-01 -5.67811736e-01 -1.74789520e-03 -5.24583916e+01] [-2.01544265e-03 1.56507383e-04 -9.99997957e-01 2.20357875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.22 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.86, Y:-52.47, Z:2.20 [[ 5.03236741e-01 8.64148585e-01 -7.22948455e-05 9.48566762e+01] [ 8.64148478e-01 -5.03236718e-01 -4.62077389e-04 -5.24665521e+01] [-4.35684943e-04 1.70060839e-04 -9.99999891e-01 2.20025878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.25 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.86, Y:-52.48, Z:2.20 [[ 4.34015744e-01 9.00905285e-01 -3.92641340e-05 9.48593674e+01] [ 9.00905177e-01 -4.34015713e-01 -4.72198425e-04 -5.24764413e+01] [-4.42447308e-04 1.69568289e-04 -9.99999888e-01 2.20031794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.28 meters Centerline goodness [0,1] 0.9998656515897896 Centerline is valid? [True, True] Translation: X:94.86, Y:-52.49, Z:2.20 [[ 3.66715691e-01 9.30333053e-01 -1.11149069e-04 9.48601390e+01] [ 9.30332768e-01 -3.66715668e-01 -7.47416194e-04 -5.24850225e+01] [-7.36106094e-04 1.70683625e-04 -9.99999715e-01 2.20281226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.31 meters Centerline goodness [0,1] 0.9998659307755905 Centerline is valid? [True, True] Translation: X:94.86, Y:-52.49, Z:2.20 [[ 2.94626345e-01 9.55612532e-01 -7.59543913e-05 9.48638418e+01] [ 9.55612188e-01 -2.94626305e-01 -8.29302817e-04 -5.24944917e+01] [-8.14870326e-04 1.71751516e-04 -9.99999653e-01 2.20293296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.33999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.87, Y:-52.50, Z:2.20 [[ 2.20465151e-01 9.75394826e-01 2.26711120e-04 9.48693119e+01] [ 9.75394813e-01 -2.20465202e-01 2.29695611e-04 -5.25035334e+01] [ 2.74025823e-04 1.70492973e-04 -9.99999948e-01 2.19969392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.36999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.87, Y:-52.51, Z:2.20 [[ 1.45493336e-01 9.89359205e-01 2.29811517e-04 9.48741108e+01] [ 9.89359137e-01 -1.45493419e-01 4.03451583e-04 -5.25130353e+01] [ 4.32594601e-04 1.68666608e-04 -9.99999892e-01 2.19967535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.39999999999999 meters Centerline goodness [0,1] 0.9999551207252491 Centerline is valid? [True, True] Translation: X:94.88, Y:-52.52, Z:2.20 [[ 7.16180371e-02 9.97432113e-01 1.91727575e-04 9.48800569e+01] [ 9.97432070e-01 -7.16180990e-02 3.38316635e-04 -5.25217811e+01] [ 3.51179040e-04 1.67005659e-04 -9.99999924e-01 2.20097547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.42999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.89, Y:-52.53, Z:2.20 [[-5.51809823e-03 9.99984763e-01 1.55872541e-04 9.48876902e+01] [ 9.99984362e-01 5.51795412e-03 9.10269122e-04 -5.25307565e+01] [ 9.09395155e-04 1.60893058e-04 -9.99999574e-01 2.19965549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.46 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.90, Y:-52.54, Z:2.20 [[-8.27285981e-02 9.96572112e-01 6.17374561e-05 9.48969738e+01] [ 9.96571457e-01 8.27284722e-02 1.15348136e-03 -5.25383012e+01] [ 1.14441991e-03 1.56951682e-04 -9.99999333e-01 2.19973458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.49 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.91, Y:-52.55, Z:2.20 [[-1.59770130e-01 9.87154244e-01 6.23673264e-05 9.49076104e+01] [ 9.87154059e-01 1.59770060e-01 6.25937102e-04 -5.25456577e+01] [ 6.07932035e-04 1.61572211e-04 -9.99999802e-01 2.20000886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.52 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.92, Y:-52.55, Z:2.20 [[-2.36144523e-01 9.71717940e-01 9.68651220e-05 9.49178861e+01] [ 9.71717908e-01 2.36144485e-01 2.98687338e-04 -5.25533089e+01] [ 2.67365681e-04 1.64658953e-04 -9.99999951e-01 2.20031872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.55 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.93, Y:-52.56, Z:2.20 [[-3.11507368e-01 9.50243700e-01 2.66881728e-04 9.49262283e+01] [ 9.50243678e-01 3.11507435e-01 -2.64155448e-04 -5.25606982e+01] [-3.34147693e-04 1.71316307e-04 -9.99999929e-01 2.20097467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.58 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.94, Y:-52.56, Z:2.20 [[-3.86358233e-01 9.22348694e-01 4.49857887e-04 9.49411311e+01] [ 9.22348501e-01 3.86358456e-01 -6.21990283e-04 -5.25640428e+01] [-7.47498324e-04 1.74614681e-04 -9.99999705e-01 2.20081697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.61 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.95, Y:-52.57, Z:2.20 [[-4.58759296e-01 8.88560502e-01 3.77456568e-04 9.49541713e+01] [ 8.88560446e-01 4.58759420e-01 -3.59361153e-04 -5.25676716e+01] [-4.92475883e-04 1.70532706e-04 -9.99999864e-01 2.20079463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.64 meters Centerline goodness [0,1] 0.9998430070871086 Centerline is valid? [True, True] Translation: X:94.97, Y:-52.57, Z:2.21 [[-5.30233666e-01 8.47850421e-01 1.38684091e-03 9.49681656e+01] [ 8.47848347e-01 5.30235450e-01 -1.88379135e-03 -5.25703016e+01] [-2.33252550e-03 1.76981186e-04 -9.99997264e-01 2.20528397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.67 meters Centerline goodness [0,1] 0.9999551961289456 Centerline is valid? [True, True] Translation: X:94.98, Y:-52.57, Z:2.20 [[-5.97858712e-01 8.01600358e-01 1.35173086e-03 9.49813315e+01] [ 8.01598912e-01 5.97860217e-01 -1.53146620e-03 -5.25712023e+01] [-2.03576996e-03 1.67945579e-04 -9.99997914e-01 2.20387022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.69999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.00, Y:-52.57, Z:2.20 [[-6.61654668e-01 7.49807657e-01 1.25632693e-03 9.49950697e+01] [ 7.49806744e-01 6.61655841e-01 -1.18099998e-03 -5.25694351e+01] [-1.71677887e-03 1.60588254e-04 -9.99998513e-01 2.20306192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.72999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.01, Y:-52.57, Z:2.20 [[-7.20820120e-01 6.93120362e-01 1.58698905e-03 9.50085464e+01] [ 6.93119130e-01 7.20821851e-01 -1.31543839e-03 -5.25672248e+01] [-2.05569352e-03 1.51778009e-04 -9.99997876e-01 2.20370328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.75999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.03, Y:-52.54, Z:2.20 [[-7.72769562e-01 6.34683824e-01 1.91001023e-03 9.50317718e+01] [ 6.34682248e-01 7.72771914e-01 -1.41895100e-03 -5.25447921e+01] [-2.37658751e-03 1.15727440e-04 -9.99997169e-01 2.20446311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.78999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.05, Y:-52.52, Z:2.20 [[-8.17803363e-01 5.75493521e-01 2.20618612e-03 9.50469253e+01] [ 5.75491761e-01 8.17806332e-01 -1.42690873e-03 -5.25194345e+01] [-2.62540971e-03 1.02711180e-04 -9.99996548e-01 2.20456094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.82 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.07, Y:-52.50, Z:2.20 [[-8.58146215e-01 5.13400498e-01 2.23674582e-03 9.50717558e+01] [ 5.13399040e-01 8.58149124e-01 -1.22709802e-03 -5.25005737e+01] [-2.54945421e-03 9.53136361e-05 -9.99996746e-01 2.20480386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.85 meters Centerline goodness [0,1] 0.9998441465912633 Centerline is valid? [True, True] Translation: X:95.09, Y:-52.48, Z:2.21 [[-8.93247684e-01 4.49557055e-01 2.65139654e-03 9.50910050e+01] [ 4.49555343e-01 8.93251615e-01 -1.24323122e-03 -5.24765158e+01] [-2.92726761e-03 8.14360719e-05 -9.99995712e-01 2.20922593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.88 meters Centerline goodness [0,1] 0.9998662624821684 Centerline is valid? [True, True] Translation: X:95.11, Y:-52.46, Z:2.21 [[-9.23867742e-01 3.82704835e-01 2.32491205e-03 9.51100181e+01] [ 3.82703852e-01 9.23870663e-01 -8.71522584e-04 -5.24559460e+01] [-2.48145394e-03 8.45811949e-05 -9.99996918e-01 2.20820353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.91 meters Centerline goodness [0,1] 0.9999330566340876 Centerline is valid? [True, True] Translation: X:95.12, Y:-52.43, Z:2.21 [[-9.49326636e-01 3.14287240e-01 1.57111676e-03 9.51150959e+01] [ 3.14286985e-01 9.49327931e-01 -4.12835998e-04 -5.24264839e+01] [-1.62125411e-03 1.01865342e-04 -9.99998681e-01 2.20650632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.94 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.13, Y:-52.40, Z:2.20 [[-9.69906486e-01 2.43477605e-01 2.51414849e-04 9.51306988e+01] [ 2.43477632e-01 9.69906509e-01 8.03457735e-05 -5.24015862e+01] [-2.24286502e-04 1.39141779e-04 -9.99999965e-01 2.20378842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.97 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.36, Y:-51.63, Z:1.38 [[-9.30873574e-01 -3.65320425e-01 3.92119535e-03 9.53629893e+01] [ 3.65318184e-01 -9.30881806e-01 -1.29906205e-03 -5.16333912e+01] [ 4.12474331e-03 2.23221424e-04 9.99991468e-01 1.38463667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.0 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.09, Y:-52.39, Z:2.20 [[-9.70966020e-01 2.39217411e-01 -1.34485947e-04 9.50930586e+01] [ 2.39217384e-01 9.70966018e-01 1.89066736e-04 -5.23902349e+01] [ 1.75809339e-04 1.51406000e-04 -9.99999973e-01 2.20413294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.03 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.10, Y:-52.36, Z:2.20 [[-9.85373515e-01 1.70407467e-01 -5.75264691e-04 9.51014358e+01] [ 1.70407339e-01 9.85373669e-01 2.65493619e-04 -5.23640433e+01] [ 6.12092775e-04 1.63581055e-04 -9.99999799e-01 2.20470786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.06 meters Centerline goodness [0,1] 0.9999109884730073 Centerline is valid? [True, True] Translation: X:95.11, Y:-52.34, Z:2.21 [[-9.94706824e-01 1.02753377e-01 2.78078207e-04 9.51138422e+01] [ 1.02753411e-01 9.94706854e-01 1.09509130e-04 -5.23404146e+01] [-2.65353865e-04 1.37502963e-04 -9.99999955e-01 2.20852035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.08999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.12, Y:-52.32, Z:2.21 [[-9.99464606e-01 3.27144356e-02 5.15906939e-04 9.51203968e+01] [ 3.27144986e-02 9.99464731e-01 1.14179894e-04 -5.23170918e+01] [-5.11895460e-04 1.30996400e-04 -9.99999860e-01 2.20617761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.11999999999999 meters Centerline goodness [0,1] 0.9998438301764719 Centerline is valid? [True, True] Translation: X:95.18, Y:-51.51, Z:1.38 [[-9.88580197e-01 -1.50573632e-01 6.06422144e-03 9.51761819e+01] [ 1.50573060e-01 -9.88598729e-01 -5.53422353e-04 -5.15082529e+01] [ 6.07841243e-03 3.66005999e-04 9.99981459e-01 1.37848032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.14999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.05, Y:-52.32, Z:2.21 [[-9.99467929e-01 3.25277549e-02 2.40931360e-03 9.50531762e+01] [ 3.25278867e-02 9.99470828e-01 1.55353015e-05 -5.23173654e+01] [-2.40753333e-03 9.38969152e-05 -9.99997097e-01 2.20792950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.17999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:95.10, Y:-51.50, Z:1.38 [[-9.89897295e-01 -1.41610873e-01 7.05020648e-03 9.50968936e+01] [ 1.41609459e-01 -9.89922355e-01 -7.01916503e-04 -5.14994490e+01] [ 7.07855601e-03 3.03550678e-04 9.99974901e-01 1.38071822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.21 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.98, Y:-52.32, Z:2.21 [[-9.99527608e-01 3.05315371e-02 3.51951278e-03 9.49755643e+01] [ 3.05316336e-02 9.99533801e-01 -2.63071224e-05 -5.23153669e+01] [-3.51867518e-03 8.11617795e-05 -9.99993806e-01 2.20951868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.24 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.98, Y:-52.29, Z:2.21 [[-9.99234741e-01 -3.88996040e-02 4.09303431e-03 9.49819927e+01] [-3.88989750e-02 9.99243121e-01 2.33202530e-04 -5.22889603e+01] [-4.09900787e-03 7.38092305e-05 -9.99991596e-01 2.21028681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.27 meters Centerline goodness [0,1] 0.9999327655759749 Centerline is valid? [True, True] Translation: X:94.98, Y:-52.26, Z:2.21 [[-9.94156598e-01 -1.07840801e-01 4.79795090e-03 9.49841771e+01] [-1.07839199e-01 9.94168173e-01 5.92167803e-04 -5.22635208e+01] [-4.83382993e-03 7.13003471e-05 -9.99988314e-01 2.21230162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.3 meters Centerline goodness [0,1] 0.9999327339178008 Centerline is valid? [True, True] Translation: X:94.98, Y:-52.24, Z:2.21 [[-9.84277067e-01 -1.76558108e-01 5.08830067e-03 9.49773751e+01] [-1.76555346e-01 9.84290216e-01 9.90516723e-04 -5.22380150e+01] [-5.18324832e-03 7.65762104e-05 -9.99986564e-01 2.21290006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.33 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.96, Y:-52.22, Z:2.21 [[-9.70058697e-01 -2.42830334e-01 4.42198295e-03 9.49597296e+01] [-2.42827319e-01 9.70068770e-01 1.21437575e-03 -5.22177367e+01] [-4.58451482e-03 1.04237490e-04 -9.99989486e-01 2.21098927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.36 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.92, Y:-52.20, Z:2.21 [[-9.50477909e-01 -3.10759862e-01 4.47807954e-03 9.49152184e+01] [-3.10755831e-01 9.50488451e-01 1.58701043e-03 -5.22036939e+01] [-4.74954203e-03 1.16829022e-04 -9.99988714e-01 2.21096634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.39 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.85, Y:-52.20, Z:2.21 [[-9.25993273e-01 -3.77515959e-01 4.26135180e-03 9.48548163e+01] [-3.77511308e-01 9.26003069e-01 1.87861895e-03 -5.21981436e+01] [-4.65523348e-03 1.30880022e-04 -9.99989156e-01 2.21128430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.42 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.79, Y:-52.20, Z:2.21 [[-8.97574840e-01 -4.40841160e-01 4.29875961e-03 9.47914749e+01] [-4.40835256e-01 8.97585120e-01 2.28685338e-03 -5.21998264e+01] [-4.86664176e-03 1.57577262e-04 -9.99988145e-01 2.21193691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.44999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.71, Y:-52.21, Z:2.21 [[-8.63188761e-01 -5.04868643e-01 3.58004426e-03 9.47112663e+01] [-5.04863490e-01 8.63196169e-01 2.28701517e-03 -5.22131700e+01] [-4.24492273e-03 1.66692152e-04 -9.99990976e-01 2.21198826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.47999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.63, Y:-52.24, Z:2.21 [[-8.23772269e-01 -5.66911752e-01 3.21162978e-03 9.46266461e+01] [-5.66906605e-01 8.23778511e-01 2.42199675e-03 -5.22362006e+01] [-4.01873002e-03 1.74479626e-04 -9.99991910e-01 2.21187892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.50999999999999 meters Centerline goodness [0,1] 0.9998873442534304 Centerline is valid? [True, True] Translation: X:94.54, Y:-52.27, Z:2.21 [[-7.79948739e-01 -6.25838093e-01 2.57791030e-03 9.45415486e+01] [-6.25833895e-01 7.79952979e-01 2.29932693e-03 -5.22686772e+01] [-3.44965520e-03 1.80013499e-04 -9.99994034e-01 2.21476571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.53999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.45, Y:-52.31, Z:2.21 [[-7.30914260e-01 -6.82467511e-01 1.56216974e-03 9.44496964e+01] [-6.82465429e-01 7.30915909e-01 1.69474513e-03 -5.23127118e+01] [-2.29842321e-03 1.72586545e-04 -9.99997344e-01 2.21064213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.36, Y:-52.36, Z:2.21 [[-6.78432087e-01 -7.34662316e-01 1.08810042e-03 9.43624171e+01] [-7.34660940e-01 6.78432938e-01 1.43230505e-03 -5.23643190e+01] [-1.79046371e-03 1.72336825e-04 -9.99998382e-01 2.20977017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.6 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.27, Y:-52.43, Z:2.21 [[-6.20570714e-01 -7.84150168e-01 7.08878029e-04 9.42743945e+01] [-7.84149319e-01 6.20571097e-01 1.16568032e-03 -5.24265845e+01] [-1.35397763e-03 1.67520843e-04 -9.99999069e-01 2.21005301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.63 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.19, Y:-52.50, Z:2.21 [[-5.58710444e-01 -8.29362542e-01 6.43559004e-04 9.41872189e+01] [-8.29361606e-01 5.58710790e-01 1.25690021e-03 -5.24989578e+01] [-1.40198931e-03 1.68500147e-04 -9.99999003e-01 2.21018779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.66 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.11, Y:-52.58, Z:2.21 [[-4.93046752e-01 -8.70002614e-01 5.92732044e-04 9.41066396e+01] [-8.70001521e-01 4.93047079e-01 1.38980860e-03 -5.25778737e+01] [-1.50138192e-03 1.69562836e-04 -9.99998859e-01 2.21101314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.69 meters Centerline goodness [0,1] 0.9998653470679324 Centerline is valid? [True, True] Translation: X:94.03, Y:-52.67, Z:2.21 [[-4.24291429e-01 -9.05525174e-01 9.70710252e-04 9.40287323e+01] [-9.05521718e-01 4.24292499e-01 2.50870872e-03 -5.26676548e+01] [-2.68356398e-03 1.85424392e-04 -9.99996382e-01 2.21496635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.72 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.95, Y:-52.77, Z:2.21 [[-3.50501023e-01 -9.36561894e-01 9.23218063e-04 9.39537883e+01] [-9.36557144e-01 3.50502191e-01 2.98837738e-03 -5.27667842e+01] [-3.12239034e-03 1.82782858e-04 -9.99995109e-01 2.21432162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.89, Y:-52.87, Z:2.22 [[-2.75616510e-01 -9.61267218e-01 9.34902671e-04 9.38901102e+01] [-9.61259169e-01 2.75618033e-01 3.93830849e-03 -5.28701960e+01] [-4.04344289e-03 1.86779079e-04 -9.99991808e-01 2.21532948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.78 meters Centerline goodness [0,1] 0.999955238244444 Centerline is valid? [True, True] Translation: X:93.84, Y:-52.97, Z:2.22 [[-1.99258878e-01 -9.79946498e-01 8.72037066e-04 9.38351324e+01] [-9.79932422e-01 1.99260693e-01 5.25589175e-03 -5.29736667e+01] [-5.32425542e-03 1.92745699e-04 -9.99985807e-01 2.21775555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.81 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.79, Y:-53.11, Z:2.22 [[-1.21146090e-01 -9.92634568e-01 4.88322996e-04 9.37855466e+01] [-9.92619200e-01 1.21146933e-01 5.52670298e-03 -5.31073314e+01] [-5.54515527e-03 1.84819676e-04 -9.99984608e-01 2.21757731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.83999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.75, Y:-53.20, Z:2.22 [[-4.10913728e-02 -9.99155392e-01 4.37772457e-05 9.37484118e+01] [-9.99142105e-01 4.10910523e-02 5.15549424e-03 -5.32032448e+01] [-5.15293872e-03 1.68106646e-04 -9.99986709e-01 2.21713231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.86999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.72, Y:-53.32, Z:2.22 [[ 3.78166074e-02 -9.99284642e-01 -3.30368568e-04 9.37198767e+01] [-9.99274377e-01 -3.78177173e-02 4.53210237e-03 -5.33217308e+01] [-4.54135408e-03 1.58740109e-04 -9.99989675e-01 2.21656008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.89999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.70, Y:-53.44, Z:2.22 [[ 1.16771397e-01 -9.93158649e-01 -5.82608439e-04 9.37007112e+01] [-9.93151869e-01 -1.16772755e-01 3.67266324e-03 -5.34448708e+01] [-3.71557006e-03 1.49756641e-04 -9.99993086e-01 2.21595610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.92999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.69, Y:-53.57, Z:2.22 [[ 1.95082260e-01 -9.80786653e-01 -6.72490914e-04 9.36905362e+01] [-9.80783094e-01 -1.95083367e-01 2.64638107e-03 -5.35668680e+01] [-2.72672702e-03 1.43305719e-04 -9.99996272e-01 2.21546415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.96 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.69, Y:-53.69, Z:2.22 [[ 2.72317166e-01 -9.62207368e-01 -5.84218603e-04 9.36897870e+01] [-9.62206133e-01 -2.72317756e-01 1.54801837e-03 -5.36889812e+01] [-1.64860778e-03 1.40586747e-04 -9.99998631e-01 2.21525720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.99 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.70, Y:-53.81, Z:2.21 [[ 3.49759112e-01 -9.36839593e-01 -3.76418972e-04 9.36967416e+01] [-9.36839405e-01 -3.49759286e-01 6.09343047e-04 -5.38105565e+01] [-7.02512723e-04 1.39520843e-04 -9.99999744e-01 2.21466508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.02 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.71, Y:-53.93, Z:2.21 [[ 4.23041262e-01 -9.06110400e-01 -1.80650594e-04 9.37145212e+01] [-9.06110410e-01 -4.23041277e-01 4.94378121e-05 -5.39307462e+01] [-1.21218773e-04 1.42775149e-04 -9.99999982e-01 2.21487336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.05 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.74, Y:-54.05, Z:2.22 [[ 4.93897455e-01 -8.69520147e-01 -1.32821557e-04 9.37399563e+01] [-8.69520157e-01 -4.93897452e-01 -5.58312297e-05 -5.40485501e+01] [-1.70538493e-05 1.43065923e-04 -9.99999990e-01 2.21542223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.08 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.77, Y:-54.16, Z:2.22 [[ 5.63121020e-01 -8.26374407e-01 -2.35156956e-04 9.37723065e+01] [-8.26374413e-01 -5.63121052e-01 9.78551205e-05 -5.41614116e+01] [-2.13286800e-04 1.39223416e-04 -9.99999968e-01 2.21630119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.11 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.82, Y:-54.28, Z:2.22 [[ 6.26651966e-01 -7.79299214e-01 -2.18572589e-04 9.38171958e+01] [-7.79299225e-01 -6.26651989e-01 5.03182814e-05 -5.42758229e+01] [-1.76181945e-04 1.38801399e-04 -9.99999975e-01 2.21732440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.14 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.87, Y:-54.38, Z:2.22 [[ 6.84692569e-01 -7.28831966e-01 -2.24975220e-04 9.38655921e+01] [-7.28831978e-01 -6.84692592e-01 3.78248998e-05 -5.43758406e+01] [-1.81606863e-04 1.38070707e-04 -9.99999974e-01 2.21758265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.17 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.91, Y:-54.47, Z:2.22 [[ 7.39969005e-01 -6.72640934e-01 -2.14174323e-04 9.39143365e+01] [-6.72640948e-01 -7.39969023e-01 9.24098798e-06 -5.44661046e+01] [-1.64698231e-04 1.37224375e-04 -9.99999977e-01 2.21794234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.19999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.91, Y:-54.48, Z:2.22 [[ 7.91358809e-01 -6.11351849e-01 -3.90210686e-04 9.39076274e+01] [-6.11351850e-01 -7.91358894e-01 1.31791933e-04 -5.44754233e+01] [-3.89367939e-04 1.34261317e-04 -9.99999915e-01 2.21864851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.22999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.90, Y:-54.48, Z:2.22 [[ 8.37723896e-01 -5.46093147e-01 -9.73905320e-04 9.39030889e+01] [-5.46092935e-01 -8.37724454e-01 4.95677486e-04 -5.44828892e+01] [-1.08655038e-03 1.16601940e-04 -9.99999403e-01 2.21912751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.25999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.90, Y:-54.49, Z:2.22 [[ 8.78928501e-01 -4.76950237e-01 -1.77795451e-03 9.38979365e+01] [-4.76949468e-01 -8.78930295e-01 8.61522596e-04 -5.44922341e+01] [-1.97360149e-03 9.07776940e-05 -9.99998048e-01 2.22056383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.28999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.89, Y:-54.50, Z:2.22 [[ 9.13821314e-01 -4.06111362e-01 -2.04156146e-03 9.38925394e+01] [-4.06110549e-01 -9.13823591e-01 8.16566253e-04 -5.45004404e+01] [-2.19724385e-03 8.29039981e-05 -9.99997583e-01 2.22117139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.32 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.89, Y:-54.51, Z:2.22 [[ 9.42964933e-01 -3.32878499e-01 -3.00664112e-03 9.38894534e+01] [-3.32876991e-01 -9.42969725e-01 1.00346156e-03 -5.45083367e+01] [-3.16920233e-03 5.46125899e-05 -9.99994977e-01 2.22184005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.35 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.89, Y:-54.52, Z:2.22 [[ 9.66183026e-01 -2.57833113e-01 -3.52789899e-03 9.38864641e+01] [-2.57831546e-01 -9.66189466e-01 8.99854150e-04 -5.45163797e+01] [-3.64063104e-03 4.01798456e-05 -9.99993372e-01 2.22262593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.38 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.88, Y:-54.52, Z:2.22 [[ 9.83316444e-01 -1.81832403e-01 -5.07421320e-03 9.38832509e+01] [-1.81829979e-01 -9.83329536e-01 9.38953235e-04 -5.45244959e+01] [-5.16035584e-03 -6.44079095e-07 -9.99986685e-01 2.22427961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.41 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.88, Y:-54.53, Z:2.22 [[ 9.94462651e-01 -1.04921624e-01 -5.95727216e-03 9.38786464e+01] [-1.04919622e-01 -9.94480494e-01 6.48394848e-04 -5.45304883e+01] [-5.99242160e-03 -1.97697151e-05 -9.99982045e-01 2.22473953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.44 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.87, Y:-54.54, Z:2.23 [[ 9.99597013e-01 -2.76990923e-02 -6.21059091e-03 9.38748124e+01] [-2.76984316e-02 -9.99616306e-01 1.92391698e-04 -5.45377927e+01] [-6.21353702e-03 -2.02905391e-05 -9.99980696e-01 2.22522691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.47 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.87, Y:-54.55, Z:2.23 [[ 9.98744169e-01 4.96670460e-02 -6.57790462e-03 9.38699573e+01] [ 4.96661252e-02 -9.98765830e-01 -3.03360675e-04 -5.45450778e+01] [-6.58485340e-03 -2.37193288e-05 -9.99978319e-01 2.22587555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.87, Y:-54.55, Z:2.23 [[ 9.91954512e-01 1.26434767e-01 -6.36365721e-03 9.38668913e+01] [ 1.26432239e-01 -9.91974924e-01 -7.99595353e-04 -5.45520196e+01] [-6.41368503e-03 -1.14092120e-05 -9.99979432e-01 2.22559091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.53 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.86, Y:-54.56, Z:2.23 [[ 9.79633261e-01 2.00718298e-01 -5.55323406e-03 9.38626716e+01] [ 2.00714942e-01 -9.79649001e-01 -1.16093287e-03 -5.45575808e+01] [-5.67324067e-03 2.26713984e-05 -9.99983907e-01 2.22504305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.86, Y:-54.56, Z:2.22 [[ 9.61250950e-01 2.75630828e-01 -4.92522011e-03 9.38593179e+01] [ 2.75627001e-01 -9.61263567e-01 -1.45311695e-03 -5.45639124e+01] [-5.13495848e-03 3.92864076e-05 -9.99986815e-01 2.22389061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.58999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.86, Y:-54.57, Z:2.22 [[ 9.37216531e-01 3.48724486e-01 -4.05050640e-03 9.38572753e+01] [ 3.48720950e-01 -9.37225282e-01 -1.57159182e-03 -5.45707623e+01] [-4.34428955e-03 6.04253927e-05 -9.99990562e-01 2.22294713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.61999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.86, Y:-54.58, Z:2.22 [[ 9.07899237e-01 4.19181552e-01 -2.40887988e-03 9.38552050e+01] [ 4.19179797e-01 -9.07902427e-01 -1.21651772e-03 -5.45765910e+01] [-2.69696968e-03 9.47217278e-05 -9.99996359e-01 2.22099925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.64999999999999 meters Centerline goodness [0,1] 0.9999107262420212 Centerline is valid? [True, True] Translation: X:93.85, Y:-54.59, Z:2.22 [[ 8.72721861e-01 4.88213954e-01 -1.92063116e-03 9.38543460e+01] [ 4.88212509e-01 -8.72723968e-01 -1.19247698e-03 -5.45856683e+01] [-2.25836475e-03 1.03024575e-04 -9.99997445e-01 2.22261736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.67999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.85, Y:-54.60, Z:2.22 [[ 8.31953084e-01 5.54844552e-01 -1.26058867e-03 9.38542105e+01] [ 5.54843704e-01 -8.31954032e-01 -9.76477324e-04 -5.45956080e+01] [-1.59054495e-03 1.12953636e-04 -9.99998729e-01 2.22073996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.71 meters Centerline goodness [0,1] 0.9998887083490996 Centerline is valid? [True, True] Translation: X:93.85, Y:-54.61, Z:2.22 [[ 7.86047359e-01 6.18163880e-01 -1.72239085e-03 9.38540590e+01] [ 6.18162104e-01 -7.86049239e-01 -1.48558062e-03 -5.46051297e+01] [-2.27221629e-03 1.03019971e-04 -9.99997413e-01 2.22368928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.74 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.85, Y:-54.61, Z:2.22 [[ 7.34777226e-01 6.78306350e-01 -1.70979155e-03 9.38538408e+01] [ 6.78304194e-01 -7.34779209e-01 -1.71281877e-03 -5.46135680e+01] [-2.41813513e-03 9.87814477e-05 -9.99997071e-01 2.22209113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.77 meters Centerline goodness [0,1] 0.9999106165225358 Centerline is valid? [True, True] Translation: X:93.85, Y:-54.62, Z:2.23 [[ 6.78719212e-01 7.34391357e-01 -3.09288645e-03 9.38540482e+01] [ 7.34383322e-01 -6.78726256e-01 -3.43585974e-03 -5.46229177e+01] [-4.62248894e-03 6.06197898e-05 -9.99989314e-01 2.22581739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.8 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.86, Y:-54.63, Z:2.22 [[ 6.18410594e-01 7.85849894e-01 -2.87752816e-03 9.38554308e+01] [ 7.85840975e-01 -6.18417287e-01 -3.74453382e-03 -5.46312937e+01] [-4.72215466e-03 5.43798505e-05 -9.99988849e-01 2.22419253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.83 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.86, Y:-54.64, Z:2.22 [[ 5.54290445e-01 8.32318917e-01 -2.70613697e-03 9.38588863e+01] [ 8.32308588e-01 -5.54297049e-01 -4.14677770e-03 -5.46407015e+01] [-4.95144526e-03 4.61782106e-05 -9.99987740e-01 2.22467765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.86 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.86, Y:-54.65, Z:2.22 [[ 4.87241830e-01 8.73262408e-01 -2.85778784e-03 9.38609397e+01] [ 8.73247052e-01 -4.87250210e-01 -5.17880042e-03 -5.46504066e+01] [-5.91490944e-03 2.77733874e-05 -9.99982506e-01 2.22494011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.87, Y:-54.66, Z:2.22 [[ 4.17320789e-01 9.08756496e-01 -2.23403060e-03 9.38651418e+01] [ 9.08743011e-01 -4.17326767e-01 -4.95069462e-03 -5.46592443e+01] [-5.43129667e-03 3.58680929e-05 -9.99985250e-01 2.22437246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.92 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.87, Y:-54.67, Z:2.22 [[ 3.45101843e-01 9.38563532e-01 -1.79302619e-03 9.38706379e+01] [ 9.38550268e-01 -3.45106498e-01 -4.98990659e-03 -5.46683642e+01] [-5.30212934e-03 3.91807468e-05 -9.99985943e-01 2.22370300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.94999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.88, Y:-54.68, Z:2.22 [[ 2.70658260e-01 9.62674290e-01 -1.52230716e-03 9.38764860e+01] [ 9.62658394e-01 -2.70662539e-01 -5.53224364e-03 -5.46780471e+01] [-5.73778024e-03 3.18856723e-05 -9.99983538e-01 2.22396189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.97999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.88, Y:-54.69, Z:2.22 [[ 1.94636310e-01 9.80874909e-01 -1.05813383e-03 9.38827100e+01] [ 9.80859431e-01 -1.94639183e-01 -5.51042882e-03 -5.46858524e+01] [-5.61099567e-03 3.46489881e-05 -9.99984258e-01 2.22379692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.00999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.89, Y:-54.69, Z:2.22 [[ 1.17676391e-01 9.93051807e-01 -6.12738917e-04 9.38897814e+01] [ 9.93036610e-01 -1.17677980e-01 -5.49408133e-03 -5.46941024e+01] [-5.52801327e-03 3.80514881e-05 -9.99984720e-01 2.22335949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.03999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.90, Y:-54.70, Z:2.22 [[ 4.03640886e-02 9.99185025e-01 -1.61664824e-04 9.38962206e+01] [ 9.99171538e-01 -4.03643838e-02 -5.19182103e-03 -5.47013432e+01] [-5.19411533e-03 4.80322333e-05 -9.99986509e-01 2.22327240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.90, Y:-54.71, Z:2.22 [[-3.73527276e-02 9.99302115e-01 2.37485190e-04 9.39035281e+01] [ 9.99290406e-01 3.73534397e-02 -4.83786995e-03 -5.47097196e+01] [-4.84336457e-03 5.66090333e-05 -9.99988269e-01 2.22353287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.1 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.91, Y:-54.72, Z:2.22 [[-1.14817660e-01 9.93386404e-01 5.98239510e-04 9.39104206e+01] [ 9.93375609e-01 1.14819202e-01 -4.63138883e-03 -5.47159737e+01] [-4.66944808e-03 6.25113095e-05 -9.99989096e-01 2.22366029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.13 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.92, Y:-54.72, Z:2.22 [[-1.91283370e-01 9.81534455e-01 8.86829325e-04 9.39177024e+01] [ 9.81525590e-01 1.91285413e-01 -4.17214216e-03 -5.47227035e+01] [-4.26473879e-03 7.23842620e-05 -9.99990903e-01 2.22365084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.16 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.92, Y:-54.73, Z:2.22 [[-2.66614645e-01 9.63802493e-01 1.17748572e-03 9.39248270e+01] [ 9.63794343e-01 2.66617234e-01 -3.96423254e-03 -5.47287676e+01] [-4.13467519e-03 7.79316284e-05 -9.99991449e-01 2.22318407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.19 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.93, Y:-54.73, Z:2.22 [[-3.38738846e-01 9.40879789e-01 1.10316012e-03 9.39314787e+01] [ 9.40875722e-01 3.38740628e-01 -2.76837046e-03 -5.47344429e+01] [-2.97838896e-03 1.00181958e-04 -9.99995560e-01 2.22225114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.22 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.94, Y:-54.74, Z:2.22 [[-4.09980045e-01 9.12093820e-01 1.10716142e-03 9.39418812e+01] [ 9.12091179e-01 4.09981526e-01 -2.19772152e-03 -5.47383332e+01] [-2.45844395e-03 1.08810193e-04 -9.99996972e-01 2.22150645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.25 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.95, Y:-54.74, Z:2.22 [[-4.78709157e-01 8.77972958e-01 1.01452476e-03 9.39524851e+01] [ 8.77971474e-01 4.78710218e-01 -1.61807976e-03 -5.47415856e+01] [-1.90629364e-03 1.16134199e-04 -9.99998176e-01 2.22110461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.28 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.96, Y:-54.75, Z:2.22 [[-5.44557361e-01 8.38723117e-01 9.01573507e-04 9.39627561e+01] [ 8.38722315e-01 5.44558094e-01 -1.16617002e-03 -5.47453892e+01] [-1.46905290e-03 1.21123351e-04 -9.99998914e-01 2.22115006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.31 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.97, Y:-54.75, Z:2.22 [[-6.05790478e-01 7.95623761e-01 8.53251722e-04 9.39700743e+01] [ 7.95623248e-01 6.05791066e-01 -9.12198535e-04 -5.47501809e+01] [-1.24265910e-03 1.26265720e-04 -9.99999220e-01 2.22109382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.33999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.98, Y:-54.75, Z:2.22 [[-6.64777758e-01 7.47040456e-01 1.04376994e-03 9.39798950e+01] [ 7.47039825e-01 6.64778565e-01 -9.79788453e-04 -5.47519549e+01] [-1.42581749e-03 1.28396140e-04 -9.99998975e-01 2.22162685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.36999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.99, Y:-54.75, Z:2.22 [[-7.19940094e-01 6.94034574e-01 1.50667975e-03 9.39900957e+01] [ 6.94033427e-01 7.19941659e-01 -1.26901843e-03 -5.47534061e+01] [-1.96546419e-03 1.32068857e-04 -9.99998060e-01 2.22231195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.39999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.02, Y:-54.75, Z:2.22 [[-7.64899572e-01 6.44146105e-01 2.10729253e-03 9.40183058e+01] [ 6.44144121e-01 7.64902463e-01 -1.60395217e-03 -5.47453330e+01] [-2.64505279e-03 1.30537768e-04 -9.99996493e-01 2.22374193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.42999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.04, Y:-54.73, Z:2.22 [[-8.07708507e-01 5.89578562e-01 2.02157429e-03 9.40399024e+01] [ 5.89577118e-01 8.07711026e-01 -1.31189933e-03 -5.47286197e+01] [-2.40631557e-03 1.32241691e-04 -9.99997096e-01 2.22401058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.46 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.06, Y:-54.71, Z:2.22 [[-8.46584923e-01 5.32251379e-01 1.56111830e-03 9.40587519e+01] [ 5.32250750e-01 8.46586353e-01 -8.28270640e-04 -5.47100565e+01] [-1.76246964e-03 1.29704951e-04 -9.99998438e-01 2.22407465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.49 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.08, Y:-54.69, Z:2.22 [[-8.81332924e-01 4.72494162e-01 1.24244866e-03 9.40840835e+01] [ 4.72493892e-01 8.81333791e-01 -5.21039715e-04 -5.46936926e+01] [-1.34120021e-03 1.27839948e-04 -9.99999092e-01 2.22388096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.52 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.10, Y:-54.67, Z:2.22 [[-9.11979492e-01 4.10234901e-01 8.55339012e-04 9.41033212e+01] [ 4.10234844e-01 9.11979885e-01 -2.48716114e-04 -5.46738277e+01] [-8.82084004e-04 1.24065871e-04 -9.99999603e-01 2.22382599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.55 meters Centerline goodness [0,1] 0.9999547767100057 Centerline is valid? [True, True] Translation: X:94.12, Y:-54.65, Z:2.22 [[-9.38173298e-01 3.46165123e-01 7.55493977e-04 9.41172537e+01] [ 3.46165114e-01 9.38173594e-01 -1.47143576e-04 -5.46500509e+01] [-7.59720474e-04 1.23479485e-04 -9.99999704e-01 2.22477004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.58 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.14, Y:-54.63, Z:2.22 [[-9.59522714e-01 2.81626828e-01 1.57850574e-03 9.41364608e+01] [ 2.81626683e-01 9.59524002e-01 -3.17974666e-04 -5.46302220e+01] [-1.60416434e-03 1.39445421e-04 -9.99998704e-01 2.22382320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.61 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.38, Y:-53.79, Z:1.39 [[-9.49913836e-01 -3.12477291e-01 4.65265286e-03 9.43795760e+01] [ 3.12473572e-01 -9.49925230e-01 -1.52462123e-03 -5.37850246e+01] [ 4.89608185e-03 5.57225519e-06 9.99988014e-01 1.38560677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.64 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.09, Y:-54.62, Z:2.22 [[-9.59746182e-01 2.80865353e-01 1.38531680e-03 9.40912748e+01] [ 2.80865270e-01 9.59747172e-01 -2.58722089e-04 -5.46210835e+01] [-1.40221995e-03 1.40779839e-04 -9.99999007e-01 2.22377284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.67 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.10, Y:-54.60, Z:2.22 [[-9.76611434e-01 2.15008733e-01 1.16278763e-03 9.41024194e+01] [ 2.15008747e-01 9.76612116e-01 -1.14171660e-04 -5.45984496e+01] [-1.16014040e-03 1.38508164e-04 -9.99999317e-01 2.22332452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.69999999999999 meters Centerline goodness [0,1] 0.9999545681704602 Centerline is valid? [True, True] Translation: X:94.29, Y:-53.73, Z:1.39 [[-9.72068759e-01 -2.34662022e-01 4.00785789e-03 9.42854972e+01] [ 2.34659940e-01 -9.72077021e-01 -9.88515220e-04 -5.37283472e+01] [ 4.12791354e-03 -2.04210694e-05 9.99991480e-01 1.38502601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.72999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.05, Y:-54.59, Z:2.22 [[-9.76968520e-01 2.13381923e-01 8.16518881e-04 9.40481673e+01] [ 2.13381961e-01 9.76968852e-01 -4.18517528e-05 -5.45892572e+01] [-8.06643921e-04 1.33342555e-04 -9.99999666e-01 2.22353239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.75999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.23, Y:-53.72, Z:1.39 [[-9.73537474e-01 -2.28502993e-01 3.34191358e-03 9.42277667e+01] [ 2.28501521e-01 -9.73543210e-01 -8.21018990e-04 -5.37163524e+01] [ 3.44110257e-03 -3.56604184e-05 9.99994079e-01 1.38607019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.78999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.99, Y:-54.58, Z:2.22 [[-9.77463766e-01 2.11102248e-01 6.54070885e-04 9.39932780e+01] [ 2.11102288e-01 9.77463976e-01 -7.95120607e-06 -5.45798880e+01] [-6.41009245e-04 1.30303844e-04 -9.99999786e-01 2.22396999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:94.17, Y:-53.70, Z:1.39 [[-9.75236606e-01 -2.21135886e-01 3.53306340e-03 9.41681911e+01] [ 2.21134328e-01 -9.75243005e-01 -8.30596319e-04 -5.37040443e+01] [ 3.62927002e-03 -2.87463341e-05 9.99993414e-01 1.38645704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.85 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.93, Y:-54.57, Z:2.22 [[-9.77729380e-01 2.09867771e-01 8.82258095e-04 9.39343707e+01] [ 2.09867812e-01 9.77729768e-01 -4.71055081e-05 -5.45703044e+01] [-8.72495930e-04 1.39101137e-04 -9.99999610e-01 2.22320257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.88 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.94, Y:-54.54, Z:2.22 [[-9.90005949e-01 1.41020866e-01 1.15624629e-03 9.39423729e+01] [ 1.41020941e-01 9.90006613e-01 -1.62760853e-05 -5.45441032e+01] [-1.14698675e-03 1.46941520e-04 -9.99999331e-01 2.22295866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.91 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.95, Y:-54.52, Z:2.22 [[-9.97407556e-01 7.19308653e-02 2.02923273e-03 9.39506366e+01] [ 7.19310781e-02 9.97409604e-01 3.19663680e-05 -5.45151651e+01] [-2.02167684e-03 1.77848395e-04 -9.99997941e-01 2.22327844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.94 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.96, Y:-54.49, Z:2.22 [[-9.99996222e-01 1.24402784e-03 2.45114320e-03 9.39560435e+01] [ 1.24449756e-03 9.99999208e-01 1.90115923e-04 -5.44860498e+01] [-2.45090474e-03 1.93165646e-04 -9.99996978e-01 2.22367176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.97 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.95, Y:-54.46, Z:2.22 [[-9.97559913e-01 -6.97608331e-02 2.76510123e-03 9.39538956e+01] [-6.97599928e-02 9.97563724e-01 3.99278650e-04 -5.44565297e+01] [-2.78621869e-03 2.05410933e-04 -9.99996097e-01 2.22406873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.0 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.94, Y:-54.43, Z:2.22 [[-9.89977968e-01 -1.41191615e-01 2.92405852e-03 9.39363976e+01] [-1.41190360e-01 9.89982264e-01 6.32441126e-04 -5.44300231e+01] [-2.98406146e-03 2.13253907e-04 -9.99995525e-01 2.22486592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.03 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.90, Y:-54.41, Z:2.23 [[-9.77128606e-01 -2.12624627e-01 3.23361720e-03 9.38955853e+01] [-2.12622690e-01 9.77133930e-01 9.35412795e-04 -5.44067722e+01] [-3.35856888e-03 2.26478214e-04 -9.99994334e-01 2.22519433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.06 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.84, Y:-54.39, Z:2.23 [[-9.58812025e-01 -2.84023799e-01 3.15941360e-03 9.38402206e+01] [-2.84021465e-01 9.58817203e-01 1.17381427e-03 -5.43939371e+01] [-3.36269130e-03 2.28125958e-04 -9.99994320e-01 2.22532279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.08999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.77, Y:-54.39, Z:2.23 [[-9.34753303e-01 -3.55278679e-01 3.65000000e-03 9.37733700e+01] [-3.55274923e-01 9.34760397e-01 1.65234950e-03 -5.43861900e+01] [-3.99891999e-03 2.47785682e-04 -9.99991974e-01 2.22558618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.11999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.70, Y:-54.39, Z:2.23 [[-9.05287700e-01 -4.24781109e-01 3.89736585e-03 9.36968291e+01] [-4.24775918e-01 9.05296052e-01 2.11592331e-03 -5.43898686e+01] [-4.42707416e-03 2.60012188e-04 -9.99990167e-01 2.22578907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.14999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.61, Y:-54.40, Z:2.23 [[-8.70179511e-01 -4.92721591e-01 3.61275709e-03 9.36119185e+01] [-4.92716125e-01 8.70186975e-01 2.33441718e-03 -5.44031742e+01] [-4.29399191e-03 2.51298329e-04 -9.99990749e-01 2.22531698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.17999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.52, Y:-54.43, Z:2.23 [[-8.29752659e-01 -5.58122129e-01 3.19601711e-03 9.35206208e+01] [-5.58116863e-01 8.29758780e-01 2.43606886e-03 -5.44274845e+01] [-4.01154719e-03 2.37583568e-04 -9.99991925e-01 2.22513423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.21 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.42, Y:-54.46, Z:2.22 [[-7.83191434e-01 -6.21775350e-01 2.56719364e-03 9.34203875e+01] [-6.21771110e-01 7.83195614e-01 2.30601603e-03 -5.44617374e+01] [-3.44443873e-03 2.09845164e-04 -9.99994046e-01 2.22405719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.24 meters Centerline goodness [0,1] 0.9998441639395356 Centerline is valid? [True, True] Translation: X:93.32, Y:-54.51, Z:2.23 [[-7.32647459e-01 -6.80604183e-01 2.37630605e-03 9.33247209e+01] [-6.80599667e-01 7.32651284e-01 2.48791411e-03 -5.45075015e+01] [-3.43428843e-03 2.05450848e-04 -9.99994082e-01 2.22773839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.27 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.23, Y:-54.56, Z:2.22 [[-6.76333171e-01 -7.36593149e-01 1.99374180e-03 9.32340418e+01] [-7.36589096e-01 6.76336083e-01 2.45094944e-03 -5.45563673e+01] [-3.15379208e-03 1.89089937e-04 -9.99995009e-01 2.22487486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.3 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.15, Y:-54.62, Z:2.23 [[-6.15719522e-01 -7.87963334e-01 1.80388750e-03 9.31452366e+01] [-7.87959060e-01 6.15722138e-01 2.60179242e-03 -5.46164509e+01] [-3.16081050e-03 1.80584889e-04 -9.99994988e-01 2.22509917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.33 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.05, Y:-54.69, Z:2.23 [[-5.48543767e-01 -8.36119548e-01 1.95877894e-03 9.30510090e+01] [-8.36113059e-01 5.48547238e-01 3.29848416e-03 -5.46890291e+01] [-3.83240986e-03 1.71602280e-04 -9.99992642e-01 2.22538694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.36 meters Centerline goodness [0,1] 0.9999116529728774 Centerline is valid? [True, True] Translation: X:92.97, Y:-54.77, Z:2.23 [[-4.80255697e-01 -8.77126530e-01 1.87513971e-03 9.29692941e+01] [-8.77118446e-01 4.80259329e-01 3.76934482e-03 -5.47685855e+01] [-4.20674569e-03 1.65529693e-04 -9.99991138e-01 2.22830534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.39 meters Centerline goodness [0,1] 0.9998234580161095 Centerline is valid? [True, True] Translation: X:92.89, Y:-54.86, Z:2.23 [[-4.08980473e-01 -9.12541624e-01 1.66086706e-03 9.28900920e+01] [-9.12532479e-01 4.08983815e-01 4.08833368e-03 -5.48596574e+01] [-4.41004240e-03 1.56453504e-04 -9.99990263e-01 2.22891359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.42 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.82, Y:-54.96, Z:2.23 [[-3.34859546e-01 -9.42267552e-01 9.71819697e-04 9.28198673e+01] [-9.42262321e-01 3.34860928e-01 3.14295664e-03 -5.49556747e+01] [-3.28693051e-03 1.36739952e-04 -9.99994589e-01 2.22503199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.44999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.76, Y:-55.06, Z:2.23 [[-2.58938099e-01 -9.65893712e-01 6.30639189e-04 9.27569008e+01] [-9.65889534e-01 2.58938836e-01 2.84391124e-03 -5.50576560e+01] [-2.91021296e-03 1.27269177e-04 -9.99995757e-01 2.22524200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.47999999999999 meters Centerline goodness [0,1] 0.9999780663274259 Centerline is valid? [True, True] Translation: X:92.70, Y:-55.17, Z:2.23 [[-1.79629677e-01 -9.83734240e-01 3.53475752e-04 9.26990673e+01] [-9.83730877e-01 1.79629988e-01 2.57457625e-03 -5.51658294e+01] [-2.59619365e-03 1.14745288e-04 -9.99996623e-01 2.22544049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.50999999999999 meters Centerline goodness [0,1] 0.9999342191816866 Centerline is valid? [True, True] Translation: X:92.65, Y:-55.28, Z:2.23 [[-1.01485816e-01 -9.94836972e-01 1.65680751e-04 9.26534402e+01] [-9.94833293e-01 1.01485892e-01 2.70794252e-03 -5.52755301e+01] [-2.71077560e-03 1.09993030e-04 -9.99996320e-01 2.22771922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.53999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.62, Y:-55.39, Z:2.23 [[-2.25649309e-02 -9.99745379e-01 -3.78347710e-05 9.26168293e+01] [-9.99741027e-01 2.25647210e-02 2.95172229e-03 -5.53944132e+01] [-2.95011698e-03 1.04430382e-04 -9.99995643e-01 2.22547749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.59, Y:-55.51, Z:2.23 [[ 5.58949240e-02 -9.98436620e-01 -2.70260496e-04 9.25893101e+01] [-9.98432016e-01 -5.58954874e-02 3.03363927e-03 -5.55106114e+01] [-3.04400288e-03 1.00271696e-04 -9.99995362e-01 2.22644431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.6 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.57, Y:-55.63, Z:2.23 [[ 1.34854539e-01 -9.90865160e-01 -6.98977244e-04 9.25702089e+01] [-9.90854911e-01 -1.34856324e-01 4.50736345e-03 -5.56343975e+01] [-4.56045091e-03 8.47466127e-05 -9.99989598e-01 2.22826438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.63 meters Centerline goodness [0,1] 0.9998689355381288 Centerline is valid? [True, True] Translation: X:92.56, Y:-55.75, Z:2.23 [[ 2.11488580e-01 -9.77379704e-01 -1.22262876e-03 9.25609379e+01] [-9.77365394e-01 -2.11492100e-01 5.28935783e-03 -5.57523433e+01] [-5.42828731e-03 7.63162592e-05 -9.99985264e-01 2.23286792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.66 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.56, Y:-55.87, Z:2.23 [[ 2.87209227e-01 -9.57866502e-01 -1.61994307e-03 9.25627219e+01] [-9.57852632e-01 -2.87213787e-01 5.15520821e-03 -5.58741221e+01] [-5.40327124e-03 7.10433635e-05 -9.99985400e-01 2.22999368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.69 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.57, Y:-55.99, Z:2.23 [[ 3.61080156e-01 -9.32532084e-01 -2.24366162e-03 9.25728377e+01] [-9.32515100e-01 -3.61087122e-01 5.62842550e-03 -5.59921468e+01] [-6.05884468e-03 5.99355755e-05 -9.99981643e-01 2.23069253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.72 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.59, Y:-56.11, Z:2.23 [[ 4.33393855e-01 -9.01200326e-01 -2.78190329e-03 9.25914488e+01] [-9.01182455e-01 -4.33402780e-01 5.67564914e-03 -5.61078747e+01] [-6.32058147e-03 4.72109756e-05 -9.99980024e-01 2.23066921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.62, Y:-56.22, Z:2.23 [[ 5.02062870e-01 -8.64824076e-01 -3.49178276e-03 9.26200005e+01] [-8.64803671e-01 -5.02075011e-01 5.94094627e-03 -5.62231718e+01] [-6.89101023e-03 3.69780112e-05 -9.99976256e-01 2.23160185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.78 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.65, Y:-56.33, Z:2.23 [[ 5.67430568e-01 -8.23410954e-01 -4.11724489e-03 9.26549385e+01] [-8.23389660e-01 -5.67445504e-01 5.92177458e-03 -5.63320544e+01] [-7.21236616e-03 2.99009545e-05 -9.99973990e-01 2.23244447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.81 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.70, Y:-56.44, Z:2.23 [[ 6.29288979e-01 -7.77156545e-01 -4.80475320e-03 9.27016325e+01] [-7.77134160e-01 -6.29307321e-01 5.89852712e-03 -5.64421561e+01] [-7.60774532e-03 2.20597315e-05 -9.99971060e-01 2.23278908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.83999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.75, Y:-56.54, Z:2.23 [[ 6.87053668e-01 -7.26589005e-01 -5.06704557e-03 9.27484102e+01] [-7.26569506e-01 -6.87072353e-01 5.32312988e-03 -5.65381997e+01] [-7.34915456e-03 2.42848821e-05 -9.99972994e-01 2.23307264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.86999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.80, Y:-56.63, Z:2.23 [[ 7.40627845e-01 -6.71895651e-01 -5.16038305e-03 9.28027790e+01] [-6.71879610e-01 -7.40645822e-01 4.64286529e-03 -5.66289017e+01] [-6.94153714e-03 2.85208407e-05 -9.99975907e-01 2.23215317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.89999999999999 meters Centerline goodness [0,1] 0.9999341542108382 Centerline is valid? [True, True] Translation: X:92.80, Y:-56.64, Z:2.23 [[ 7.90594153e-01 -6.12314106e-01 -5.68511387e-03 9.27991292e+01] [-6.12298558e-01 -7.90614593e-01 4.36368040e-03 -5.66356423e+01] [-7.16667705e-03 3.10868149e-05 -9.99974319e-01 2.23369427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.92999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.80, Y:-56.64, Z:2.23 [[ 8.35561170e-01 -5.49371034e-01 -5.38503429e-03 9.27956286e+01] [-5.49359967e-01 -8.35578521e-01 3.48733753e-03 -5.66412819e+01] [-6.41546122e-03 4.44384332e-05 -9.99979420e-01 2.23155040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.96 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.79, Y:-56.65, Z:2.23 [[ 8.74423365e-01 -4.85139311e-01 -4.86081894e-03 9.27933352e+01] [-4.85132265e-01 -8.74436873e-01 2.61566114e-03 -5.66464536e+01] [-5.51943936e-03 7.09448885e-05 -9.99984765e-01 2.23016905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.99 meters Centerline goodness [0,1] 0.9999119660188833 Centerline is valid? [True, True] Translation: X:92.79, Y:-56.65, Z:2.23 [[ 9.08759844e-01 -4.17292196e-01 -4.77166874e-03 9.27895842e+01] [-4.17286929e-01 -9.08772368e-01 2.09828573e-03 -5.66520819e+01] [-5.21195896e-03 8.43171770e-05 -9.99986414e-01 2.23232984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.02 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.79, Y:-56.66, Z:2.23 [[ 9.37849134e-01 -3.47020016e-01 -4.01369025e-03 9.27866520e+01] [-3.47017283e-01 -9.37857718e-01 1.38084985e-03 -5.66583638e+01] [-4.24345292e-03 9.77910440e-05 -9.99990992e-01 2.22931038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.05 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.78, Y:-56.66, Z:2.23 [[ 9.61444553e-01 -2.74976292e-01 -3.52274951e-03 9.27844630e+01] [-2.74974856e-01 -9.61451001e-01 8.95304988e-04 -5.66645870e+01] [-3.63313869e-03 1.07881434e-04 -9.99993394e-01 2.22888318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.08 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.78, Y:-56.67, Z:2.23 [[ 9.79434005e-01 -2.01735161e-01 -3.45763388e-03 9.27809533e+01] [-2.01734327e-01 -9.79440101e-01 5.91822716e-04 -5.66709959e+01] [-3.50593673e-03 1.17872152e-04 -9.99993847e-01 2.22871525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.11 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.78, Y:-56.67, Z:2.23 [[ 9.91590244e-01 -1.29375463e-01 -3.28302796e-03 9.27759145e+01] [-1.29375199e-01 -9.91595669e-01 2.93735127e-04 -5.66743032e+01] [-3.29343843e-03 1.33477509e-04 -9.99994568e-01 2.22885986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.14 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.77, Y:-56.68, Z:2.23 [[ 9.98552999e-01 -5.36687348e-02 -3.40230821e-03 9.27705856e+01] [-5.36689065e-02 -9.98558785e-01 4.08621713e-05 -5.66814171e+01] [-3.39959777e-03 1.41795118e-04 -9.99994211e-01 2.22870586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.17 meters Centerline goodness [0,1] 0.9999778770850847 Centerline is valid? [True, True] Translation: X:92.77, Y:-56.69, Z:2.23 [[ 9.99735044e-01 2.26814127e-02 -3.92380463e-03 9.27652283e+01] [ 2.26806315e-02 -9.99742732e-01 -2.43474864e-04 -5.66885454e+01] [-3.92831751e-03 1.54415987e-04 -9.99992272e-01 2.22970352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.19999999999999 meters Centerline goodness [0,1] 0.9998670978602755 Centerline is valid? [True, True] Translation: X:92.76, Y:-56.70, Z:2.23 [[ 9.95142633e-01 9.83232681e-02 -4.86570677e-03 9.27611037e+01] [ 9.83212150e-02 -9.95154512e-01 -6.59952036e-04 -5.66950973e+01] [-4.90701869e-03 1.78344205e-04 -9.99987945e-01 2.23287185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.22999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.76, Y:-56.70, Z:2.23 [[ 9.84400125e-01 1.75879274e-01 -4.78276250e-03 9.27573277e+01] [ 1.75876317e-01 -9.84411728e-01 -1.03521647e-03 -5.67043087e+01] [-4.89028061e-03 1.77892565e-04 -9.99988027e-01 2.22996805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.25999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.75, Y:-56.71, Z:2.23 [[ 9.67664754e-01 2.52189553e-01 -5.03524950e-03 9.27539771e+01] [ 2.52185145e-01 -9.67677837e-01 -1.50238755e-03 -5.67137622e+01] [-5.25138579e-03 1.83992350e-04 -9.99986194e-01 2.23037984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.28999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.75, Y:-56.72, Z:2.23 [[ 9.44939081e-01 3.27204428e-01 -5.23401390e-03 9.27514313e+01] [ 3.27198296e-01 -9.44953558e-01 -2.01208439e-03 -5.67225331e+01] [-5.60426297e-03 1.88736748e-04 -9.99984278e-01 2.23063984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.75, Y:-56.73, Z:2.23 [[ 9.16199044e-01 4.00692535e-01 -4.98035235e-03 9.27511313e+01] [ 4.00685515e-01 -9.16212562e-01 -2.37901056e-03 -5.67346679e+01] [-5.51631316e-03 1.84092159e-04 -9.99984768e-01 2.22989519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.35 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.75, Y:-56.75, Z:2.23 [[ 8.81650920e-01 4.71880260e-01 -4.54704889e-03 9.27498790e+01] [ 4.71872946e-01 -8.81662628e-01 -2.63321666e-03 -5.67458424e+01] [-5.25152604e-03 1.75948535e-04 -9.99986195e-01 2.22984389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.38 meters Centerline goodness [0,1] 0.999867024223754 Centerline is valid? [True, True] Translation: X:92.75, Y:-56.76, Z:2.23 [[ 8.41508353e-01 5.40226242e-01 -4.39304053e-03 9.27487004e+01] [ 5.40217804e-01 -8.41519802e-01 -3.02430117e-03 -5.67554777e+01] [-5.33063745e-03 1.71775982e-04 -9.99985777e-01 2.23340155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.41 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.75, Y:-56.77, Z:2.23 [[ 7.95418247e-01 6.06053791e-01 -2.93490937e-03 9.27501800e+01] [ 6.06048985e-01 -7.95423649e-01 -2.41805980e-03 -5.67661658e+01] [-3.79997063e-03 1.44670045e-04 -9.99992770e-01 2.22960250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.44 meters Centerline goodness [0,1] 0.9998230558258869 Centerline is valid? [True, True] Translation: X:92.75, Y:-56.78, Z:2.23 [[ 7.42855771e-01 6.69446879e-01 -2.48600669e-03 9.27530181e+01] [ 6.69442548e-01 -7.42859920e-01 -2.41149581e-03 -5.67782765e+01] [-3.46112307e-03 1.27154926e-04 -9.99994002e-01 2.23308659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.47 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.76, Y:-56.79, Z:2.23 [[ 6.85632267e-01 7.27946515e-01 -1.50502051e-03 9.27566873e+01] [ 7.27944395e-01 -6.85633910e-01 -1.76058076e-03 -5.67889289e+01] [-2.31350172e-03 1.11539731e-04 -9.99997318e-01 2.22898156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.76, Y:-56.80, Z:2.23 [[ 6.24028665e-01 7.81400154e-01 -1.42298132e-03 9.27613544e+01] [ 7.81397733e-01 -6.24030278e-01 -1.94795915e-03 -5.67999751e+01] [-2.41011901e-03 1.03667975e-04 -9.99997090e-01 2.22918448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.53 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.77, Y:-56.81, Z:2.23 [[ 5.57958482e-01 8.29867692e-01 -1.39503668e-03 9.27664755e+01] [ 8.29864665e-01 -5.57960218e-01 -2.24328810e-03 -5.68107825e+01] [-2.64000729e-03 9.39699715e-05 -9.99996511e-01 2.22934671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.56 meters Centerline goodness [0,1] 0.9998673681418276 Centerline is valid? [True, True] Translation: X:92.78, Y:-56.82, Z:2.23 [[ 4.85400788e-01 8.74290614e-01 -1.41336566e-03 9.27754154e+01] [ 8.74286468e-01 -4.85402840e-01 -2.69356739e-03 -5.68219304e+01] [-3.04101239e-03 7.17732651e-05 -9.99995374e-01 2.23332954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.58999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.78, Y:-56.83, Z:2.23 [[ 4.11729478e-01 9.11305523e-01 -1.03953899e-03 9.27820971e+01] [ 9.11302211e-01 -4.11730786e-01 -2.45773647e-03 -5.68309889e+01] [-2.66775903e-03 6.45883741e-05 -9.99996439e-01 2.22991416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.61999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.79, Y:-56.84, Z:2.23 [[ 3.36246331e-01 9.41773525e-01 -1.01612374e-03 9.27885101e+01] [ 9.41768786e-01 -3.36247863e-01 -2.98811233e-03 -5.68390495e+01] [-3.15579452e-03 4.77881861e-05 -9.99995019e-01 2.23047667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.64999999999999 meters Centerline goodness [0,1] 0.9999557619995576 Centerline is valid? [True, True] Translation: X:92.79, Y:-56.85, Z:2.23 [[ 2.59301940e-01 9.65795836e-01 -9.52301555e-04 9.27943067e+01] [ 9.65788918e-01 -2.59303688e-01 -3.65553904e-03 -5.68473802e+01] [-3.77743969e-03 2.81660770e-05 -9.99992865e-01 2.23311395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.67999999999999 meters Centerline goodness [0,1] 0.9998231770660655 Centerline is valid? [True, True] Translation: X:92.80, Y:-56.85, Z:2.24 [[ 1.80777693e-01 9.83523376e-01 -1.09325465e-03 9.27977474e+01] [ 9.83506275e-01 -1.80780997e-01 -5.79986849e-03 -5.68528738e+01] [-5.90194590e-03 -2.67359693e-05 -9.99982583e-01 2.23732074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.71 meters Centerline goodness [0,1] 0.9998669150918286 Centerline is valid? [True, True] Translation: X:92.80, Y:-56.86, Z:2.24 [[ 1.02635547e-01 9.94718811e-01 -6.56343448e-04 9.28010652e+01] [ 9.94700531e-01 -1.02637640e-01 -6.03059146e-03 -5.68583035e+01] [-6.06610832e-03 -3.39121238e-05 -9.99981600e-01 2.23706809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.74 meters Centerline goodness [0,1] 0.9999111939967141 Centerline is valid? [True, True] Translation: X:92.80, Y:-56.86, Z:2.24 [[ 2.43566506e-02 9.99703314e-01 -1.92141928e-04 9.28049371e+01] [ 9.99683651e-01 -2.43573767e-02 -6.27032242e-03 -5.68644489e+01] [-6.27314218e-03 -3.93570912e-05 -9.99980323e-01 2.23657640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.77 meters Centerline goodness [0,1] 0.9998888641920427 Centerline is valid? [True, True] Translation: X:92.81, Y:-56.87, Z:2.24 [[-5.36022747e-02 9.98562314e-01 3.19702345e-04 9.28101892e+01] [ 9.98538412e-01 5.36032038e-02 -6.90909027e-03 -5.68698816e+01] [-6.91629423e-03 -5.11078828e-05 -9.99976081e-01 2.23762950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.8 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.81, Y:-56.88, Z:2.24 [[-1.30400906e-01 9.91460908e-01 9.33796455e-04 9.28115202e+01] [ 9.91432295e-01 1.30404237e-01 -7.53253707e-03 -5.68771949e+01] [-7.58998706e-03 -5.64536960e-05 -9.99971194e-01 2.23508434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.83 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.82, Y:-56.88, Z:2.24 [[-2.06868245e-01 9.78367663e-01 1.49828006e-03 9.28150109e+01] [ 9.78340302e-01 2.06873665e-01 -7.31717486e-03 -5.68827433e+01] [-7.46884196e-03 -4.78633555e-05 -9.99972107e-01 2.23518721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.86 meters Centerline goodness [0,1] 0.9998432426380025 Centerline is valid? [True, True] Translation: X:92.82, Y:-56.89, Z:2.24 [[-2.81365727e-01 9.59597929e-01 2.26773319e-03 9.28198605e+01] [ 9.59565296e-01 2.81374861e-01 -7.91397167e-03 -5.68885550e+01] [-8.23231393e-03 -5.06823243e-05 -9.99966113e-01 2.23916878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.83, Y:-56.90, Z:2.24 [[-3.54985670e-01 9.34867674e-01 2.75777616e-03 9.28258675e+01] [ 9.34838627e-01 3.54996380e-01 -7.36964396e-03 -5.68951371e+01] [-7.86864246e-03 -3.80423229e-05 -9.99969041e-01 2.23550542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.92 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.83, Y:-56.90, Z:2.24 [[-4.24650607e-01 9.05352049e-01 3.08694399e-03 9.28297771e+01] [ 9.05327989e-01 4.24661827e-01 -6.60038202e-03 -5.69019145e+01] [-7.28657666e-03 -8.15943921e-06 -9.99973453e-01 2.23530068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.94999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.84, Y:-56.91, Z:2.24 [[-4.94291822e-01 8.69288595e-01 3.59633543e-03 9.28381803e+01] [ 8.69265462e-01 4.94304905e-01 -6.34173282e-03 -5.69065484e+01] [-7.29048226e-03 -8.49649018e-06 -9.99973424e-01 2.23533375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.97999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.85, Y:-56.91, Z:2.23 [[-5.60540367e-01 8.28118821e-01 3.70344098e-03 9.28464255e+01] [ 8.28100793e-01 5.60552601e-01 -5.46432922e-03 -5.69117519e+01] [-6.60108734e-03 3.84530177e-06 -9.99978213e-01 2.23462014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.01 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.86, Y:-56.91, Z:2.23 [[-6.24016297e-01 7.81403263e-01 3.54971934e-03 9.28555879e+01] [ 7.81390757e-01 6.24026394e-01 -4.42105748e-03 -5.69142317e+01] [-5.66974730e-03 1.49059611e-05 -9.99983927e-01 2.23343724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.04 meters Centerline goodness [0,1] 0.9998876151944257 Centerline is valid? [True, True] Translation: X:92.87, Y:-56.91, Z:2.24 [[-6.84968420e-01 7.28562314e-01 3.90116892e-03 9.28671526e+01] [ 7.28550508e-01 6.84979529e-01 -4.14757419e-03 -5.69135127e+01] [-5.69398710e-03 1.24126490e-06 -9.99983789e-01 2.23588684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.88, Y:-56.91, Z:2.23 [[-7.41206526e-01 6.71266985e-01 3.67705597e-03 9.28784111e+01] [ 6.71258754e-01 7.41215646e-01 -3.32417312e-03 -5.69123873e+01] [-4.95689909e-03 4.35719947e-06 -9.99987714e-01 2.23276725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.1 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.91, Y:-56.90, Z:2.23 [[-7.87785234e-01 6.15930599e-01 4.89104342e-03 9.29079010e+01] [ 6.15918416e-01 7.87800416e-01 -3.87423200e-03 -5.68993134e+01] [-6.23942408e-03 -3.95790491e-05 -9.99980534e-01 2.23418739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.13 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.43, Y:-56.27, Z:1.39 [[-7.15621587e-01 -6.98447164e-01 7.56989044e-03 9.34289183e+01] [ 6.98413361e-01 -7.15661532e-01 -6.88104094e-03 -5.62698633e+01] [ 1.02235229e-02 3.62691184e-04 9.99947673e-01 1.38989423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.16 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.88, Y:-56.87, Z:2.24 [[-7.91712733e-01 6.10845610e-01 7.65434993e-03 9.28757421e+01] [ 6.10815336e-01 7.91749721e-01 -6.08311723e-03 -5.68666805e+01] [-9.77617487e-03 -1.40687041e-04 -9.99952202e-01 2.23938742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.19 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.90, Y:-56.85, Z:2.24 [[-8.33244938e-01 5.52844520e-01 8.11235277e-03 9.28987086e+01] [ 5.52816586e-01 8.33284414e-01 -5.55937954e-03 -5.68525221e+01] [-9.83336964e-03 -1.47681695e-04 -9.99951640e-01 2.23864144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.22 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.91, Y:-56.83, Z:2.24 [[-8.70357342e-01 4.92343617e-01 8.70973049e-03 9.29142144e+01] [ 4.92317171e-01 8.70400907e-01 -5.10536288e-03 -5.68310692e+01] [-1.00945501e-02 -1.55540196e-04 -9.99949037e-01 2.23780846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.25 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.94, Y:-56.81, Z:2.24 [[-9.03066166e-01 4.29406630e-01 9.02477562e-03 9.29385558e+01] [ 4.29383453e-01 9.03111246e-01 -4.46412434e-03 -5.68137512e+01] [-1.00673009e-02 -1.56310336e-04 -9.99949311e-01 2.23775867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.28 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.95, Y:-56.79, Z:2.24 [[-9.31132916e-01 3.64557623e-01 9.44624520e-03 9.29511615e+01] [ 3.64537132e-01 9.31180817e-01 -3.86852017e-03 -5.67907785e+01] [-1.02064608e-02 -1.58599337e-04 -9.99947900e-01 2.23724542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.31 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.97, Y:-56.77, Z:2.24 [[-9.54489176e-01 2.98094577e-01 9.48876040e-03 9.29676659e+01] [ 2.98078291e-01 9.54536328e-01 -3.11953473e-03 -5.67687786e+01] [-9.98728290e-03 -1.49168650e-04 -9.99950115e-01 2.23696394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.34 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.98, Y:-56.75, Z:2.24 [[-9.72787446e-01 2.31533381e-01 8.76799153e-03 9.29788643e+01] [ 2.31522953e-01 9.72826953e-01 -2.20020316e-03 -5.67463781e+01] [-9.03915897e-03 -1.10338723e-04 -9.99959140e-01 2.23544991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.37 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.98, Y:-56.72, Z:2.23 [[-9.86007958e-01 1.66515164e-01 7.81073928e-03 9.29792294e+01] [ 1.66509907e-01 9.86038894e-01 -1.32325434e-03 -5.67168887e+01] [-7.92203464e-03 -4.17383905e-06 -9.99968620e-01 2.23442455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.4 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:93.01, Y:-56.70, Z:2.23 [[-9.95111687e-01 9.86107572e-02 5.35248166e-03 9.30097548e+01] [ 9.86092658e-02 9.95126082e-01 -5.42471043e-04 -5.66964788e+01] [-5.37988758e-03 -1.20149874e-05 -9.99985528e-01 2.23220404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.43 meters Centerline goodness [0,1] 0.9999324385190523 Centerline is valid? [True, True] Translation: X:93.12, Y:-55.88, Z:1.39 [[-9.79781542e-01 -1.99947420e-01 7.01140848e-03 9.31167508e+01] [ 1.99943420e-01 -9.79806617e-01 -1.27407785e-03 -5.58768000e+01] [ 7.12457300e-03 1.53567025e-04 9.99974608e-01 1.39248284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.46 meters Centerline goodness [0,1] 0.9998649044198771 Centerline is valid? [True, True] Translation: X:92.95, Y:-56.69, Z:2.23 [[-9.95329681e-01 9.64458058e-02 4.12695059e-03 9.29503056e+01] [ 9.64450663e-02 9.95338237e-01 -3.78287973e-04 -5.66928828e+01] [-4.14419601e-03 2.15027763e-05 -9.99991413e-01 2.23346727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.49 meters Centerline goodness [0,1] 0.9998873696303471 Centerline is valid? [True, True] Translation: X:93.05, Y:-55.87, Z:1.39 [[-9.81107983e-01 -1.93387464e-01 5.33059330e-03 9.30471750e+01] [ 1.93385046e-01 -9.81122461e-01 -9.70253353e-04 -5.58658028e+01] [ 5.41759965e-03 7.89337211e-05 9.99985322e-01 1.39340592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.51999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.89, Y:-56.69, Z:2.23 [[-9.95572082e-01 9.39916680e-02 1.34032924e-03 9.28899343e+01] [ 9.39916754e-02 9.95572982e-01 -5.76347893e-05 -5.66886972e+01] [-1.33981277e-03 6.86002037e-05 -9.99999100e-01 2.22943514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.54999999999998 meters Centerline goodness [0,1] 0.9998196248196248 Centerline is valid? [True, True] Translation: X:92.98, Y:-55.86, Z:1.39 [[-9.82370661e-01 -1.86870198e-01 5.23586470e-03 9.29824161e+01] [ 1.86868811e-01 -9.82384586e-01 -7.57235637e-04 -5.58559048e+01] [ 5.28513755e-03 2.34533738e-04 9.99986006e-01 1.39238752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.57999999999998 meters Centerline goodness [0,1] 0.9998872426313059 Centerline is valid? [True, True] Translation: X:92.81, Y:-56.68, Z:2.23 [[-9.95840756e-01 9.10422952e-02 3.53400869e-03 9.28120217e+01] [ 9.10418729e-02 9.95847026e-01 -2.80502461e-04 -5.66821900e+01] [-3.54486963e-03 4.24069873e-05 -9.99993716e-01 2.23399385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.60999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.83, Y:-56.66, Z:2.23 [[-9.99786264e-01 2.02943367e-02 3.94533369e-03 9.28337851e+01] [ 2.02943266e-02 9.99794048e-01 -4.26047708e-05 -5.66567581e+01] [-3.94538578e-03 3.74722257e-05 -9.99992216e-01 2.23224266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.64 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.86, Y:-55.81, Z:1.39 [[-9.93806790e-01 -1.10766808e-01 8.87576913e-03 9.28613097e+01] [ 1.10765445e-01 -9.93846365e-01 -6.46583537e-04 -5.58147951e+01] [ 8.89277089e-03 3.40549407e-04 9.99960401e-01 1.39191644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.67 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.74, Y:-56.66, Z:2.24 [[-9.99844156e-01 1.60798571e-02 7.28709142e-03 9.27400223e+01] [ 1.60794996e-02 9.99870711e-01 -1.07652730e-04 -5.66555201e+01] [-7.28788032e-03 9.53683072e-06 -9.99973443e-01 2.23540512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.7 meters Centerline goodness [0,1] 0.9998191559102109 Centerline is valid? [True, True] Translation: X:92.75, Y:-56.63, Z:2.24 [[-9.98522870e-01 -5.36317692e-02 8.70126238e-03 9.27517749e+01] [-5.36296893e-02 9.98560781e-01 4.72345390e-04 -5.66299193e+01] [-8.71407207e-03 5.00167608e-06 -9.99962032e-01 2.23918714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.73 meters Centerline goodness [0,1] 0.9998867933072203 Centerline is valid? [True, True] Translation: X:92.72, Y:-55.78, Z:1.39 [[-9.99476876e-01 -3.06250175e-02 1.03962348e-02 9.27177208e+01] [ 3.06246082e-02 -9.99530937e-01 -1.98592950e-04 -5.57801560e+01] [ 1.03974402e-02 1.19891555e-04 9.99945938e-01 1.38873520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.76 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.65, Y:-56.64, Z:2.24 [[-9.98341916e-01 -5.71502126e-02 6.87551008e-03 9.26480500e+01] [-5.71485524e-02 9.98365590e-01 4.37854607e-04 -5.66370879e+01] [-6.88929616e-03 4.42031593e-05 -9.99976268e-01 2.23514756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.79 meters Centerline goodness [0,1] 0.9998640935036694 Centerline is valid? [True, True] Translation: X:92.65, Y:-56.61, Z:2.24 [[-9.92426706e-01 -1.22656225e-01 6.68453131e-03 9.26535934e+01] [-1.22652898e-01 9.92449215e-01 9.06920137e-04 -5.66139933e+01] [-6.74529725e-03 8.01746284e-05 -9.99977247e-01 2.23695197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.82 meters Centerline goodness [0,1] 0.99988666500442 Centerline is valid? [True, True] Translation: X:92.64, Y:-56.59, Z:2.24 [[-9.81651513e-01 -1.90596950e-01 5.75406198e-03 9.26388865e+01] [-1.90593083e-01 9.81668372e-01 1.21824496e-03 -5.65912711e+01] [-5.88077443e-03 9.92076012e-05 -9.99982703e-01 2.23607767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.85 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.43, Y:-55.74, Z:1.39 [[-9.91229287e-01 1.31976487e-01 6.83424153e-03 9.24349987e+01] [-1.31973611e-01 -9.91252846e-01 8.72110089e-04 -5.57401314e+01] [ 6.88955940e-03 -3.74784726e-05 9.99976266e-01 1.39479091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.88 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.48, Y:-56.63, Z:2.23 [[-9.81318430e-01 -1.92354280e-01 3.73753565e-03 9.24799794e+01] [-1.92352409e-01 9.81325540e-01 8.57046255e-04 -5.66261882e+01] [-3.83259571e-03 1.22111299e-04 -9.99992648e-01 2.23224996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.91 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.44, Y:-56.61, Z:2.23 [[-9.65609458e-01 -2.59981047e-01 2.86889080e-03 9.24379838e+01] [-2.59979514e-01 9.65613711e-01 9.01384340e-04 -5.66105945e+01] [-3.00458313e-03 1.24532408e-04 -9.99995478e-01 2.23169705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.94 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.38, Y:-56.60, Z:2.23 [[-9.44024750e-01 -3.29863693e-01 2.68612202e-03 9.23809077e+01] [-3.29861978e-01 9.44028563e-01 1.07109844e-03 -5.65997478e+01] [-2.88909240e-03 1.25093916e-04 -9.99995819e-01 2.23176579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.97 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.31, Y:-56.60, Z:2.23 [[-9.16888600e-01 -3.99135260e-01 2.51788625e-03 9.23120989e+01] [-3.99133378e-01 9.16892048e-01 1.23211613e-03 -5.65973527e+01] [-2.80041087e-03 1.24740794e-04 -9.99996071e-01 2.23239248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.0 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.23, Y:-56.61, Z:2.23 [[-8.84242642e-01 -4.67018736e-01 2.90697541e-03 9.22301226e+01] [-4.67015719e-01 8.84247410e-01 1.68393405e-03 -5.66056827e+01] [-3.35691423e-03 1.31403083e-04 -9.99994357e-01 2.23289748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.03 meters Centerline goodness [0,1] 0.9999089978386987 Centerline is valid? [True, True] Translation: X:92.15, Y:-56.62, Z:2.24 [[-8.46147527e-01 -5.32939002e-01 3.22212280e-03 9.21475154e+01] [-5.32934517e-01 8.46153651e-01 2.19085824e-03 -5.66206247e+01] [-3.89400478e-03 1.36608826e-04 -9.99992409e-01 2.23601833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.06 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:92.05, Y:-56.65, Z:2.23 [[-8.01911122e-01 -5.97436408e-01 2.87927416e-03 9.20534501e+01] [-5.97431990e-01 8.01916282e-01 2.30102547e-03 -5.66466057e+01] [-3.68365322e-03 1.25047428e-04 -9.99993208e-01 2.23451110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.09 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.96, Y:-56.68, Z:2.24 [[-7.53221668e-01 -6.57758085e-01 3.37929371e-03 9.19627810e+01] [-6.57750691e-01 7.53229238e-01 3.12153153e-03 -5.66832742e+01] [-4.59859543e-03 1.28472414e-04 -9.99989418e-01 2.23541044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.12 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.87, Y:-56.73, Z:2.24 [[-6.99723772e-01 -7.14404274e-01 3.62979509e-03 9.18693567e+01] [-7.14393708e-01 6.99733175e-01 3.88762731e-03 -5.67315271e+01] [-5.31722561e-03 1.27162471e-04 -9.99985855e-01 2.23630716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.15 meters Centerline goodness [0,1] 0.9999548165552141 Centerline is valid? [True, True] Translation: X:91.77, Y:-56.79, Z:2.24 [[-6.41056657e-01 -7.67481826e-01 4.24374586e-03 9.17719773e+01] [-7.67463753e-01 6.41070692e-01 5.26829806e-03 -5.67939072e+01] [-6.76386411e-03 1.20356416e-04 -9.99977118e-01 2.23774797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.18 meters Centerline goodness [0,1] 0.999796591782308 Centerline is valid? [True, True] Translation: X:91.69, Y:-56.85, Z:2.24 [[-5.79469391e-01 -8.14979294e-01 4.89634966e-03 9.16898524e+01] [-8.14948396e-01 5.79490064e-01 7.09768485e-03 -5.68533842e+01] [-8.62185217e-03 1.22618813e-04 -9.99962824e-01 2.24240318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.21 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.61, Y:-56.93, Z:2.24 [[-5.14005773e-01 -8.57777908e-01 3.88912836e-03 9.16052866e+01] [-8.57751733e-01 5.14020474e-01 6.70198398e-03 -5.69299615e+01] [-7.74790540e-03 1.08951863e-04 -9.99969979e-01 2.23901614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.24 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.52, Y:-57.02, Z:2.24 [[-4.44936588e-01 -8.95555695e-01 3.38084664e-03 9.15238440e+01] [-8.95528177e-01 4.44949422e-01 7.02107438e-03 -5.70164753e+01] [-7.79206890e-03 9.62894525e-05 -9.99969637e-01 2.23978801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.26999999999998 meters Centerline goodness [0,1] 0.9999549954995499 Centerline is valid? [True, True] Translation: X:91.45, Y:-57.10, Z:2.24 [[-3.73985088e-01 -9.27430495e-01 2.79843116e-03 9.14534822e+01] [-9.27402664e-01 3.73995546e-01 7.18536423e-03 -5.71038449e+01] [-7.71052669e-03 9.19465600e-05 -9.99970269e-01 2.24006176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.29999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.39, Y:-57.20, Z:2.24 [[-3.00437065e-01 -9.53799693e-01 1.92761614e-03 9.13876900e+01] [-9.53778190e-01 3.00443236e-01 6.40516052e-03 -5.72038203e+01] [-6.68837937e-03 8.58293915e-05 -9.99977629e-01 2.23792555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.32999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.33, Y:-57.31, Z:2.24 [[-2.24974282e-01 -9.74363975e-01 1.19039342e-03 9.13296447e+01] [-9.74348353e-01 2.24977417e-01 5.51809102e-03 -5.73103712e+01] [-5.64444073e-03 8.15706998e-05 -9.99984067e-01 2.23702904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.35999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.28, Y:-57.42, Z:2.24 [[-1.48096278e-01 -9.88972737e-01 6.46089354e-04 9.12800899e+01] [-9.88960876e-01 1.48097666e-01 4.84431806e-03 -5.74188044e+01] [-4.88658282e-03 7.84683809e-05 -9.99988058e-01 2.23638861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.39 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.24, Y:-57.55, Z:2.24 [[-6.88968342e-02 -9.97623775e-01 1.70036475e-04 9.12367572e+01] [-9.97617579e-01 6.88970057e-02 3.51680886e-03 -5.75460218e+01] [-3.52016714e-03 7.26656203e-05 -9.99993802e-01 2.23594841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.42 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.20, Y:-57.66, Z:2.24 [[ 1.03274293e-02 -9.99946665e-01 -1.04786821e-04 9.12043620e+01] [-9.99939275e-01 -1.03277559e-02 3.84489333e-03 -5.76600194e+01] [-3.84577047e-03 6.50725943e-05 -9.99992603e-01 2.23621054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.45 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.37, Y:-57.77, Z:1.40 [[-7.01748836e-02 9.97534652e-01 3.21019057e-04 9.03744932e+01] [-9.97514730e-01 -7.01755113e-02 6.30557818e-03 -5.77693021e+01] [ 6.31256041e-03 1.22271977e-04 9.99980068e-01 1.39606153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.48 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.20, Y:-57.95, Z:2.24 [[ 2.49017979e-02 -9.99689889e-01 -1.62562393e-04 9.11990974e+01] [-9.99677222e-01 -2.49023007e-02 5.03264499e-03 -5.79497397e+01] [-5.03513249e-03 3.71880128e-05 -9.99987323e-01 2.23846959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.51 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.38, Y:-58.09, Z:1.39 [[-6.72846397e-02 9.97733774e-01 3.05348464e-04 9.03792185e+01] [-9.97688529e-01 -6.72844982e-02 9.50768789e-03 -5.80857757e+01] [ 9.50668654e-03 3.35078695e-04 9.99954754e-01 1.39337232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.54 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.20, Y:-58.25, Z:2.24 [[ 4.29997233e-02 -9.99075039e-01 -2.99950984e-04 9.11951191e+01] [-9.99039684e-01 -4.30007252e-02 8.40518307e-03 -5.82498058e+01] [-8.41030671e-03 -6.17576102e-05 -9.99964631e-01 2.24147480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.18, Y:-58.38, Z:2.24 [[ 1.22541570e-01 -9.92462875e-01 -1.00280043e-03 9.11752070e+01] [-9.92423156e-01 -1.22545638e-01 8.87953293e-03 -5.83839558e+01] [-8.93549559e-03 -9.29095392e-05 -9.99960073e-01 2.24196637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.6 meters Centerline goodness [0,1] 0.9998654979936784 Centerline is valid? [True, True] Translation: X:91.16, Y:-58.50, Z:2.25 [[ 2.00665306e-01 -9.79657828e-01 -1.99347841e-03 9.11630059e+01] [-9.79602065e-01 -2.00675156e-01 1.04535575e-02 -5.85007153e+01] [-1.06409510e-02 -1.44850750e-04 -9.99943373e-01 2.24537542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.63 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.16, Y:-58.62, Z:2.24 [[ 2.78831026e-01 -9.60336282e-01 -2.73577613e-03 9.11594707e+01] [-9.60283855e-01 -2.78844394e-01 1.00360110e-02 -5.86174611e+01] [-1.04008013e-02 -1.71229593e-04 -9.99945896e-01 2.24358739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.66 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.17, Y:-58.73, Z:2.24 [[ 3.53032776e-01 -9.35604570e-01 -3.45660934e-03 9.11651399e+01] [-9.35554732e-01 -3.53049653e-01 9.65842141e-03 -5.87329652e+01] [-1.02568179e-02 -1.75892092e-04 -9.99947382e-01 2.24400880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.69 meters Centerline goodness [0,1] 0.9998212050777758 Centerline is valid? [True, True] Translation: X:91.19, Y:-58.86, Z:2.25 [[ 4.24046037e-01 -9.05628538e-01 -4.68078027e-03 9.11868055e+01] [-9.05567957e-01 -4.24071822e-01 1.04769123e-02 -5.88601929e+01] [-1.14731778e-02 -2.03928529e-04 -9.99934160e-01 2.24679737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.72 meters Centerline goodness [0,1] 0.9998881081323009 Centerline is valid? [True, True] Translation: X:91.21, Y:-58.97, Z:2.25 [[ 4.92861677e-01 -8.70093759e-01 -4.92120702e-03 9.12100712e+01] [-8.70046783e-01 -4.92886214e-01 9.04300750e-03 -5.89685262e+01] [-1.02938595e-02 -1.75271502e-04 -9.99947001e-01 2.24557503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.24, Y:-59.07, Z:2.24 [[ 5.56868058e-01 -8.30585660e-01 -5.04250178e-03 9.12437757e+01] [-8.30549470e-01 -5.56890872e-01 7.75459633e-03 -5.90748720e+01] [-9.24897973e-03 -1.30239812e-04 -9.99957219e-01 2.24302920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.78 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.28, Y:-59.17, Z:2.24 [[ 6.18074485e-01 -7.86102602e-01 -5.16051155e-03 9.12839717e+01] [-7.86073842e-01 -6.18096020e-01 6.72497987e-03 -5.91749403e+01] [-8.47621582e-03 -9.99953290e-05 -9.99964071e-01 2.24176409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.81 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.33, Y:-59.28, Z:2.24 [[ 6.75671109e-01 -7.37184633e-01 -5.23148846e-03 9.13318803e+01] [-7.37161672e-01 -6.75691358e-01 5.81877792e-03 -5.92752478e+01] [-7.82438520e-03 -7.51273511e-05 -9.99969386e-01 2.24129025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.84 meters Centerline goodness [0,1] 0.9999099484454851 Centerline is valid? [True, True] Translation: X:91.39, Y:-59.37, Z:2.24 [[ 7.29456878e-01 -6.84001337e-01 -5.90205713e-03 9.13865098e+01] [-6.83978136e-01 -7.29480751e-01 5.63411933e-03 -5.93702835e+01] [-8.15918222e-03 -7.29690640e-05 -9.99966711e-01 2.24269668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.87 meters Centerline goodness [0,1] 0.9999099484454851 Centerline is valid? [True, True] Translation: X:91.38, Y:-59.38, Z:2.24 [[ 7.80634102e-01 -6.24956291e-01 -6.32716610e-03 9.13815255e+01] [-6.24935015e-01 -7.80659740e-01 5.15723898e-03 -5.93769841e+01] [-8.16241279e-03 -7.18489800e-05 -9.99966684e-01 2.24273232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.9 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.38, Y:-59.38, Z:2.24 [[ 8.26793196e-01 -5.62476506e-01 -5.76122257e-03 9.13770625e+01] [-5.62462455e-01 -8.26813267e-01 3.97596793e-03 -5.93824323e+01] [-6.99984380e-03 -4.68318435e-05 -9.99975500e-01 2.24049374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.93 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.37, Y:-59.39, Z:2.24 [[ 8.67337683e-01 -4.97683600e-01 -6.03137045e-03 9.13734321e+01] [-4.97671292e-01 -8.67358653e-01 3.50036156e-03 -5.93861265e+01] [-6.97343389e-03 -3.43555598e-05 -9.99975685e-01 2.24067065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.96 meters Centerline goodness [0,1] 0.9999101668650482 Centerline is valid? [True, True] Translation: X:91.37, Y:-59.39, Z:2.24 [[ 9.02847706e-01 -4.29903834e-01 -6.97952578e-03 9.13684947e+01] [-4.29890696e-01 -9.02874682e-01 3.36121002e-03 -5.93893119e+01] [-7.74663420e-03 -3.42275632e-05 -9.99969994e-01 2.24276841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.99 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.36, Y:-59.39, Z:2.24 [[ 9.33294940e-01 -3.59050548e-01 -6.57715959e-03 9.13644622e+01] [-3.59041509e-01 -9.33318115e-01 2.54775242e-03 -5.93932715e+01] [-7.05335409e-03 -1.63311440e-05 -9.99975125e-01 2.24044446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.01999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.36, Y:-59.40, Z:2.24 [[ 9.57387292e-01 -2.88743865e-01 -6.04596821e-03 9.13600830e+01] [-2.88738231e-01 -9.57406382e-01 1.80382289e-03 -5.93952129e+01] [-6.30929134e-03 1.87450528e-05 -9.99980096e-01 2.24014019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.04999999999998 meters Centerline goodness [0,1] 0.9999322982487814 Centerline is valid? [True, True] Translation: X:91.36, Y:-59.40, Z:2.24 [[ 9.76425638e-01 -2.15762258e-01 -6.29464695e-03 9.13562355e+01] [-2.15758007e-01 -9.76445926e-01 1.35480491e-03 -5.93983885e+01] [-6.43869813e-03 3.52542320e-05 -9.99979271e-01 2.24053083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.07999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.35, Y:-59.40, Z:2.24 [[ 9.89972035e-01 -1.41141896e-01 -5.85956920e-03 9.13482973e+01] [-1.41139743e-01 -9.89989375e-01 7.81269911e-04 -5.94010990e+01] [-5.91118116e-03 5.35827295e-05 -9.99982527e-01 2.23846247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.10999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.34, Y:-59.40, Z:2.24 [[ 9.97809298e-01 -6.59206615e-02 -5.57418334e-03 9.13401864e+01] [-6.59200244e-02 -9.97824865e-01 2.98154704e-04 -5.94037848e+01] [-5.58171330e-03 6.99487665e-05 -9.99984420e-01 2.23842274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.14 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.33, Y:-59.41, Z:2.24 [[ 9.99967483e-01 6.47945477e-03 -4.80106974e-03 9.13333334e+01] [ 6.47890208e-03 -9.99979003e-01 -1.30662836e-04 -5.94053352e+01] [-4.80181556e-03 9.95529265e-05 -9.99988466e-01 2.23760664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.17 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.33, Y:-59.41, Z:2.24 [[ 9.96637729e-01 8.18132207e-02 -4.45359241e-03 9.13269802e+01] [ 8.18119057e-02 -9.96647673e-01 -4.76955801e-04 -5.94142378e+01] [-4.47768381e-03 1.10995264e-04 -9.99989969e-01 2.23737815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.2 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.32, Y:-59.42, Z:2.24 [[ 9.87678204e-01 1.56448174e-01 -3.96654475e-03 9.13195613e+01] [ 1.56446421e-01 -9.87686162e-01 -7.50279080e-04 -5.94225685e+01] [-4.03508116e-03 1.20482565e-04 -9.99991852e-01 2.23781362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.23 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.31, Y:-59.43, Z:2.24 [[ 9.73070224e-01 2.30481479e-01 -3.55360882e-03 9.13132333e+01] [ 2.30479462e-01 -9.73076704e-01 -9.72619274e-04 -5.94291179e+01] [-3.68210469e-03 1.27393006e-04 -9.99993213e-01 2.23788482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.26 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.31, Y:-59.44, Z:2.24 [[ 9.53691445e-01 3.00771184e-01 -3.05317210e-03 9.13074258e+01] [ 3.00769173e-01 -9.53696322e-01 -1.10879894e-03 -5.94372531e+01] [-3.24529378e-03 1.39152018e-04 -9.99994724e-01 2.23808548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.29 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.30, Y:-59.45, Z:2.24 [[ 9.28187965e-01 3.72101510e-01 -2.75101471e-03 9.13032657e+01] [ 3.72099416e-01 -9.28192031e-01 -1.25654493e-03 -5.94473417e+01] [-3.02103220e-03 1.42658911e-04 -9.99995426e-01 2.23827679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.32 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.30, Y:-59.46, Z:2.24 [[ 8.97291931e-01 4.41429790e-01 -2.63259971e-03 9.13003832e+01] [ 4.41427396e-01 -8.97295781e-01 -1.46155425e-03 -5.94594498e+01] [-3.00739420e-03 1.49339195e-04 -9.99995467e-01 2.23794826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.35 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.30, Y:-59.47, Z:2.24 [[ 8.60950068e-01 5.08685138e-01 -2.10006622e-03 9.12961366e+01] [ 5.08683214e-01 -8.60952618e-01 -1.40646277e-03 -5.94705839e+01] [-2.52350422e-03 1.42625781e-04 -9.99996806e-01 2.23806384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.38 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.29, Y:-59.48, Z:2.24 [[ 8.19150264e-01 5.73576212e-01 -1.78182205e-03 9.12946883e+01] [ 5.73574478e-01 -8.19152190e-01 -1.41694100e-03 -5.94829352e+01] [-2.27230708e-03 1.38679939e-04 -9.99997409e-01 2.23784412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.41 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.29, Y:-59.50, Z:2.24 [[ 7.72118593e-01 6.35476303e-01 -1.65750301e-03 9.12945477e+01] [ 6.35474440e-01 -7.72120359e-01 -1.54493268e-03 -5.94961273e+01] [-2.26155993e-03 1.39570444e-04 -9.99997433e-01 2.23799168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.44 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.30, Y:-59.51, Z:2.24 [[ 7.19645903e-01 6.94338770e-01 -1.85669594e-03 9.12967031e+01] [ 6.94335903e-01 -7.19648282e-01 -2.00069429e-03 -5.95100672e+01] [-2.72532766e-03 1.50620801e-04 -9.99996275e-01 2.23816559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.47 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.30, Y:-59.53, Z:2.24 [[ 6.62308913e-01 7.49229131e-01 -1.61607708e-03 9.13005501e+01] [ 7.49226351e-01 -6.62310869e-01 -2.04634252e-03 -5.95250703e+01] [-2.60352484e-03 1.44503360e-04 -9.99996600e-01 2.23821739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.31, Y:-59.54, Z:2.24 [[ 6.00595379e-01 7.99551826e-01 -1.43806811e-03 9.13053215e+01] [ 7.99548953e-01 -6.00597084e-01 -2.14822200e-03 -5.95392536e+01] [-2.58131434e-03 1.40406359e-04 -9.99996659e-01 2.23844473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.53 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.31, Y:-59.55, Z:2.24 [[ 5.32821594e-01 8.46227275e-01 -7.39821415e-04 9.13127497e+01] [ 8.46226158e-01 -5.32822096e-01 -1.37970035e-03 -5.95544742e+01] [-1.56173326e-03 1.09077905e-04 -9.99998775e-01 2.23813210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.32, Y:-59.57, Z:2.24 [[ 4.62917194e-01 8.86401514e-01 -1.67524043e-04 9.13172989e+01] [ 8.86401373e-01 -4.62917216e-01 -5.07388659e-04 -5.95674169e+01] [-5.27299839e-04 8.63853925e-05 -9.99999857e-01 2.23785141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.59 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.33, Y:-59.58, Z:2.24 [[ 3.89911297e-01 9.20852419e-01 -4.69762536e-05 9.13271446e+01] [ 9.20852368e-01 -3.89911291e-01 -3.19910226e-04 -5.95803232e+01] [-3.12906677e-04 8.14784165e-05 -9.99999948e-01 2.23753254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.62 meters Centerline goodness [0,1] 0.9999776065926191 Centerline is valid? [True, True] Translation: X:91.34, Y:-59.59, Z:2.24 [[ 3.13975396e-01 9.49431117e-01 6.28243358e-05 9.13354010e+01] [ 9.49431119e-01 -3.13975393e-01 -5.43202432e-05 -5.95917681e+01] [-3.18480335e-05 7.67025993e-05 -9.99999997e-01 2.23773001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.65 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.35, Y:-59.60, Z:2.24 [[ 2.32975654e-01 9.72482568e-01 -2.26410365e-05 9.13497985e+01] [ 9.72482474e-01 -2.32975642e-01 -4.34232768e-04 -5.96025045e+01] [-4.27558607e-04 7.91476520e-05 -9.99999905e-01 2.23797946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.68 meters Centerline goodness [0,1] 0.999910789954949 Centerline is valid? [True, True] Translation: X:91.36, Y:-59.61, Z:2.24 [[ 1.53635559e-01 9.88127578e-01 -7.45238404e-05 9.13597800e+01] [ 9.88127070e-01 -1.53635556e-01 -1.00443396e-03 -5.96112546e+01] [-1.00395841e-03 8.06777483e-05 -9.99999493e-01 2.24062655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.71 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.37, Y:-59.62, Z:2.24 [[ 7.26488388e-02 9.97357582e-01 -1.56063031e-05 9.13695174e+01] [ 9.97356756e-01 -7.26487988e-02 -1.28609315e-03 -5.96195204e+01] [-1.28382854e-03 7.78681224e-05 -9.99999173e-01 2.23997886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.74 meters Centerline goodness [0,1] 0.9998445549831231 Centerline is valid? [True, True] Translation: X:91.38, Y:-59.63, Z:2.24 [[-7.29708641e-03 9.99973372e-01 9.26953513e-05 9.13794804e+01] [ 9.99970714e-01 7.29728083e-03 -2.30658071e-03 -5.96263722e+01] [-2.30719571e-03 7.58613179e-05 -9.99997336e-01 2.24310092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.76999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.39, Y:-59.63, Z:2.24 [[-8.92244238e-02 9.96011515e-01 2.51441840e-04 9.13909127e+01] [ 9.96009420e-01 8.92247521e-02 -2.04415363e-03 -5.96334761e+01] [-2.05843539e-03 6.80500115e-05 -9.99997879e-01 2.24204405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.79999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.40, Y:-59.64, Z:2.24 [[-1.67663532e-01 9.85844152e-01 4.97318677e-04 9.14012453e+01] [ 9.85840879e-01 1.67664257e-01 -2.54118865e-03 -5.96385821e+01] [-2.58859853e-03 6.42124175e-05 -9.99996648e-01 2.24214574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.82999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.41, Y:-59.64, Z:2.24 [[-2.44688335e-01 9.69601436e-01 8.20596767e-04 9.14115101e+01] [ 9.69596785e-01 2.44689704e-01 -3.00388130e-03 -5.96427884e+01] [-3.11335920e-03 6.06332741e-05 -9.99995152e-01 2.24264517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.85999999999999 meters Centerline goodness [0,1] 0.9999336415315534 Centerline is valid? [True, True] Translation: X:91.42, Y:-59.65, Z:2.24 [[-3.19582645e-01 9.47557636e-01 1.20791540e-03 9.14227041e+01] [ 9.47551557e-01 3.19584922e-01 -3.39472376e-03 -5.96451651e+01] [-3.60272797e-03 5.96673231e-05 -9.99993508e-01 2.24436692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.43, Y:-59.65, Z:2.24 [[-3.92797476e-01 9.19624237e-01 1.18518641e-03 9.14335024e+01] [ 9.19620520e-01 3.92799259e-01 -2.61566283e-03 -5.96482293e+01] [-2.87096728e-03 6.24959898e-05 -9.99995877e-01 2.24338450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.92 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.44, Y:-59.65, Z:2.24 [[-4.63459459e-01 8.86117024e-01 1.39648421e-03 9.14437050e+01] [ 8.86113401e-01 4.63461559e-01 -2.53445337e-03 -5.96504406e+01] [-2.89303902e-03 6.28269812e-05 -9.99995813e-01 2.24328651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.95 meters Centerline goodness [0,1] 0.9999115142130295 Centerline is valid? [True, True] Translation: X:91.45, Y:-59.65, Z:2.25 [[-5.30729000e-01 8.47539779e-01 1.74682295e-03 9.14537335e+01] [ 8.47535580e-01 5.30731871e-01 -2.66867001e-03 -5.96516981e+01] [-3.18889860e-03 6.41540425e-05 -9.99994913e-01 2.24506020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.98 meters Centerline goodness [0,1] 0.9999336664750365 Centerline is valid? [True, True] Translation: X:91.46, Y:-59.65, Z:2.24 [[-5.95178645e-01 8.03591406e-01 1.79798987e-03 9.14636716e+01] [ 8.03588068e-01 5.95181357e-01 -2.31707936e-03 -5.96530182e+01] [-2.93211511e-03 6.57670586e-05 -9.99995699e-01 2.24472179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.01 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.47, Y:-59.65, Z:2.24 [[-6.56495891e-01 7.54327914e-01 1.59483510e-03 9.14743400e+01] [ 7.54325930e-01 6.56497825e-01 -1.73130093e-03 -5.96521674e+01] [-2.35297439e-03 6.64335255e-05 -9.99997230e-01 2.24287211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.04 meters Centerline goodness [0,1] 0.9999556216300175 Centerline is valid? [True, True] Translation: X:91.48, Y:-59.65, Z:2.24 [[-7.13323930e-01 7.00833119e-01 1.38170719e-03 9.14836669e+01] [ 7.00831987e-01 7.13325265e-01 -1.26184929e-03 -5.96522162e+01] [-1.86995242e-03 6.82372992e-05 -9.99998249e-01 2.24313744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.07 meters Centerline goodness [0,1] 0.9999557032115172 Centerline is valid? [True, True] Translation: X:91.51, Y:-59.64, Z:2.24 [[-7.61235350e-01 6.48473398e-01 1.73056240e-03 9.15084185e+01] [ 6.48471898e-01 7.61237315e-01 -1.39595431e-03 -5.96387807e+01] [-2.22260790e-03 5.95713171e-05 -9.99997528e-01 2.24297417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.1 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.53, Y:-59.62, Z:2.24 [[-8.05864251e-01 5.92098128e-01 1.61724171e-03 9.15276944e+01] [ 5.92097079e-01 8.05865872e-01 -1.11618685e-03 -5.96195047e+01] [-1.96417205e-03 5.80690124e-05 -9.99998069e-01 2.24248161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.13 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.55, Y:-59.60, Z:2.24 [[-8.46903469e-01 5.31737744e-01 3.07990993e-03 9.15465278e+01] [ 5.31734415e-01 8.46909068e-01 -1.88202499e-03 -5.95992418e+01] [-3.60914737e-03 4.38006179e-05 -9.99993486e-01 2.24395477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.16 meters Centerline goodness [0,1] 0.9998665005339978 Centerline is valid? [True, True] Translation: X:91.56, Y:-59.58, Z:2.25 [[-8.82788668e-01 4.69749271e-01 4.44866441e-03 9.15612444e+01] [ 4.69743483e-01 8.82799876e-01 -2.33207676e-03 -5.95764235e+01] [-5.02277175e-03 3.10001739e-05 -9.99987385e-01 2.24743189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.19 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.96, Y:-58.87, Z:1.39 [[-8.40855329e-01 -5.41227679e-01 5.90892090e-03 9.19589223e+01] [ 5.41215168e-01 -8.40876084e-01 -3.68136547e-03 -5.88720331e+01] [ 6.96112716e-03 1.02501841e-04 9.99975766e-01 1.39463966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.22 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.53, Y:-59.56, Z:2.25 [[-8.86145522e-01 4.63379468e-01 5.05800240e-03 9.15267458e+01] [ 4.63371958e-01 8.86159957e-01 -2.63806298e-03 -5.95591323e+01] [-5.70462341e-03 6.02878194e-06 -9.99983728e-01 2.24544093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.25 meters Centerline goodness [0,1] 0.9999107541276216 Centerline is valid? [True, True] Translation: X:91.54, Y:-59.54, Z:2.25 [[-9.17562556e-01 3.97530101e-01 6.98385893e-03 9.15414783e+01] [ 3.97518336e-01 9.17589133e-01 -3.05863299e-03 -5.95363421e+01] [-7.62421175e-03 -3.02751212e-05 -9.99970935e-01 2.24876388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.28 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.88, Y:-58.80, Z:1.39 [[-8.76161645e-01 -4.81943264e-01 8.45355923e-03 9.18797497e+01] [ 4.81922747e-01 -8.76202408e-01 -4.45040222e-03 -5.87998405e+01] [ 9.55187033e-03 1.74690752e-04 9.99954365e-01 1.39224444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.31 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.50, Y:-59.52, Z:2.25 [[-9.20104917e-01 3.91603828e-01 7.30635072e-03 9.14966376e+01] [ 3.91590993e-01 9.20133924e-01 -3.17112935e-03 -5.95175770e+01] [-7.96464756e-03 -5.66705741e-05 -9.99968280e-01 2.24803356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.34 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.52, Y:-59.50, Z:2.25 [[-9.45802241e-01 3.24655022e-01 7.56561999e-03 9.15178442e+01] [ 3.24644087e-01 9.45832497e-01 -2.66539216e-03 -5.94975351e+01] [-8.02114220e-03 -6.48000869e-05 -9.99967828e-01 2.24786938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.37 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.53, Y:-59.47, Z:2.25 [[-9.66833938e-01 2.55322953e-01 6.50577914e-03 9.15265288e+01] [ 2.55316792e-01 9.66855825e-01 -1.77451725e-03 -5.94731581e+01] [-6.74322544e-03 -5.46288432e-05 -9.99977263e-01 2.24662537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.4 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.54, Y:-59.45, Z:2.25 [[-9.82602380e-01 1.85633498e-01 5.72430358e-03 9.15370243e+01] [ 1.85630101e-01 9.82619053e-01 -1.12384793e-03 -5.94483491e+01] [-5.83343358e-03 -4.16926036e-05 -9.99982985e-01 2.24581733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.43 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.71, Y:-58.65, Z:1.40 [[-9.57942253e-01 -2.86905827e-01 5.62911957e-03 9.17131606e+01] [ 2.86901144e-01 -9.57958791e-01 -1.63986135e-03 -5.86505498e+01] [ 5.86295035e-03 4.41083672e-05 9.99982812e-01 1.39558931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.46 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.49, Y:-59.44, Z:2.24 [[-9.83446441e-01 1.81193818e-01 1.37737923e-03 9.14861555e+01] [ 1.81193696e-01 9.83447405e-01 -2.14348580e-04 -5.94400315e+01] [-1.39341867e-03 3.87720852e-05 -9.99999028e-01 2.24246947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.49 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.50, Y:-59.42, Z:2.24 [[-9.93619004e-01 1.12784451e-01 9.70900532e-04 9.15027576e+01] [ 1.12784444e-01 9.93619477e-01 -6.18245219e-05 -5.94181795e+01] [-9.71678524e-04 4.80724568e-05 -9.99999527e-01 2.24250169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.51999999999998 meters Centerline goodness [0,1] 0.9998429507314008 Centerline is valid? [True, True] Translation: X:91.62, Y:-58.60, Z:1.39 [[-9.77643841e-01 -2.10249217e-01 2.79039314e-03 9.16168000e+01] [ 2.10248646e-01 -9.77647819e-01 -4.99953162e-04 -5.86000209e+01] [ 2.83313653e-03 9.79002492e-05 9.99995982e-01 1.39466410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.54999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.44, Y:-59.41, Z:2.24 [[-9.93697309e-01 1.12093768e-01 -8.03364411e-04 9.14425213e+01] [ 1.12093670e-01 9.93697631e-01 1.66835477e-04 -5.94126655e+01] [ 8.17002530e-04 7.57318994e-05 -9.99999663e-01 2.24190783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.57999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.56, Y:-58.59, Z:1.40 [[-9.79252768e-01 -2.02640830e-01 8.43095644e-04 9.15586868e+01] [ 2.02640798e-01 -9.79253130e-01 -1.23693279e-04 -5.85893008e+01] [ 8.50669356e-04 4.97185882e-05 9.99999637e-01 1.39851341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.60999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.38, Y:-59.41, Z:2.24 [[-9.93498129e-01 1.13845894e-01 -7.61541297e-04 9.13829815e+01] [ 1.13845806e-01 9.93498418e-01 1.57942499e-04 -5.94109643e+01] [ 7.74571180e-04 7.02172944e-05 -9.99999698e-01 2.24262503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.64 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.39, Y:-59.39, Z:2.24 [[-9.99017978e-01 4.43042279e-02 -4.63740934e-04 9.13923986e+01] [ 4.43041921e-02 9.99018083e-01 8.71558400e-05 -5.93865212e+01] [ 4.67146952e-04 6.65245836e-05 -9.99999889e-01 2.24289504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.67 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.45, Y:-58.54, Z:1.40 [[-9.92555273e-01 -1.21785045e-01 1.55989264e-03 9.14467786e+01] [ 1.21785014e-01 -9.92556496e-01 -1.15478523e-04 -5.85431565e+01] [ 1.56234513e-03 7.53527297e-05 9.99998777e-01 1.39710230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.7 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.32, Y:-59.38, Z:2.24 [[-9.99196079e-01 4.00819733e-02 7.94703898e-04 9.13162741e+01] [ 4.00820096e-02 9.99196393e-01 2.97037625e-05 -5.93829487e+01] [-7.92874683e-04 6.15332122e-05 -9.99999684e-01 2.24431096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.73 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.32, Y:-59.35, Z:2.25 [[-9.99526617e-01 -3.06560356e-02 2.59789309e-03 9.13190274e+01] [-3.06557947e-02 9.99529992e-01 1.32498090e-04 -5.93546612e+01] [-2.60073392e-03 5.27948907e-05 -9.99996617e-01 2.24668242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.76 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.30, Y:-58.51, Z:1.39 [[-9.98978743e-01 -4.49699803e-02 4.37851480e-03 9.13040958e+01] [ 4.49698652e-02 -9.98988336e-01 -1.24788999e-04 -5.85111837e+01] [ 4.37969697e-03 7.22396632e-05 9.99990406e-01 1.39409139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.79 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.22, Y:-59.36, Z:2.25 [[-9.99333157e-01 -3.63376593e-02 3.57997948e-03 9.12154545e+01] [-3.63372371e-02 9.99339568e-01 1.82916400e-04 -5.93565340e+01] [-3.58426190e-03 5.27078600e-05 -9.99993575e-01 2.24761520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.82 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.21, Y:-59.33, Z:2.25 [[-9.94307961e-01 -1.06458868e-01 4.26483498e-03 9.12128909e+01] [-1.06457665e-01 9.94317106e-01 5.08748449e-04 -5.93295932e+01] [-4.29475915e-03 5.18282577e-05 -9.99990776e-01 2.24846072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.85 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.20, Y:-59.30, Z:2.25 [[-9.84425890e-01 -1.75744324e-01 4.42713781e-03 9.11993004e+01] [-1.75742281e-01 9.84435843e-01 8.49430532e-04 -5.93048572e+01] [-4.50751574e-03 5.81661115e-05 -9.99989839e-01 2.24890072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.88 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.18, Y:-59.28, Z:2.25 [[-9.69411190e-01 -2.45405130e-01 4.27390232e-03 9.11760349e+01] [-2.45402440e-01 9.69420609e-01 1.15084625e-03 -5.92828262e+01] [-4.42563256e-03 6.68171693e-05 -9.99990205e-01 2.24827051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.91 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.12, Y:-59.27, Z:2.25 [[-9.49951896e-01 -3.12383784e-01 2.78694030e-03 9.11234031e+01] [-3.12382199e-01 9.49955981e-01 9.98151333e-04 -5.92723438e+01] [-2.95927690e-03 7.76052117e-05 -9.99995618e-01 2.24685391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.94 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:91.06, Y:-59.27, Z:2.25 [[-9.24939031e-01 -3.80109314e-01 2.16757992e-03 9.10642547e+01] [-3.80108066e-01 9.24941567e-01 9.77623847e-04 -5.92663958e+01] [-2.37648870e-03 8.03278415e-05 -9.99997173e-01 2.24608273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.97 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.99, Y:-59.27, Z:2.25 [[-8.94853637e-01 -4.46356997e-01 1.54917378e-03 9.09890395e+01] [-4.46356171e-01 8.94854974e-01 8.62063172e-04 -5.92714779e+01] [-1.77107379e-03 7.99370886e-05 -9.99998428e-01 2.24579285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.0 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.91, Y:-59.29, Z:2.25 [[-8.59741586e-01 -5.10728629e-01 8.19792318e-04 9.09093935e+01] [-5.10728311e-01 8.59741974e-01 5.75192728e-04 -5.92852784e+01] [-9.98577259e-04 7.58259624e-05 -9.99999499e-01 2.24561558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.03 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.82, Y:-59.31, Z:2.25 [[-8.19815552e-01 -5.72627412e-01 5.55736898e-04 9.08244480e+01] [-5.72627216e-01 8.19815737e-01 4.79375535e-04 -5.93085553e+01] [-7.30105426e-04 7.47694455e-05 -9.99999731e-01 2.24536590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.06 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.74, Y:-59.35, Z:2.25 [[-7.76482354e-01 -6.30138970e-01 1.80588529e-04 9.07362990e+01] [-6.30138930e-01 7.76482371e-01 2.37513101e-04 -5.93461488e+01] [-2.89890070e-04 7.06288696e-05 -9.99999955e-01 2.24520937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.09 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.65, Y:-59.39, Z:2.25 [[-7.27296688e-01 -6.86323188e-01 9.46925141e-05 9.06457031e+01] [-6.86323167e-01 7.27296691e-01 1.84962365e-04 -5.93915688e+01] [-1.95813512e-04 6.95328496e-05 -9.99999978e-01 2.24544029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.12 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.56, Y:-59.44, Z:2.25 [[-6.73624832e-01 -7.39073464e-01 1.32673978e-05 9.05586919e+01] [-7.39073458e-01 6.73624829e-01 1.15259904e-04 -5.94438792e+01] [-9.41227847e-05 6.78363516e-05 -9.99999993e-01 2.24563500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.15 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.46, Y:-59.51, Z:2.25 [[-6.16447298e-01 -7.87396170e-01 3.74067745e-06 9.04621212e+01] [-7.87396165e-01 6.16447294e-01 1.14950858e-04 -5.95149320e+01] [-9.28177956e-05 6.79157506e-05 -9.99999993e-01 2.24573032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.18 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.38, Y:-59.58, Z:2.25 [[-5.54024208e-01 -8.32500520e-01 2.44824067e-04 9.03806777e+01] [-8.32500369e-01 5.54024257e-01 5.08494417e-04 -5.95809811e+01] [-5.58960338e-04 7.79020908e-05 -9.99999841e-01 2.24552483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.21 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.30, Y:-59.66, Z:2.25 [[-4.88082753e-01 -8.72797354e-01 7.31444727e-05 9.03008665e+01] [-8.72797313e-01 4.88082753e-01 2.77797985e-04 -5.96601930e+01] [-2.78161902e-04 7.17481061e-05 -9.99999959e-01 2.24597042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.24 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.22, Y:-59.76, Z:2.25 [[-4.18450371e-01 -9.08239663e-01 3.88118158e-05 9.02220630e+01] [-9.08239631e-01 4.18450367e-01 2.53268161e-04 -5.97555778e+01] [-2.46269008e-04 7.07297265e-05 -9.99999967e-01 2.24599518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.26999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.15, Y:-59.85, Z:2.25 [[-3.44457908e-01 -9.38801762e-01 -1.91588004e-05 9.01506626e+01] [-9.38801754e-01 3.44457902e-01 1.45063205e-04 -5.98510287e+01] [-1.29586192e-04 6.79544835e-05 -9.99999989e-01 2.24588752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.29999999999998 meters Centerline goodness [0,1] 0.9999107122926851 Centerline is valid? [True, True] Translation: X:90.09, Y:-59.95, Z:2.25 [[-2.69646032e-01 -9.62959508e-01 -5.42305982e-05 9.00890234e+01] [-9.62959509e-01 2.69646029e-01 5.13999842e-05 -5.99525319e+01] [-3.48730379e-05 6.60816720e-05 -9.99999997e-01 2.24789868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.32999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.03, Y:-60.06, Z:2.25 [[-1.91992575e-01 -9.81396371e-01 -1.23198293e-04 9.00327747e+01] [-9.81396322e-01 1.91992605e-01 -3.13215637e-04 -6.00623986e+01] [ 3.31041851e-04 6.07712747e-05 -9.99999943e-01 2.24566014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.35999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.99, Y:-60.18, Z:2.25 [[-1.13272208e-01 -9.93563984e-01 -1.31459111e-04 8.99858119e+01] [-9.93563776e-01 1.13272270e-01 -6.44813670e-04 -6.01778201e+01] [ 6.55554311e-04 5.75735430e-05 -9.99999783e-01 2.24579514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.39 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.95, Y:-60.30, Z:2.25 [[-3.37125472e-02 -9.99431566e-01 -9.51838288e-05 8.99480089e+01] [-9.99430805e-01 3.37126391e-02 -1.23436008e-03 -6.02957958e+01] [ 1.23686732e-03 5.35162282e-05 -9.99999234e-01 2.24599102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.42 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.92, Y:-60.43, Z:2.25 [[ 4.88883764e-02 -9.98804248e-01 -2.02764440e-05 8.99175436e+01] [-9.98803897e-01 -4.88883422e-02 -8.39721918e-04 -6.04268464e+01] [ 8.37726537e-04 6.13048325e-05 -9.99999647e-01 2.24629600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.45 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.90, Y:-60.54, Z:2.25 [[ 1.29036620e-01 -9.91639828e-01 3.96332017e-05 8.98973925e+01] [-9.91639510e-01 -1.29036610e-01 -7.97754852e-04 -6.05394068e+01] [ 7.96199619e-04 6.36377407e-05 -9.99999681e-01 2.24668299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.48 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.88, Y:-60.66, Z:2.25 [[ 1.99226377e-01 -9.79953488e-01 1.08454205e-04 8.98794587e+01] [-9.79953096e-01 -1.99226394e-01 -8.79963303e-04 -6.06574664e+01] [ 8.83930049e-04 6.90318668e-05 -9.99999607e-01 2.24693180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.51 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.88, Y:-60.78, Z:2.25 [[ 2.77696848e-01 -9.60668736e-01 2.02448723e-04 8.98772067e+01] [-9.60668268e-01 -2.77696913e-01 -9.50348504e-04 -6.07781167e+01] [ 9.69189481e-04 6.94227193e-05 -9.99999528e-01 2.24715052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.54 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.88, Y:-60.91, Z:2.25 [[ 3.57353705e-01 -9.33969127e-01 -1.23397289e-05 8.98837638e+01] [-9.33969117e-01 -3.57353699e-01 -1.51253754e-04 -6.09061000e+01] [ 1.36856689e-04 6.55760149e-05 -9.99999988e-01 2.24784142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.90, Y:-61.03, Z:2.25 [[ 4.30954704e-01 -9.02373555e-01 -9.89849830e-05 8.99011276e+01] [-9.02373555e-01 -4.30954711e-01 6.28452647e-05 -6.10252427e+01] [-9.93679495e-05 6.22379686e-05 -9.99999993e-01 2.24861700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.6 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.93, Y:-61.14, Z:2.25 [[ 5.01201744e-01 -8.65330413e-01 -2.97587827e-04 8.99263463e+01] [-8.65330320e-01 -5.01201829e-01 4.04466719e-04 -6.11396857e+01] [-4.99148916e-04 5.47923453e-05 -9.99999874e-01 2.24932267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.63 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.96, Y:-61.25, Z:2.25 [[ 5.67694896e-01 -8.23238911e-01 -4.48248049e-04 8.99591826e+01] [-8.23238720e-01 -5.67695070e-01 5.62507968e-04 -6.12483790e+01] [-7.17546655e-04 4.96822480e-05 -9.99999741e-01 2.25024994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.66 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.00, Y:-61.36, Z:2.25 [[ 6.28795124e-01 -7.77570846e-01 -5.20216465e-04 9.00029303e+01] [-7.77570642e-01 -6.28795337e-01 5.65483644e-04 -6.13559638e+01] [-7.66813283e-04 4.89316926e-05 -9.99999705e-01 2.25040274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.69 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.05, Y:-61.45, Z:2.25 [[ 6.85865602e-01 -7.27728007e-01 -5.69967600e-04 9.00504747e+01] [-7.27727813e-01 -6.85865837e-01 5.32963280e-04 -6.14539552e+01] [-7.78773610e-04 4.92400947e-05 -9.99999696e-01 2.25062392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.72 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.11, Y:-61.55, Z:2.25 [[ 7.38335812e-01 -6.74433236e-01 -1.96338758e-04 9.01072398e+01] [-6.74433231e-01 -7.38335836e-01 9.94665255e-05 -6.15482212e+01] [-2.12047472e-04 5.89776852e-05 -9.99999976e-01 2.25032165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.11, Y:-61.55, Z:2.25 [[ 7.85767899e-01 -6.18521432e-01 2.17293975e-04 9.01064932e+01] [-6.18521382e-01 -7.85767926e-01 -2.55916199e-04 -6.15514749e+01] [ 3.29032290e-04 6.66897637e-05 -9.99999944e-01 2.24973210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.78 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.10, Y:-61.55, Z:2.25 [[ 8.29944900e-01 -5.57845226e-01 4.08731757e-04 9.01036024e+01] [-5.57845116e-01 -8.29944998e-01 -3.55426885e-04 -6.15548705e+01] [ 5.37498068e-04 6.69757162e-05 -9.99999853e-01 2.24992953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.81 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.10, Y:-61.56, Z:2.25 [[ 8.69462307e-01 -4.93999028e-01 5.07500868e-04 9.01008528e+01] [-4.93998898e-01 -8.69462453e-01 -3.63601940e-04 -6.15576437e+01] [ 6.20871954e-04 6.54333124e-05 -9.99999805e-01 2.25016325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.84 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.10, Y:-61.56, Z:2.25 [[ 9.04069787e-01 -4.27384726e-01 3.40236691e-04 9.00974872e+01] [-4.27384668e-01 -9.04069849e-01 -2.30634371e-04 -6.15620463e+01] [ 4.06167341e-04 6.30976212e-05 -9.99999916e-01 2.25062965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.87 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.09, Y:-61.57, Z:2.25 [[ 9.32763540e-01 -3.60488394e-01 -5.45113235e-04 9.00940821e+01] [-3.60488372e-01 -9.32763697e-01 1.40869631e-04 -6.15662245e+01] [-5.59243703e-04 6.51089272e-05 -9.99999842e-01 2.25158547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.9 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.09, Y:-61.57, Z:2.25 [[ 9.57518050e-01 -2.88372338e-01 -7.61251101e-04 9.00896086e+01] [-2.88372302e-01 -9.57518350e-01 1.58882740e-04 -6.15722748e+01] [-7.74729285e-04 6.73906411e-05 -9.99999698e-01 2.25211279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.93 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.09, Y:-61.58, Z:2.25 [[ 9.76806375e-01 -2.14122206e-01 -9.93005374e-04 9.00854215e+01] [-2.14122168e-01 -9.76806878e-01 1.45728032e-04 -6.15765075e+01] [-1.00117809e-03 7.02763920e-05 -9.99999496e-01 2.25259303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.96 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.08, Y:-61.58, Z:2.25 [[ 9.90443171e-01 -1.37914123e-01 -1.42139834e-03 9.00783048e+01] [-1.37914089e-01 -9.90444188e-01 1.22326073e-04 -6.15841788e+01] [-1.42468621e-03 7.48738326e-05 -9.99998982e-01 2.25270898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.99 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.07, Y:-61.59, Z:2.25 [[ 9.98162372e-01 -6.05251934e-02 -2.92902423e-03 9.00711788e+01] [-6.05251968e-02 -9.98166666e-01 8.75726734e-05 -6.15905888e+01] [-2.92895470e-03 8.98680203e-05 -9.99995707e-01 2.25381784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.01999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.07, Y:-61.60, Z:2.25 [[ 9.99822836e-01 1.84775360e-02 -3.58861773e-03 9.00651951e+01] [ 1.84770806e-02 -9.99829271e-01 -1.60027234e-04 -6.15996854e+01] [-3.59096196e-03 9.36917036e-05 -9.99993548e-01 2.25401362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.04999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.06, Y:-61.61, Z:2.25 [[ 9.95259588e-01 9.71489249e-02 -4.52104161e-03 9.00603856e+01] [ 9.71474652e-02 -9.95269851e-01 -5.41877910e-04 -6.16090429e+01] [-4.55229926e-03 1.00101453e-04 -9.99989633e-01 2.25476090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.07999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.05, Y:-61.62, Z:2.25 [[ 9.84368582e-01 1.76053113e-01 -4.87821917e-03 9.00545086e+01] [ 1.76050461e-01 -9.84380664e-01 -9.71213597e-04 -6.16180446e+01] [-4.97300981e-03 9.72194173e-05 -9.99987630e-01 2.25474846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.10999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.05, Y:-61.63, Z:2.25 [[ 9.67422542e-01 2.53124226e-01 -4.66381286e-03 9.00509900e+01] [ 2.53120817e-01 -9.67433779e-01 -1.31700399e-03 -6.16264568e+01] [-4.84529572e-03 9.35912284e-05 -9.99988257e-01 2.25431286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.14 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.05, Y:-61.63, Z:2.25 [[ 9.44481474e-01 3.28537309e-01 -4.24043631e-03 9.00475189e+01] [ 3.28533572e-01 -9.44490989e-01 -1.56943157e-03 -6.16340142e+01] [-4.52067071e-03 8.91733585e-05 -9.99989778e-01 2.25363142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.17 meters Centerline goodness [0,1] 0.9999328032254452 Centerline is valid? [True, True] Translation: X:90.04, Y:-61.64, Z:2.25 [[ 9.15860997e-01 4.01477341e-01 -3.81831471e-03 9.00440241e+01] [ 4.01473455e-01 -9.15868952e-01 -1.76855937e-03 -6.16413642e+01] [-4.20711240e-03 8.68025473e-05 -9.99991146e-01 2.25464507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.2 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.04, Y:-61.65, Z:2.25 [[ 8.81295224e-01 4.72559873e-01 -2.42775783e-03 9.00410824e+01] [ 4.72557840e-01 -8.81298565e-01 -1.38805420e-03 -6.16481083e+01] [-2.79551821e-03 7.60295454e-05 -9.99996090e-01 2.25177137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.23 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.04, Y:-61.66, Z:2.25 [[ 8.41358196e-01 5.40476108e-01 -1.40061066e-03 9.00385107e+01] [ 5.40475221e-01 -8.41359359e-01 -9.81753950e-04 -6.16558319e+01] [-1.70903144e-03 6.90113753e-05 -9.99998537e-01 2.25123181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.26 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.04, Y:-61.66, Z:2.25 [[ 7.96138115e-01 6.05114601e-01 -6.48977260e-04 9.00361157e+01] [ 6.05114332e-01 -7.96138377e-01 -5.73802400e-04 -6.16633877e+01] [-8.63891912e-04 6.41205199e-05 -9.99999625e-01 2.25060910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.29 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.04, Y:-61.67, Z:2.25 [[ 7.45666951e-01 6.66318796e-01 2.45431899e-04 9.00381031e+01] [ 6.66318784e-01 -7.45666989e-01 1.40157144e-04 -6.16749536e+01] [ 2.76399805e-04 5.90253337e-05 -9.99999960e-01 2.24976353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.32 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.04, Y:-61.69, Z:2.25 [[ 6.89338899e-01 7.24438146e-01 1.11996815e-03 9.00397424e+01] [ 7.24437325e-01 -6.89339807e-01 1.09250890e-03 -6.16866828e+01] [ 1.56349375e-03 5.82378448e-05 -9.99998776e-01 2.24882035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.35 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.04, Y:-61.70, Z:2.25 [[ 6.29477094e-01 7.77017980e-01 1.28332440e-03 9.00426022e+01] [ 7.77016557e-01 -6.29478400e-01 1.48843884e-03 -6.16978922e+01] [ 1.96436873e-03 6.02261517e-05 -9.99998069e-01 2.24875897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.38 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.05, Y:-61.71, Z:2.25 [[ 5.64631558e-01 8.25342351e-01 1.09923715e-03 9.00460714e+01] [ 8.25341004e-01 -5.64632624e-01 1.49236227e-03 -6.17088817e+01] [ 1.85237493e-03 6.46106581e-05 -9.99998282e-01 2.24929643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.41 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.05, Y:-61.72, Z:2.25 [[ 4.97306242e-01 8.67574796e-01 6.89041254e-04 9.00513013e+01] [ 8.67574135e-01 -4.97306716e-01 1.07299122e-03 -6.17198098e+01] [ 1.27356498e-03 6.41891388e-05 -9.99999187e-01 2.24999984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.44 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.06, Y:-61.73, Z:2.25 [[ 4.26733220e-01 9.04377422e-01 4.88015299e-04 9.00572783e+01] [ 9.04376992e-01 -4.26733494e-01 8.83851618e-04 -6.17296028e+01] [ 1.00758792e-03 6.41809617e-05 -9.99999490e-01 2.25092976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.47 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.06, Y:-61.74, Z:2.25 [[ 3.53671483e-01 9.35369695e-01 1.22563989e-04 9.00639574e+01] [ 9.35369685e-01 -3.53671499e-01 1.54353339e-04 -6.17391460e+01] [ 1.87724826e-04 6.00522657e-05 -9.99999981e-01 2.25210817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.07, Y:-61.75, Z:2.25 [[ 2.78365602e-01 9.60475174e-01 -1.76971189e-04 9.00706490e+01] [ 9.60474841e-01 -2.78365653e-01 -8.01306200e-04 -6.17486264e+01] [-8.18897413e-04 5.30797083e-05 -9.99999663e-01 2.25344184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.53 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.08, Y:-61.76, Z:2.25 [[ 2.00081356e-01 9.79779216e-01 -3.73820598e-04 9.00772989e+01] [ 9.79777117e-01 -2.00081701e-01 -2.02811007e-03 -6.17570828e+01] [-2.06189475e-03 3.95261442e-05 -9.99997874e-01 2.25480604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.08, Y:-61.77, Z:2.26 [[ 1.21851359e-01 9.92548310e-01 -3.12864135e-04 9.00834015e+01] [ 9.92544379e-01 -1.21851757e-01 -2.79375623e-03 -6.17655290e+01] [-2.81106107e-03 2.98914560e-05 -9.99996049e-01 2.25513674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.59 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.09, Y:-61.77, Z:2.26 [[ 4.30805530e-02 9.99071594e-01 -1.30261730e-04 9.00906866e+01] [ 9.99065479e-01 -4.30807451e-02 -3.49534291e-03 -6.17724027e+01] [-3.49770959e-03 2.04413077e-05 -9.99993883e-01 2.25535614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.62 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.10, Y:-61.78, Z:2.26 [[-3.58432013e-02 9.99357416e-01 1.41592048e-04 9.01002853e+01] [ 9.99351608e-01 3.58434758e-02 -3.40704952e-03 -6.17790550e+01] [-3.40993535e-03 1.93806790e-05 -9.99994186e-01 2.25553017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.65 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.11, Y:-61.79, Z:2.26 [[-1.14212360e-01 9.93456273e-01 4.13130625e-04 9.01106814e+01] [ 9.93450330e-01 1.14213106e-01 -3.43644594e-03 -6.17856644e+01] [-3.46114371e-03 1.79401560e-05 -9.99994010e-01 2.25606247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.68 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.12, Y:-61.79, Z:2.26 [[-1.91670476e-01 9.81459100e-01 6.81235746e-04 9.01191983e+01] [ 9.81453225e-01 1.91671686e-01 -3.39579063e-03 -6.17916355e+01] [-3.46340322e-03 1.77282122e-05 -9.99994002e-01 2.25608184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.71 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.13, Y:-61.80, Z:2.26 [[-2.68035390e-01 9.63408586e-01 9.62382707e-04 9.01271419e+01] [ 9.63402594e-01 2.68037117e-01 -3.39791205e-03 -6.17975706e+01] [-3.53153192e-03 1.64013163e-05 -9.99993764e-01 2.25605416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.74 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.14, Y:-61.80, Z:2.26 [[-3.42258663e-01 9.39604955e-01 1.23942863e-03 9.01362908e+01] [ 9.39598977e-01 3.42260907e-01 -3.35184950e-03 -6.18016149e+01] [-3.57362237e-03 1.73663442e-05 -9.99993614e-01 2.25606968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.76999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.15, Y:-61.81, Z:2.26 [[-4.14290413e-01 9.10143631e-01 1.42261799e-03 9.01460743e+01] [ 9.10138441e-01 4.14292855e-01 -3.07370048e-03 -6.18051765e+01] [-3.38688938e-03 2.13746775e-05 -9.99994264e-01 2.25628880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.79999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.16, Y:-61.81, Z:2.26 [[-4.83406584e-01 8.75394993e-01 1.29635000e-03 9.01566689e+01] [ 8.75392021e-01 4.83408321e-01 -2.28147977e-03 -6.18079876e+01] [-2.62386235e-03 3.19321029e-05 -9.99996557e-01 2.25612658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.82999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.17, Y:-61.81, Z:2.26 [[-5.48532634e-01 8.36128784e-01 7.77766561e-04 9.01659577e+01] [ 8.36128063e-01 5.48533184e-01 -1.09962647e-03 -6.18117858e+01] [-1.34606011e-03 4.71314433e-05 -9.99999093e-01 2.25549969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.85999999999999 meters Centerline goodness [0,1] 0.9999776050881239 Centerline is valid? [True, True] Translation: X:90.18, Y:-61.81, Z:2.26 [[-6.11378221e-01 7.91338370e-01 5.05643300e-04 9.01754574e+01] [ 7.91338167e-01 6.11378428e-01 -5.69274705e-04 -6.18141208e+01] [-7.59628322e-04 5.20926855e-05 -9.99999710e-01 2.25549037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.18, Y:-61.82, Z:2.25 [[-6.70739738e-01 7.41692794e-01 -5.67620988e-05 9.01847093e+01] [ 7.41692781e-01 6.70739738e-01 1.48007495e-04 -6.18164459e+01] [ 1.47848688e-04 5.71744694e-05 -9.99999987e-01 2.25443065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.92 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.19, Y:-61.82, Z:2.25 [[-7.25796094e-01 6.87909878e-01 -1.71278126e-04 9.01934278e+01] [ 6.87909838e-01 7.25796112e-01 2.41287232e-04 -6.18184028e+01] [ 2.90296868e-04 5.73014225e-05 -9.99999956e-01 2.25369274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.95 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.78, Y:-61.23, Z:1.40 [[-6.73124884e-01 -7.39528029e-01 1.08796977e-03 9.07764091e+01] [ 7.39527192e-01 -6.73125761e-01 -1.11414450e-03 -6.12278795e+01] [ 1.55628157e-03 5.46248429e-05 9.99998788e-01 1.39552422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.98 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.76, Y:-61.21, Z:1.39 [[-6.73927396e-01 -7.38796276e-01 1.38836769e-03 9.07581440e+01] [ 7.38794721e-01 -6.73928826e-01 -1.51576504e-03 -6.12080556e+01] [ 2.05550257e-03 4.20313522e-06 9.99997887e-01 1.39493982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.01 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.74, Y:-61.19, Z:1.39 [[-6.74576664e-01 -7.38202237e-01 1.94435512e-03 9.07399439e+01] [ 7.38199190e-01 -6.74579467e-01 -2.12129052e-03 -6.11879166e+01] [ 2.87756345e-03 4.34829552e-06 9.99995860e-01 1.39457460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.04 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.72, Y:-61.17, Z:1.39 [[-6.75997062e-01 -7.36899633e-01 2.62744476e-03 9.07216735e+01] [ 7.36894065e-01 -6.76002168e-01 -2.86460408e-03 -6.11670875e+01] [ 3.88708404e-03 -3.15492406e-07 9.99992445e-01 1.39332206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.70, Y:-61.15, Z:1.39 [[-6.76979013e-01 -7.35996213e-01 2.99827757e-03 9.07038684e+01] [ 7.35988963e-01 -6.76985653e-01 -3.26679839e-03 -6.11469903e+01] [ 4.43414215e-03 -4.85474807e-06 9.99990169e-01 1.39325025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.1 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.69, Y:-61.13, Z:1.39 [[-6.78157706e-01 -7.34910372e-01 2.97853086e-03 9.06857100e+01] [ 7.34903215e-01 -6.78164247e-01 -3.24322966e-03 -6.11261200e+01] [ 4.40341625e-03 -1.04892757e-05 9.99990305e-01 1.39304438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.13 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.67, Y:-61.11, Z:1.39 [[-6.79640097e-01 -7.33540817e-01 2.68482795e-03 9.06678058e+01] [ 7.33534999e-01 -6.79645400e-01 -2.92159165e-03 -6.11052310e+01] [ 3.96783770e-03 -1.62155647e-05 9.99992128e-01 1.39331660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.16 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.65, Y:-61.08, Z:1.39 [[-6.82716862e-01 -7.30679973e-01 2.11276899e-03 9.06514790e+01] [ 7.30676360e-01 -6.82720131e-01 -2.29775835e-03 -6.10836786e+01] [ 3.12135593e-03 -2.49680120e-05 9.99995128e-01 1.39408898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.19 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.63, Y:-61.06, Z:1.39 [[-6.84451453e-01 -7.29056736e-01 1.57615970e-03 9.06335524e+01] [ 7.29054723e-01 -6.84453268e-01 -1.71317246e-03 -6.10633777e+01] [ 2.32780758e-03 -2.34767020e-05 9.99997290e-01 1.39459045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.22 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.62, Y:-61.04, Z:1.40 [[-6.86454985e-01 -7.27172063e-01 5.86602665e-04 9.06168260e+01] [ 7.27171784e-01 -6.86455236e-01 -6.37425576e-04 -6.10426668e+01] [ 8.66194542e-04 -1.10030585e-05 9.99999625e-01 1.39580218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.25 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.60, Y:-61.02, Z:1.40 [[-6.87043548e-01 -7.26616189e-01 2.77939549e-04 9.05990715e+01] [ 7.26616126e-01 -6.87043604e-01 -3.02067103e-04 -6.10228771e+01] [ 4.10443436e-04 -5.57789557e-06 9.99999916e-01 1.39607940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.28 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.58, Y:-61.00, Z:1.40 [[-6.87384048e-01 -7.26294116e-01 1.64878619e-04 9.05788959e+01] [ 7.26294094e-01 -6.87384068e-01 -1.79184267e-04 -6.10033375e+01] [ 2.43475415e-04 -3.41803963e-06 9.99999970e-01 1.39589494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.31 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.56, Y:-60.98, Z:1.40 [[-6.87500981e-01 -7.26183423e-01 1.92521171e-04 9.05607269e+01] [ 7.26183393e-01 -6.87501008e-01 -2.09088152e-04 -6.09840765e+01] [ 2.84194848e-04 -3.94263235e-06 9.99999960e-01 1.39605753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.34 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.54, Y:-60.97, Z:1.40 [[-6.86969654e-01 -7.26686015e-01 3.59967673e-04 9.05407964e+01] [ 7.26685911e-01 -6.86969748e-01 -3.90371577e-04 -6.09651522e+01] [ 5.30964468e-04 -6.58999112e-06 9.99999859e-01 1.39618860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.37 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.52, Y:-60.95, Z:1.40 [[-6.86840929e-01 -7.26807581e-01 5.26961033e-04 9.05215602e+01] [ 7.26807357e-01 -6.86841131e-01 -5.70952081e-04 -6.09463717e+01] [ 7.76910813e-04 -9.15410180e-06 9.99999698e-01 1.39625475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.4 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.50, Y:-60.93, Z:1.40 [[-6.86604594e-01 -7.27030813e-01 5.73028360e-04 9.05017076e+01] [ 7.27030548e-01 -6.86604833e-01 -6.20443644e-04 -6.09271881e+01] [ 8.44525689e-04 -9.39033391e-06 9.99999643e-01 1.39601408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.43 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.48, Y:-60.91, Z:1.40 [[-6.86641647e-01 -7.26995275e-01 1.05769033e-03 9.04822564e+01] [ 7.26994375e-01 -6.86642461e-01 -1.14419943e-03 -6.09078525e+01] [ 1.55808268e-03 -1.67200593e-05 9.99998786e-01 1.39580406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.46 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.46, Y:-60.89, Z:1.40 [[-6.86373655e-01 -7.27246782e-01 1.82308915e-03 9.04613916e+01] [ 7.27244112e-01 -6.86376076e-01 -1.97079403e-03 -6.08895276e+01] [ 2.68457839e-03 -2.68702521e-05 9.99996396e-01 1.39526322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.49 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.44, Y:-60.87, Z:1.39 [[-6.86651259e-01 -7.26983398e-01 2.27774321e-03 9.04423310e+01] [ 7.26979234e-01 -6.86655036e-01 -2.46073135e-03 -6.08702458e+01] [ 3.35293468e-03 -3.37922663e-05 9.99994378e-01 1.39434829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.51999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.42, Y:-60.85, Z:1.39 [[-6.86893591e-01 -7.26751751e-01 3.01458626e-03 9.04220809e+01] [ 7.26744464e-01 -6.86900205e-01 -3.25478813e-03 -6.08503246e+01] [ 4.43614289e-03 -4.48592292e-05 9.99990159e-01 1.39382797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.54999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.40, Y:-60.83, Z:1.39 [[-6.87227566e-01 -7.26433175e-01 3.62148277e-03 9.04039885e+01] [ 7.26422665e-01 -6.87237105e-01 -3.90799941e-03 -6.08315854e+01] [ 5.32771776e-03 -5.49577560e-05 9.99985806e-01 1.39297648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.57999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.39, Y:-60.81, Z:1.39 [[-6.88167159e-01 -7.25540075e-01 4.19065623e-03 9.03850290e+01] [ 7.25526003e-01 -6.88179915e-01 -4.51938070e-03 -6.08123143e+01] [ 6.16291726e-03 -6.96593098e-05 9.99981007e-01 1.39223969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.60999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.37, Y:-60.79, Z:1.39 [[-6.88814644e-01 -7.24924628e-01 4.32096963e-03 9.03657451e+01] [ 7.24909673e-01 -6.88828192e-01 -4.65694766e-03 -6.07926095e+01] [ 6.35234175e-03 -7.54610579e-05 9.99979821e-01 1.39279293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.64 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.35, Y:-60.77, Z:1.39 [[-6.89431508e-01 -7.24339970e-01 3.97534478e-03 9.03461287e+01] [ 7.24327317e-01 -6.89442965e-01 -4.28199795e-03 -6.07727101e+01] [ 5.84239576e-03 -7.26934782e-05 9.99982930e-01 1.39311808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.67 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.33, Y:-60.75, Z:1.39 [[-6.90017213e-01 -7.23783323e-01 3.73461829e-03 9.03265844e+01] [ 7.23772160e-01 -6.90027315e-01 -4.02043220e-03 -6.07525818e+01] [ 5.48691042e-03 -7.11546705e-05 9.99984944e-01 1.39374760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.7 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.31, Y:-60.73, Z:1.39 [[-6.90135993e-01 -7.23670282e-01 3.69251819e-03 9.03054015e+01] [ 7.23659380e-01 -6.90145868e-01 -3.97285354e-03 -6.07336465e+01] [ 5.42341222e-03 -6.96838014e-05 9.99985291e-01 1.39333296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.73 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.29, Y:-60.72, Z:1.39 [[-6.89793042e-01 -7.23996895e-01 3.74896714e-03 9.02867080e+01] [ 7.23985677e-01 -6.89803226e-01 -4.03093351e-03 -6.07152758e+01] [ 5.50443297e-03 -6.63113729e-05 9.99984848e-01 1.39289230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.76 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.27, Y:-60.70, Z:1.39 [[-6.89191200e-01 -7.24568618e-01 3.97587066e-03 9.02664440e+01] [ 7.24556025e-01 -6.89202665e-01 -4.27239905e-03 -6.06957067e+01] [ 5.83582693e-03 -6.37587860e-05 9.99982969e-01 1.39257056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.79 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.25, Y:-60.68, Z:1.39 [[-6.87038150e-01 -7.26606654e-01 4.62074113e-03 9.02463773e+01] [ 7.26589707e-01 -6.87053686e-01 -4.96282456e-03 -6.06781272e+01] [ 6.78071857e-03 -5.22668594e-05 9.99977009e-01 1.39191679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.82 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.23, Y:-60.66, Z:1.39 [[-6.85720099e-01 -7.27846184e-01 5.28005196e-03 9.02261208e+01] [ 7.27824120e-01 -6.85740425e-01 -5.66738482e-03 -6.06595136e+01] [ 7.74572949e-03 -4.32905062e-05 9.99970000e-01 1.39189044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.85 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.21, Y:-60.64, Z:1.39 [[-6.84099040e-01 -7.29366901e-01 5.69451233e-03 9.02050426e+01] [ 7.29341320e-01 -6.84122740e-01 -6.10870924e-03 -6.06404485e+01] [ 8.35123570e-03 -2.57189884e-05 9.99965127e-01 1.39134794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.88 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.18, Y:-60.62, Z:1.39 [[-6.82410428e-01 -7.30939879e-01 6.54995485e-03 9.01842842e+01] [ 7.30906145e-01 -6.82441861e-01 -7.02231434e-03 -6.06219525e+01] [ 9.60285297e-03 -4.69828345e-06 9.99953892e-01 1.39048716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.91 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.16, Y:-60.61, Z:1.39 [[-6.78553110e-01 -7.34506229e-01 8.14099142e-03 9.01618140e+01] [ 7.34454436e-01 -6.78601942e-01 -8.72276991e-03 -6.06058090e+01] [ 1.19314214e-02 6.03246036e-05 9.99928816e-01 1.38718196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.94 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.14, Y:-60.59, Z:1.39 [[-6.76937363e-01 -7.35987286e-01 8.86123815e-03 9.01415808e+01] [ 7.35926118e-01 -6.76995352e-01 -9.48906031e-03 -6.05864918e+01] [ 1.29828448e-02 9.77171274e-05 9.99915715e-01 1.38692571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.97 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.12, Y:-60.57, Z:1.39 [[-6.75724273e-01 -7.37095049e-01 9.35922340e-03 9.01214099e+01] [ 7.37026999e-01 -6.75789073e-01 -1.00165896e-02 -6.05669599e+01] [ 1.37080395e-02 1.29547596e-04 9.99906032e-01 1.38628488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.0 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.10, Y:-60.55, Z:1.39 [[-6.74672553e-01 -7.38057414e-01 9.39146823e-03 9.01021681e+01] [ 7.37989056e-01 -6.74737897e-01 -1.00460669e-02 -6.05484888e+01] [ 1.37513537e-02 1.52995208e-04 9.99905434e-01 1.38567309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.03 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.08, Y:-60.53, Z:1.39 [[-6.74169840e-01 -7.38519649e-01 9.15176212e-03 9.00833899e+01] [ 7.38454860e-01 -6.74231935e-01 -9.78351985e-03 -6.05288814e+01] [ 1.33957319e-02 1.62409202e-04 9.99910260e-01 1.38622292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.06 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.06, Y:-60.51, Z:1.39 [[-6.73379763e-01 -7.39250409e-01 8.27818259e-03 9.00637085e+01] [ 7.39197515e-01 -6.73430625e-01 -8.84459539e-03 -6.05083445e+01] [ 1.21131524e-02 1.63440452e-04 9.99926620e-01 1.38797324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.09 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.05, Y:-60.49, Z:1.39 [[-6.73277854e-01 -7.39351381e-01 7.51440455e-03 9.00450878e+01] [ 7.39307848e-01 -6.73319769e-01 -8.02457500e-03 -6.04891991e+01] [ 1.09925777e-02 1.52689624e-04 9.99939568e-01 1.38847112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.12 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.03, Y:-60.47, Z:1.39 [[-6.73199713e-01 -7.39428214e-01 6.93271532e-03 9.00263734e+01] [ 7.39391206e-01 -6.73235394e-01 -7.39923450e-03 -6.04683288e+01] [ 1.01385521e-02 1.44826195e-04 9.99948593e-01 1.38965388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.15 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:90.01, Y:-60.45, Z:1.39 [[-6.73440403e-01 -7.39218535e-01 5.82938489e-03 9.00092893e+01] [ 7.39192396e-01 -6.73465621e-01 -6.21758414e-03 -6.04482769e+01] [ 8.52204376e-03 1.21864621e-04 9.99963679e-01 1.39178550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.18 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.99, Y:-60.43, Z:1.39 [[-6.73707558e-01 -7.38975954e-01 5.71544454e-03 8.99912303e+01] [ 7.38950851e-01 -6.73731791e-01 -6.09215382e-03 -6.04271871e+01] [ 8.35263186e-03 1.19102532e-04 9.99965109e-01 1.39282760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.21 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.97, Y:-60.41, Z:1.39 [[-6.73929843e-01 -7.38777113e-01 5.19074351e-03 8.99729658e+01] [ 7.38756429e-01 -6.73949824e-01 -5.52936306e-03 -6.04069402e+01] [ 7.58326755e-03 1.08292358e-04 9.99971241e-01 1.39296236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.24 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.95, Y:-60.39, Z:1.39 [[-6.74092796e-01 -7.38630573e-01 4.87640753e-03 8.99547531e+01] [ 7.38612337e-01 -6.74110426e-01 -5.19122302e-03 -6.03872711e+01] [ 7.12163319e-03 1.02408723e-04 9.99974636e-01 1.39301687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.26999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.94, Y:-60.37, Z:1.39 [[-6.73752935e-01 -7.38937806e-01 5.28220881e-03 8.99352767e+01] [ 7.38916444e-01 -6.73773630e-01 -5.61994830e-03 -6.03664365e+01] [ 7.71180527e-03 1.16654289e-04 9.99970257e-01 1.39174138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.29999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.92, Y:-60.35, Z:1.39 [[-6.73912266e-01 -7.38788903e-01 5.76319797e-03 8.99164872e+01] [ 7.38763498e-01 -6.73936896e-01 -6.12812855e-03 -6.03457995e+01] [ 8.41142513e-03 1.27819292e-04 9.99964615e-01 1.39080387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.32999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.90, Y:-60.33, Z:1.39 [[-6.74215407e-01 -7.38507833e-01 6.30603499e-03 8.98978592e+01] [ 7.38477441e-01 -6.74244883e-01 -6.70124948e-03 -6.03259222e+01] [ 9.20073705e-03 1.38778941e-04 9.99957663e-01 1.38962156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.35999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.88, Y:-60.31, Z:1.39 [[-6.75036355e-01 -7.37752105e-01 6.91020759e-03 8.98799392e+01] [ 7.37715619e-01 -6.75071708e-01 -7.33859554e-03 -6.03053262e+01] [ 1.00789499e-02 1.43949282e-04 9.99949196e-01 1.38873811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.39 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.86, Y:-60.28, Z:1.39 [[-6.77729846e-01 -7.35273433e-01 7.43203715e-03 8.98635257e+01] [ 7.35231130e-01 -6.77770585e-01 -7.88796094e-03 -6.02825890e+01] [ 1.08370243e-02 1.18358520e-04 9.99941271e-01 1.38827671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.42 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.85, Y:-60.26, Z:1.39 [[-6.79893603e-01 -7.33274407e-01 7.30294401e-03 8.98469772e+01] [ 7.33233500e-01 -6.79932818e-01 -7.74578723e-03 -6.02622152e+01] [ 1.06452988e-02 8.84520119e-05 9.99943333e-01 1.38829102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.45 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.83, Y:-60.24, Z:1.39 [[-6.82400757e-01 -7.30943034e-01 7.17550508e-03 8.98298135e+01] [ 7.30903465e-01 -6.82438479e-01 -7.60573839e-03 -6.02403389e+01] [ 1.04562023e-02 5.44398861e-05 9.99945331e-01 1.38896296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.48 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.82, Y:-60.22, Z:1.39 [[-6.88061972e-01 -7.25621191e-01 6.67906982e-03 8.98156361e+01] [ 7.25586700e-01 -6.88094388e-01 -7.07484168e-03 -6.02180296e+01] [ 9.72948551e-03 -2.16852917e-05 9.99952667e-01 1.38938922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.51 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.80, Y:-60.20, Z:1.39 [[-6.91513904e-01 -7.22334609e-01 6.42140093e-03 8.97987685e+01] [ 7.22302625e-01 -6.91543715e-01 -6.79764276e-03 -6.01961747e+01] [ 9.35085208e-03 -6.24697279e-05 9.99956278e-01 1.38981300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.54 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.78, Y:-60.17, Z:1.39 [[-6.95210756e-01 -7.18779540e-01 6.16255450e-03 8.97817096e+01] [ 7.18749978e-01 -6.95238061e-01 -6.51972853e-03 -6.01742098e+01] [ 8.97068992e-03 -1.03249492e-04 9.99959757e-01 1.39021954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.76, Y:-60.15, Z:1.39 [[-6.95437636e-01 -7.18560013e-01 6.16460359e-03 8.97632343e+01] [ 7.18530460e-01 -6.95464950e-01 -6.51779104e-03 -6.01548153e+01] [ 8.97068974e-03 -1.03261740e-04 9.99959757e-01 1.39023858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.6 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.75, Y:-60.13, Z:1.39 [[-6.99446414e-01 -7.14661059e-01 5.85531962e-03 8.97461898e+01] [ 7.14634289e-01 -6.99470908e-01 -6.18727998e-03 -6.01320015e+01] [ 8.51743379e-03 -1.43258622e-04 9.99963716e-01 1.39082182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.63 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.73, Y:-60.11, Z:1.39 [[-7.03481532e-01 -7.10690888e-01 5.67425272e-03 8.97292837e+01] [ 7.10665648e-01 -7.03504392e-01 -5.99233698e-03 -6.01099459e+01] [ 8.25056100e-03 -1.83001910e-04 9.99965947e-01 1.39174718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.66 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.71, Y:-60.09, Z:1.39 [[-7.10879413e-01 -7.03297428e-01 4.81536618e-03 8.97147864e+01] [ 7.03279101e-01 -7.10895686e-01 -5.08231213e-03 -6.00858045e+01] [ 6.99760009e-03 -2.26364668e-04 9.99975491e-01 1.39335179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.69 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.70, Y:-60.06, Z:1.39 [[-7.14092939e-01 -7.00036474e-01 4.49550688e-03 8.96972597e+01] [ 7.00020455e-01 -7.14107049e-01 -4.74184511e-03 -6.00647576e+01] [ 6.52973768e-03 -2.39171341e-04 9.99978652e-01 1.39416911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.72 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.68, Y:-60.04, Z:1.39 [[-7.16665321e-01 -6.97402808e-01 4.48800252e-03 8.96787177e+01] [ 6.97386809e-01 -7.16679326e-01 -4.73102667e-03 -6.00442724e+01] [ 6.51588990e-03 -2.60688994e-04 9.99978737e-01 1.39475549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.66, Y:-60.02, Z:1.39 [[-7.18790030e-01 -6.95212686e-01 4.49593943e-03 8.96620649e+01] [ 6.95196603e-01 -7.18804037e-01 -4.73711466e-03 -6.00236697e+01] [ 6.52500162e-03 -2.79428974e-04 9.99978673e-01 1.39470571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.78 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.64, Y:-60.00, Z:1.39 [[-7.21000029e-01 -6.92915404e-01 5.21543330e-03 8.96437345e+01] [ 6.92893725e-01 -7.21018809e-01 -5.49211613e-03 -6.00042113e+01] [ 7.56599737e-03 -3.46074886e-04 9.99971318e-01 1.39484178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.81 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.62, Y:-59.99, Z:1.39 [[-7.21207274e-01 -6.92694527e-01 5.86168262e-03 8.96226822e+01] [ 6.92667165e-01 -7.21230990e-01 -6.16911323e-03 -5.99861094e+01] [ 8.50093813e-03 -3.89014253e-04 9.99963791e-01 1.39454473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.84 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.61, Y:-59.97, Z:1.39 [[-7.20861691e-01 -6.93046970e-01 6.65732648e-03 8.96051089e+01] [ 6.93011724e-01 -7.20892301e-01 -7.00295053e-03 -5.99668491e+01] [ 9.65258904e-03 -4.34553464e-04 9.99953318e-01 1.39355876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.87 meters Centerline goodness [0,1] 0.9998887454941925 Centerline is valid? [True, True] Translation: X:89.58, Y:-59.95, Z:1.39 [[-7.20068631e-01 -6.93849486e-01 8.60564442e-03 8.95821392e+01] [ 6.93790712e-01 -7.20119847e-01 -9.04728319e-03 -5.99494417e+01] [ 1.24745481e-02 -5.44148648e-04 9.99922042e-01 1.39247484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.9 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.56, Y:-59.93, Z:1.39 [[-7.15239331e-01 -6.98820688e-01 9.07441969e-03 8.95582644e+01] [ 6.98755806e-01 -7.15296734e-01 -9.53445921e-03 -5.99335053e+01] [ 1.31537801e-02 -4.78616783e-04 9.99913371e-01 1.39161719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.93 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.54, Y:-59.92, Z:1.39 [[-7.12560736e-01 -7.01547490e-01 9.39772577e-03 8.95350317e+01] [ 7.01478190e-01 -7.12622569e-01 -9.87035971e-03 -5.99162317e+01] [ 1.36215576e-02 -4.40931123e-04 9.99907125e-01 1.39154525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.96 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.51, Y:-59.90, Z:1.39 [[-7.09676381e-01 -7.04461379e-01 9.67468826e-03 8.95127018e+01] [ 7.04388285e-01 -7.09742215e-01 -1.01554116e-02 -5.98993438e+01] [ 1.40206299e-02 -3.92318675e-04 9.99901629e-01 1.39134477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.99 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.49, Y:-59.89, Z:1.39 [[-7.03765933e-01 -7.10356985e-01 1.03182011e-02 8.94874358e+01] [ 7.10274568e-01 -7.03841509e-01 -1.08244167e-02 -5.98851114e+01] [ 1.49515783e-02 -2.89099866e-04 9.99888177e-01 1.39102931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.01999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.46, Y:-59.87, Z:1.39 [[-7.00957851e-01 -7.13127145e-01 1.03810409e-02 8.94649492e+01] [ 7.13044116e-01 -7.01034681e-01 -1.08841459e-02 -5.98673846e+01] [ 1.50392496e-02 -2.27187403e-04 9.99886878e-01 1.39125131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.04999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.44, Y:-59.85, Z:1.39 [[-6.98573533e-01 -7.15461561e-01 1.04773011e-02 8.94424698e+01] [ 7.15377308e-01 -6.98652076e-01 -1.09810469e-02 -5.98493408e+01] [ 1.51765052e-02 -1.75845228e-04 9.99884815e-01 1.39199155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.07999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.42, Y:-59.83, Z:1.39 [[-6.96503965e-01 -7.17478300e-01 1.03496771e-02 8.94201548e+01] [ 7.17396396e-01 -6.96580844e-01 -1.08414769e-02 -5.98311165e+01] [ 1.49879112e-02 -1.26310576e-04 9.99887667e-01 1.39279039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.10999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.40, Y:-59.82, Z:1.39 [[-6.92692588e-01 -7.21157713e-01 1.04178481e-02 8.93973365e+01] [ 7.21075236e-01 -6.92770923e-01 -1.09064954e-02 -5.98155269e+01] [ 1.50824856e-02 -4.27962519e-05 9.99886252e-01 1.39262047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.14 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.38, Y:-59.80, Z:1.39 [[-6.91258771e-01 -7.22527657e-01 1.07282975e-02 8.93758867e+01] [ 7.22440457e-01 -6.91342017e-01 -1.12250842e-02 -5.97968697e+01] [ 1.55273567e-02 -8.88176006e-06 9.99879443e-01 1.39270388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.17 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.35, Y:-59.78, Z:1.39 [[-6.90051553e-01 -7.23675264e-01 1.10890432e-02 8.93546501e+01] [ 7.23582355e-01 -6.90140646e-01 -1.15958896e-02 -5.97780606e+01] [ 1.60446579e-02 2.20743330e-05 9.99871276e-01 1.39268855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.2 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.33, Y:-59.76, Z:1.39 [[-6.87550815e-01 -7.26035023e-01 1.21252492e-02 8.93327871e+01] [ 7.25924398e-01 -6.87657718e-01 -1.26740005e-02 -5.97608502e+01] [ 1.75397894e-02 8.79948461e-05 9.99846162e-01 1.39270955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.23 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.31, Y:-59.74, Z:1.39 [[-6.86557577e-01 -7.26971785e-01 1.22767350e-02 8.93121788e+01] [ 7.26858658e-01 -6.86667321e-01 -1.28250159e-02 -5.97415280e+01] [ 1.77534574e-02 1.18339288e-04 9.99842388e-01 1.39281772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.26 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.29, Y:-59.72, Z:1.39 [[-6.85467835e-01 -7.27993417e-01 1.26266504e-02 8.92920293e+01] [ 7.27874068e-01 -6.85584102e-01 -1.31825450e-02 -5.97232712e+01] [ 1.82534368e-02 1.54400855e-04 9.99833380e-01 1.39220058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.29 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.27, Y:-59.70, Z:1.39 [[-6.84385287e-01 -7.29005968e-01 1.29258814e-02 8.92711693e+01] [ 7.28881218e-01 -6.84507314e-01 -1.34873004e-02 -5.97042798e+01] [ 1.86801828e-02 1.90922194e-04 9.99825492e-01 1.39196684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.32 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.25, Y:-59.69, Z:1.39 [[-6.82158489e-01 -7.31080684e-01 1.34472942e-02 8.92497325e+01] [ 7.30946223e-01 -6.82290968e-01 -1.40233432e-02 -5.96858220e+01] [ 1.94271627e-02 2.63106309e-04 9.99811240e-01 1.39156962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.35 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.23, Y:-59.67, Z:1.39 [[-6.81511495e-01 -7.31674606e-01 1.39410464e-02 8.92297469e+01] [ 7.31530390e-01 -6.81654005e-01 -1.45294518e-02 -5.96667374e+01] [ 2.01338011e-02 2.96310699e-04 9.99797251e-01 1.39124222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.38 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.21, Y:-59.65, Z:1.39 [[-6.80973903e-01 -7.32166335e-01 1.43875504e-02 8.92095960e+01] [ 7.32013020e-01 -6.81125797e-01 -1.49862309e-02 -5.96468421e+01] [ 2.07721454e-02 3.26642096e-04 9.99784182e-01 1.39071972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.41 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.19, Y:-59.63, Z:1.39 [[-6.80625446e-01 -7.32476317e-01 1.50813228e-02 8.91895952e+01] [ 7.32308129e-01 -6.80792418e-01 -1.56999304e-02 -5.96267865e+01] [ 2.17670774e-02 3.58403123e-04 9.99763005e-01 1.39044429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.44 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.17, Y:-59.61, Z:1.39 [[-6.80429512e-01 -7.32645812e-01 1.56777610e-02 8.91703606e+01] [ 7.32464310e-01 -6.80609995e-01 -1.63116126e-02 -5.96062438e+01] [ 2.26210755e-02 3.84497751e-04 9.99744037e-01 1.39018550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.47 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.15, Y:-59.59, Z:1.39 [[-6.80957555e-01 -7.32151512e-01 1.58420903e-02 8.91523683e+01] [ 7.31966288e-01 -6.81141703e-01 -1.64722109e-02 -5.95858660e+01] [ 2.28508625e-02 3.78999591e-04 9.99738813e-01 1.39029014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.14, Y:-59.57, Z:1.39 [[-6.81989740e-01 -7.31188374e-01 1.59234699e-02 8.91353599e+01] [ 7.31001230e-01 -6.82175517e-01 -1.65458893e-02 -5.95657394e+01] [ 2.29607632e-02 3.55949341e-04 9.99736304e-01 1.39037480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.53 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.12, Y:-59.54, Z:1.39 [[-6.83465451e-01 -7.29803534e-01 1.61795922e-02 8.91185767e+01] [ 7.29610181e-01 -6.83656857e-01 -1.68013353e-02 -5.95435307e+01] [ 2.33229630e-02 3.21662961e-04 9.99727931e-01 1.39258030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.10, Y:-59.52, Z:1.40 [[-6.86580354e-01 -7.26894498e-01 1.52252052e-02 8.91029263e+01] [ 7.26722696e-01 -6.86749112e-01 -1.58044391e-02 -5.95190504e+01] [ 2.19440560e-02 2.13484771e-04 9.99759177e-01 1.39539060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.59 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.09, Y:-59.50, Z:1.40 [[-6.88384611e-01 -7.25190912e-01 1.49922696e-02 8.90854943e+01] [ 7.25024116e-01 -6.88547830e-01 -1.55536705e-02 -5.94978668e+01] [ 2.16022753e-02 1.62849588e-04 9.99766630e-01 1.39567495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.62 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.07, Y:-59.48, Z:1.40 [[-6.90299209e-01 -7.23378815e-01 1.44945519e-02 8.90678987e+01] [ 7.23222692e-01 -6.90451358e-01 -1.50286403e-02 -5.94760451e+01] [ 2.08791830e-02 1.08530344e-04 9.99782000e-01 1.39703582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.65 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.05, Y:-59.46, Z:1.40 [[-6.92157109e-01 -7.21605203e-01 1.42992217e-02 8.90505218e+01] [ 7.21453062e-01 -6.92304794e-01 -1.48172579e-02 -5.94551367e+01] [ 2.05916301e-02 6.03469128e-05 9.99787968e-01 1.39711714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.68 meters Centerline goodness [0,1] 0.999934139755439 Centerline is valid? [True, True] Translation: X:89.03, Y:-59.43, Z:1.40 [[-6.95762818e-01 -7.18122586e-01 1.46305102e-02 8.90337940e+01] [ 7.17962723e-01 -6.95916625e-01 -1.51518599e-02 -5.94315806e+01] [ 2.10625081e-02 -3.79398367e-05 9.99778160e-01 1.39768515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.71 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.02, Y:-59.41, Z:1.40 [[-6.97254677e-01 -7.16674907e-01 1.45943051e-02 8.90157111e+01] [ 7.16515697e-01 -6.97407393e-01 -1.51057635e-02 -5.94099254e+01] [ 2.10040979e-02 -7.55155149e-05 9.99779387e-01 1.39798973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.74 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.00, Y:-59.39, Z:1.40 [[-6.98883723e-01 -7.15087010e-01 1.45639671e-02 8.89973577e+01] [ 7.14928297e-01 -6.99035445e-01 -1.50657035e-02 -5.93882523e+01] [ 2.09540181e-02 -1.16982802e-04 9.99780434e-01 1.39892514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.76999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.98, Y:-59.37, Z:1.40 [[-7.00423621e-01 -7.13581400e-01 1.44338848e-02 8.89798885e+01] [ 7.13425377e-01 -7.00572310e-01 -1.49221190e-02 -5.93678043e+01] [ 2.07601266e-02 -1.54304952e-04 9.99784473e-01 1.39957650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.79999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.96, Y:-59.35, Z:1.40 [[-7.02065926e-01 -7.11979581e-01 1.37299632e-02 8.89629247e+01] [ 7.11838287e-01 -7.02200143e-01 -1.41849168e-02 -5.93480151e+01] [ 1.97405532e-02 -1.85233279e-04 9.99805119e-01 1.39886008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.82999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.94, Y:-59.33, Z:1.40 [[-7.05003721e-01 -7.09096574e-01 1.23207730e-02 8.89436327e+01] [ 7.08982485e-01 -7.05111335e-01 -1.27216918e-02 -5.93277654e+01] [ 1.77084248e-02 -2.33627788e-04 9.99843166e-01 1.40258061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.85999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.92, Y:-59.31, Z:1.40 [[-7.06336131e-01 -7.07783067e-01 1.15065789e-02 8.89244202e+01] [ 7.07683497e-01 -7.06429806e-01 -1.18742189e-02 -5.93076770e+01] [ 1.65329613e-02 -2.44173838e-04 9.99863291e-01 1.40302448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.91, Y:-59.29, Z:1.40 [[-7.07316340e-01 -7.06813284e-01 1.08892842e-02 8.89054228e+01] [ 7.06724071e-01 -7.07400113e-01 -1.12324478e-02 -5.92879144e+01] [ 1.56423242e-02 -2.49174648e-04 9.99877620e-01 1.40288079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.92 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.89, Y:-59.27, Z:1.40 [[-7.08431459e-01 -7.05709151e-01 9.97309348e-03 8.88852768e+01] [ 7.05634292e-01 -7.08501612e-01 -1.02816510e-02 -5.92684642e+01] [ 1.43218080e-02 -2.46488272e-04 9.99897407e-01 1.40344812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.95 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.87, Y:-59.25, Z:1.40 [[-7.08675535e-01 -7.05467579e-01 9.72011889e-03 8.88670093e+01] [ 7.05396540e-01 -7.08742151e-01 -1.00142303e-02 -5.92501103e+01] [ 1.39537728e-02 -2.40301752e-04 9.99902613e-01 1.40334673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.98 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.85, Y:-59.23, Z:1.40 [[-7.08385406e-01 -7.05757525e-01 9.82004152e-03 8.88469333e+01] [ 7.05685135e-01 -7.08453430e-01 -1.01107936e-02 -5.92309815e+01] [ 1.40928108e-02 -2.32481298e-04 9.99900664e-01 1.40318717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.01 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.82, Y:-59.21, Z:1.40 [[-7.06215802e-01 -7.07926584e-01 9.95958958e-03 8.88237566e+01] [ 7.07852418e-01 -7.06286002e-01 -1.02487629e-02 -5.92143224e+01] [ 1.42896904e-02 -1.87918757e-04 9.99897880e-01 1.40327254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.04 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.80, Y:-59.20, Z:1.40 [[-7.04453145e-01 -7.09677734e-01 1.01626738e-02 8.88030312e+01] [ 7.09600782e-01 -7.04526430e-01 -1.04517630e-02 -5.91960015e+01] [ 1.45772558e-02 -1.51336002e-04 9.99893735e-01 1.40199693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.78, Y:-59.18, Z:1.40 [[-7.02835188e-01 -7.11279106e-01 1.02338865e-02 8.87818468e+01] [ 7.11201337e-01 -7.02909682e-01 -1.05184540e-02 -5.91785747e+01] [ 1.46750544e-02 -1.14385781e-04 9.99892309e-01 1.40199067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.1 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.76, Y:-59.16, Z:1.40 [[-7.01313806e-01 -7.12786913e-01 9.68309232e-03 8.87601975e+01] [ 7.12717513e-01 -7.01380646e-01 -9.94667707e-03 -5.91607832e+01] [ 1.38813948e-02 -7.44324712e-05 9.99903646e-01 1.40223427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.13 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.74, Y:-59.14, Z:1.40 [[-6.99732062e-01 -7.14334989e-01 1.00282284e-02 8.87404008e+01] [ 7.14260785e-01 -6.99803917e-01 -1.02960669e-02 -5.91437524e+01] [ 1.43726343e-02 -4.17178075e-05 9.99896707e-01 1.40227460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.16 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.72, Y:-59.13, Z:1.40 [[-6.97430366e-01 -7.16597230e-01 8.90474359e-03 8.87190211e+01] [ 7.16538982e-01 -6.97487211e-01 -9.13664569e-03 -5.91282372e+01] [ 1.27582398e-02 8.42175630e-06 9.99918610e-01 1.40296496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.19 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.70, Y:-59.11, Z:1.40 [[-6.96622650e-01 -7.17389723e-01 8.29868282e-03 8.86977124e+01] [ 7.17339248e-01 -6.96672078e-01 -8.50996711e-03 -5.91100836e+01] [ 1.18864236e-02 2.47350524e-05 9.99929354e-01 1.40332093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.22 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.68, Y:-59.09, Z:1.40 [[-6.96124409e-01 -7.17879765e-01 7.71041081e-03 8.86761791e+01] [ 7.17836271e-01 -6.96167108e-01 -7.90225594e-03 -5.90917586e+01] [ 1.10406040e-02 3.38592925e-05 9.99939050e-01 1.40350575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.25 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.66, Y:-59.07, Z:1.40 [[-6.95656912e-01 -7.18336069e-01 7.39949966e-03 8.86550075e+01] [ 7.18296083e-01 -6.95696263e-01 -7.57932289e-03 -5.90736683e+01] [ 1.05923053e-02 4.24232655e-05 9.99943899e-01 1.40341088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.28 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.63, Y:-59.06, Z:1.40 [[-6.95604561e-01 -7.18387604e-01 7.31754156e-03 8.86347756e+01] [ 7.18348551e-01 -6.95643047e-01 -7.49064354e-03 -5.90559152e+01] [ 1.04715824e-02 4.60195701e-05 9.99945170e-01 1.40335480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.31 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.61, Y:-59.04, Z:1.40 [[-6.96035009e-01 -7.17977689e-01 6.58066427e-03 8.86137869e+01] [ 7.17946129e-01 -6.96066116e-01 -6.73190139e-03 -5.90391097e+01] [ 9.41393241e-03 3.89233968e-05 9.99955687e-01 1.40387506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.34 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.59, Y:-59.02, Z:1.40 [[-6.96648270e-01 -7.17386022e-01 6.20342971e-03 8.85932486e+01] [ 7.17357987e-01 -6.96675889e-01 -6.34230483e-03 -5.90197303e+01] [ 8.87166074e-03 3.17241497e-05 9.99960646e-01 1.40490513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.37 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.57, Y:-59.00, Z:1.41 [[-6.97403995e-01 -7.16655963e-01 5.64791873e-03 8.85724095e+01] [ 7.16632726e-01 -6.97426864e-01 -5.77104730e-03 -5.90003813e+01] [ 8.07486570e-03 2.27319503e-05 9.99967397e-01 1.40520961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.4 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.55, Y:-58.98, Z:1.40 [[-6.99206071e-01 -7.14901133e-01 5.21918381e-03 8.85519509e+01] [ 7.14881266e-01 -6.99225550e-01 -5.32976390e-03 -5.89831608e+01] [ 7.45964092e-03 4.49345431e-06 9.99972176e-01 1.40472302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.43 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.53, Y:-58.96, Z:1.40 [[-7.00151290e-01 -7.13973791e-01 5.44030724e-03 8.85320964e+01] [ 7.13952195e-01 -7.00172426e-01 -5.55314981e-03 -5.89644870e+01] [ 7.77395654e-03 -3.92571301e-06 9.99969782e-01 1.40341746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.46 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.51, Y:-58.94, Z:1.40 [[-7.01034309e-01 -7.13101087e-01 6.14306660e-03 8.85117081e+01] [ 7.13073549e-01 -7.01061224e-01 -6.26696879e-03 -5.89449172e+01] [ 8.77564805e-03 -1.29018358e-05 9.99961493e-01 1.40269896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.49 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.49, Y:-58.93, Z:1.40 [[-7.01237100e-01 -7.12901655e-01 6.14484888e-03 8.84923452e+01] [ 7.12874124e-01 -7.01264023e-01 -6.26522121e-03 -5.89252648e+01] [ 8.77564802e-03 -1.29017852e-05 9.99961493e-01 1.40271860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.51999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.47, Y:-58.91, Z:1.40 [[-7.02497295e-01 -7.11652438e-01 6.95397697e-03 8.84723211e+01] [ 7.11617158e-01 -7.02531712e-01 -7.08614769e-03 -5.89054265e+01] [ 9.92826363e-03 -2.94302549e-05 9.99950713e-01 1.40128226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.54999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.45, Y:-58.89, Z:1.40 [[-7.04146079e-01 -7.09999716e-01 8.87142342e-03 8.84534904e+01] [ 7.09942235e-01 -7.04201959e-01 -9.03457978e-03 -5.88857911e+01] [ 1.26618228e-02 -6.34657535e-05 9.99919834e-01 1.39857051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.57999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.43, Y:-58.87, Z:1.40 [[-7.05397098e-01 -7.08751232e-01 9.30727684e-03 8.84335933e+01] [ 7.08687928e-01 -7.05458492e-01 -9.47299643e-03 -5.88659604e+01] [ 1.32798954e-02 -8.62694494e-05 9.99911815e-01 1.39864849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.60999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.41, Y:-58.85, Z:1.40 [[-7.06562651e-01 -7.07588054e-01 9.40028738e-03 8.84141454e+01] [ 7.07523448e-01 -7.06625173e-01 -9.56219410e-03 -5.88456495e+01] [ 1.34085740e-02 -1.05365468e-04 9.99910095e-01 1.39830384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.64 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.40, Y:-58.82, Z:1.40 [[-7.08841533e-01 -7.05301749e-01 9.65010508e-03 8.83955217e+01] [ 7.05233528e-01 -7.08907202e-01 -9.81070068e-03 -5.88249749e+01] [ 1.37605333e-02 -1.48654455e-04 9.99905308e-01 1.39833388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.67 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.38, Y:-58.81, Z:1.40 [[-7.10032608e-01 -7.04103903e-01 9.55973937e-03 8.83763557e+01] [ 7.04036922e-01 -7.10096941e-01 -9.71321818e-03 -5.88050420e+01] [ 1.36274565e-02 -1.66292156e-04 9.99907128e-01 1.39872370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.7 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.36, Y:-58.78, Z:1.40 [[-7.11249262e-01 -7.02879603e-01 9.20605549e-03 8.83570895e+01] [ 7.02817454e-01 -7.11308816e-01 -9.34846127e-03 -5.87842651e+01] [ 1.31191912e-02 -1.78909701e-04 9.99913924e-01 1.39905009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.73 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.34, Y:-58.76, Z:1.40 [[-7.12190690e-01 -7.01927431e-01 9.07212139e-03 8.83376499e+01] [ 7.01867069e-01 -7.12248444e-01 -9.20715542e-03 -5.87634307e+01] [ 1.29243593e-02 -1.89827127e-04 9.99916459e-01 1.39949175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.76 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.32, Y:-58.74, Z:1.40 [[-7.12898561e-01 -7.01220277e-01 8.10957133e-03 8.83179842e+01] [ 7.01172053e-01 -7.12944662e-01 -8.22557392e-03 -5.87428746e+01] [ 1.15496148e-02 -1.77795030e-04 9.99933285e-01 1.40104199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.79 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.30, Y:-58.72, Z:1.40 [[-7.12776444e-01 -7.01349445e-01 7.66141055e-03 8.82976474e+01] [ 7.01306460e-01 -7.12817599e-01 -7.76650500e-03 -5.87235964e+01] [ 1.09082223e-02 -1.62785103e-04 9.99940490e-01 1.40183877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.82 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.28, Y:-58.70, Z:1.40 [[-7.12303565e-01 -7.01833655e-01 7.29050508e-03 8.82768006e+01] [ 7.01794802e-01 -7.12340859e-01 -7.38626156e-03 -5.87040720e+01] [ 1.03772516e-02 -1.44821879e-04 9.99946144e-01 1.40223875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.85 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.26, Y:-58.69, Z:1.40 [[-7.11657021e-01 -7.02494572e-01 6.75728155e-03 8.82566766e+01] [ 7.02461262e-01 -7.11689091e-01 -6.84202689e-03 -5.86853162e+01] [ 9.61557031e-03 -1.22447949e-04 9.99953762e-01 1.40253899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.88 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.24, Y:-58.67, Z:1.40 [[-7.10709595e-01 -7.03452532e-01 6.81227760e-03 8.82363003e+01] [ 7.03418751e-01 -7.10742234e-01 -6.89475626e-03 -5.86674048e+01] [ 9.69190715e-03 -1.08285628e-04 9.99953027e-01 1.40274637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.91 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.21, Y:-58.65, Z:1.40 [[-7.07380514e-01 -7.06808688e-01 5.85553791e-03 8.82133802e+01] [ 7.06783870e-01 -7.07404747e-01 -5.92322755e-03 -5.86509479e+01] [ 8.32882401e-03 -5.13760037e-05 9.99965313e-01 1.40362843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.94 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.19, Y:-58.63, Z:1.40 [[-7.05252009e-01 -7.08933772e-01 5.70189323e-03 8.81914602e+01] [ 7.08910335e-01 -7.05275058e-01 -5.76455331e-03 -5.86332736e+01] [ 8.10808959e-03 -2.33317584e-05 9.99967129e-01 1.40407438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.97 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.17, Y:-58.62, Z:1.40 [[-7.02837000e-01 -7.11327153e-01 5.81653973e-03 8.81692789e+01] [ 7.11302874e-01 -7.02861068e-01 -5.87711171e-03 -5.86157344e+01] [ 8.26876847e-03 6.66986321e-06 9.99965813e-01 1.40376482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.0 meters Centerline goodness [0,1] 0.9999145974336529 Centerline is valid? [True, True] Translation: X:88.15, Y:-58.60, Z:1.40 [[-7.00273904e-01 -7.13840855e-01 6.90599431e-03 8.81466335e+01] [ 7.13806790e-01 -7.00307955e-01 -6.97387914e-03 -5.85986364e+01] [ 9.81456260e-03 4.59200565e-05 9.99951835e-01 1.40256128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.03 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.12, Y:-58.58, Z:1.40 [[-6.97161000e-01 -7.16873288e-01 7.69608866e-03 8.81246481e+01] [ 7.16831202e-01 -6.97203471e-01 -7.76839812e-03 -5.85820746e+01] [ 1.09346968e-02 1.00972284e-04 9.99940209e-01 1.40108315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.06 meters Centerline goodness [0,1] 0.9999361607047859 Centerline is valid? [True, True] Translation: X:88.10, Y:-58.57, Z:1.40 [[-6.91251684e-01 -7.22542879e-01 1.01438217e-02 8.81007387e+01] [ 7.22470459e-01 -6.91326062e-01 -1.02329347e-02 -5.85668492e+01] [ 1.44064224e-02 2.55078176e-04 9.99896190e-01 1.39792422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.09 meters Centerline goodness [0,1] 0.9999575533766288 Centerline is valid? [True, True] Translation: X:88.08, Y:-58.55, Z:1.40 [[-6.88978945e-01 -7.24697293e-01 1.10384337e-02 8.80794321e+01] [ 7.24611915e-01 -6.89067285e-01 -1.11287627e-02 -5.85496024e+01] [ 1.56712077e-02 3.31097389e-04 9.99877144e-01 1.39634514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.12 meters Centerline goodness [0,1] 0.9999787636178301 Centerline is valid? [True, True] Translation: X:88.06, Y:-58.53, Z:1.40 [[-6.85497471e-01 -7.27986316e-01 1.13640034e-02 8.80591486e+01] [ 7.27896384e-01 -6.85591529e-01 -1.14503000e-02 -5.85298618e+01] [ 1.61267262e-02 4.22665301e-04 9.99869867e-01 1.39714604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.15 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.04, Y:-58.51, Z:1.40 [[-6.84661689e-01 -7.28775337e-01 1.11749256e-02 8.80385654e+01] [ 7.28688554e-01 -6.84752741e-01 -1.12549793e-02 -5.85125846e+01] [ 1.58544123e-02 4.37187222e-04 9.99874215e-01 1.39597087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.18 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.02, Y:-58.49, Z:1.40 [[-6.84555872e-01 -7.28883691e-01 1.05746686e-02 8.80206372e+01] [ 7.28806092e-01 -6.84637414e-01 -1.06438606e-02 -5.84926318e+01] [ 1.49979501e-02 4.20565628e-04 9.99887436e-01 1.39686089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.21 meters Centerline goodness [0,1] 0.9999574477138784 Centerline is valid? [True, True] Translation: X:88.00, Y:-58.47, Z:1.40 [[-6.84909973e-01 -7.28563410e-01 9.67918834e-03 8.80015833e+01] [ 7.28498453e-01 -6.84978256e-01 -9.73616102e-03 -5.84742711e+01] [ 1.37234442e-02 3.82879960e-04 9.99905756e-01 1.39707001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.24 meters Centerline goodness [0,1] 0.9999573488015013 Centerline is valid? [True, True] Translation: X:87.99, Y:-58.45, Z:1.40 [[-6.85590038e-01 -7.27932783e-01 8.95343280e-03 8.79850718e+01] [ 7.27877214e-01 -6.85648412e-01 -9.00098307e-03 -5.84516942e+01] [ 1.26910176e-02 3.46015393e-04 9.99919406e-01 1.39921320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.26999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.97, Y:-58.43, Z:1.40 [[-6.87602015e-01 -7.26052292e-01 7.17899928e-03 8.79686157e+01] [ 7.26016503e-01 -6.87639445e-01 -7.21327198e-03 -5.84278387e+01] [ 1.01737757e-02 2.52211602e-04 9.99948214e-01 1.40184785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.29999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.95, Y:-58.41, Z:1.40 [[-6.88927775e-01 -7.24804468e-01 6.08317494e-03 8.79509066e+01] [ 7.24778750e-01 -6.88954602e-01 -6.10899258e-03 -5.84051483e+01] [ 8.61885649e-03 2.00301266e-04 9.99962837e-01 1.40304662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.32999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.93, Y:-58.38, Z:1.40 [[-6.90444469e-01 -7.23364851e-01 5.45230009e-03 8.79341069e+01] [ 7.23344170e-01 -6.90465977e-01 -5.47235173e-03 -5.83818711e+01] [ 7.72313460e-03 1.65534494e-04 9.99970162e-01 1.40468624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.35999999999999 meters Centerline goodness [0,1] 0.9999572329733776 Centerline is valid? [True, True] Translation: X:87.92, Y:-58.36, Z:1.41 [[-6.92897569e-01 -7.21019585e-01 4.87004670e-03 8.79172100e+01] [ 7.21003040e-01 -6.92914672e-01 -4.88615264e-03 -5.83596876e+01] [ 6.89753856e-03 1.25715189e-04 9.99976204e-01 1.40527954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.39 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.90, Y:-58.34, Z:1.41 [[-6.93819513e-01 -7.20131033e-01 5.07729177e-03 8.78992629e+01] [ 7.20113047e-01 -6.93838079e-01 -5.09121882e-03 -5.83383308e+01] [ 7.18916304e-03 1.23837090e-04 9.99974150e-01 1.40558949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.42 meters Centerline goodness [0,1] 0.9998714542805724 Centerline is valid? [True, True] Translation: X:87.88, Y:-58.32, Z:1.40 [[-6.94625204e-01 -7.19350109e-01 5.58983603e-03 8.78804793e+01] [ 7.19328310e-01 -6.94647683e-01 -5.60171818e-03 -5.83181667e+01] [ 7.91256323e-03 1.29832672e-04 9.99968687e-01 1.40427645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.45 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.86, Y:-58.30, Z:1.40 [[-6.94699797e-01 -7.19277711e-01 5.63620798e-03 8.78619903e+01] [ 7.19255572e-01 -6.94722647e-01 -5.64491700e-03 -5.82975941e+01] [ 7.97586431e-03 1.32351303e-04 9.99968184e-01 1.40411433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.48 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.84, Y:-58.28, Z:1.40 [[-6.94247070e-01 -7.19697965e-01 7.47294167e-03 8.78441239e+01] [ 7.19659112e-01 -6.94287264e-01 -7.48040396e-03 -5.82759413e+01] [ 1.05719997e-02 1.84722037e-04 9.99944098e-01 1.40241073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.51 meters Centerline goodness [0,1] 0.9999568863308111 Centerline is valid? [True, True] Translation: X:87.82, Y:-58.26, Z:1.40 [[-6.93997920e-01 -7.19926496e-01 8.52805822e-03 8.78246893e+01] [ 7.19875978e-01 -6.94050281e-01 -8.53134895e-03 -5.82564619e+01] [ 1.20608454e-02 2.18405831e-04 9.99927242e-01 1.40096579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.54 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.81, Y:-58.24, Z:1.40 [[-6.93465723e-01 -7.20429148e-01 9.33455264e-03 8.78060429e+01] [ 7.20368735e-01 -6.93528499e-01 -9.33312787e-03 -5.82355329e+01] [ 1.31976356e-02 2.52115607e-04 9.99912876e-01 1.40031249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.31, Y:-58.73, Z:2.26 [[-7.68099843e-01 6.40254640e-01 9.82992014e-03 8.73091000e+01] [ 6.40198792e-01 7.68162713e-01 -8.45887816e-03 -5.87326359e+01] [-1.29668141e-02 -2.04159986e-04 -9.99915906e-01 2.25929702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.6 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.32, Y:-58.71, Z:2.26 [[-8.11549333e-01 5.84176859e-01 1.11838016e-02 8.73228509e+01] [ 5.84117551e-01 8.11626359e-01 -8.32704036e-03 -5.87148643e+01] [-1.39415324e-02 -2.25149263e-04 -9.99902787e-01 2.25815444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.63 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.34, Y:-58.70, Z:2.26 [[-8.50733869e-01 5.25436658e-01 1.29692821e-02 8.73391597e+01] [ 5.25371083e-01 8.50832683e-01 -8.30484213e-03 -5.86972227e+01] [-1.53983576e-02 -2.51524696e-04 -9.99881407e-01 2.25963085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.66 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.36, Y:-58.68, Z:2.26 [[-8.85471347e-01 4.64491478e-01 1.37171686e-02 8.73551590e+01] [ 4.64431458e-01 8.85577556e-01 -7.47087286e-03 -5.86780431e+01] [-1.56177734e-02 -2.44559270e-04 -9.99878005e-01 2.25927980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.69 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.37, Y:-58.66, Z:2.26 [[-9.15714703e-01 4.01594500e-01 1.37273787e-02 8.73693744e+01] [ 4.01545798e-01 9.15817564e-01 -6.25797059e-03 -5.86585212e+01] [-1.50849411e-02 -2.18344430e-04 -9.99886192e-01 2.25836619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.72 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.38, Y:-58.63, Z:2.26 [[-9.41484098e-01 3.36759904e-01 1.41584326e-02 8.73783619e+01] [ 3.36718591e-01 9.41590530e-01 -5.27865728e-03 -5.86328976e+01] [-1.51090862e-02 -2.02364403e-04 -9.99885831e-01 2.25982290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.39, Y:-58.62, Z:2.26 [[-9.62000068e-01 2.72729774e-01 1.32037827e-02 8.73880272e+01] [ 2.72702250e-01 9.62090668e-01 -3.87672419e-03 -5.86163959e+01] [-1.37605343e-02 -1.28707671e-04 -9.99905311e-01 2.25632578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.78 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.40, Y:-58.60, Z:2.26 [[-9.78572349e-01 2.05511548e-01 1.26949252e-02 8.74020045e+01] [ 2.05492977e-01 9.78654686e-01 -2.76444543e-03 -5.85952266e+01] [-1.29920735e-02 -9.64918969e-05 -9.99915595e-01 2.25502707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.81 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.40, Y:-58.57, Z:2.25 [[-9.90461146e-01 1.37273438e-01 1.19466381e-02 8.74047066e+01] [ 1.37262657e-01 9.90533189e-01 -1.72166314e-03 -5.85710289e+01] [-1.20698802e-02 -6.54131495e-05 -9.99927154e-01 2.25383884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.84 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.53, Y:-57.82, Z:1.40 [[-9.75291282e-01 -2.20566002e-01 1.25520610e-02 8.75259895e+01] [ 2.20549331e-01 -9.75372044e-01 -2.71443745e-03 -5.78234647e+01] [ 1.28416421e-02 1.20981491e-04 9.99917535e-01 1.40269495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.87 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.35, Y:-58.57, Z:2.25 [[-9.90271452e-01 1.38742959e-01 1.06227013e-02 8.73525846e+01] [ 1.38735088e-01 9.90328426e-01 -1.47789403e-03 -5.85729396e+01] [-1.07250104e-02 1.02251232e-05 -9.99942485e-01 2.25257339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.9 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.36, Y:-58.55, Z:2.25 [[-9.97503648e-01 6.97888441e-02 1.07698287e-02 8.73573032e+01] [ 6.97850801e-02 9.97561786e-01 -7.25362126e-04 -5.85486358e+01] [-1.07941917e-02 2.80219900e-05 -9.99941741e-01 2.25185712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.93 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.42, Y:-57.77, Z:1.40 [[-9.90196672e-01 -1.39157576e-01 1.20714698e-02 8.74192666e+01] [ 1.39148008e-01 -9.90270248e-01 -1.63301804e-03 -5.77711494e+01] [ 1.21812642e-02 6.27119449e-05 9.99925804e-01 1.40441829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.96 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.28, Y:-58.55, Z:2.25 [[-9.97631644e-01 6.78796508e-02 1.11110395e-02 8.72847521e+01] [ 6.78761367e-02 9.97693515e-01 -6.93498951e-04 -5.85473508e+01] [-1.11324865e-02 6.23179386e-05 -9.99938030e-01 2.25179355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.98999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.29, Y:-58.52, Z:2.25 [[-9.99931744e-01 -1.92341862e-03 1.15242070e-02 8.72921695e+01] [-1.92240134e-03 9.99998147e-01 9.93504615e-05 -5.85219686e+01] [-1.15243768e-02 7.71895293e-05 -9.99933589e-01 2.25114993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.01999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.29, Y:-57.73, Z:1.40 [[-9.98130688e-01 -5.95948369e-02 1.35493887e-02 8.72942715e+01] [ 5.95900392e-02 -9.98222647e-01 -7.57899230e-04 -5.77310810e+01] [ 1.35704735e-02 5.09261240e-05 9.99907916e-01 1.40496013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.04999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.19, Y:-58.53, Z:2.25 [[-9.99890865e-01 -5.32523676e-03 1.37804004e-02 8.71927404e+01] [-5.32302925e-03 9.99985813e-01 1.96866043e-04 -5.85260960e+01] [-1.37812533e-02 1.23491084e-04 -9.99905026e-01 2.25211930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.07999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.19, Y:-57.73, Z:1.40 [[-9.98606627e-01 -5.03276124e-02 1.58724759e-02 8.71888552e+01] [ 5.03212974e-02 -9.98732763e-01 -7.97243082e-04 -5.77257173e+01] [ 1.58924851e-02 2.59135751e-06 9.99873706e-01 1.40312544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.10999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.10, Y:-58.53, Z:2.25 [[-9.99840971e-01 -9.18276764e-03 1.52875507e-02 8.70972714e+01] [-9.17913058e-03 9.99957823e-01 3.08061650e-04 -5.85294858e+01] [-1.52897347e-02 1.67686236e-04 -9.99883091e-01 2.25292590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.14 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.09, Y:-58.51, Z:2.25 [[-9.96789789e-01 -7.84122638e-02 1.61750837e-02 8.70910990e+01] [-7.83986036e-02 9.96920997e-01 1.47786795e-03 -5.85056522e+01] [-1.62411636e-02 2.05019706e-04 -9.99868083e-01 2.25333409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.17 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.08, Y:-58.48, Z:2.25 [[-9.88734124e-01 -1.48831743e-01 1.59356595e-02 8.70813829e+01] [-1.48808886e-01 9.88862511e-01 2.61725966e-03 -5.84809478e+01] [-1.61477076e-02 2.16406203e-04 -9.99869594e-01 2.25358975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.2 meters Centerline goodness [0,1] 0.999843972895863 Centerline is valid? [True, True] Translation: X:87.05, Y:-58.46, Z:2.25 [[-9.75463089e-01 -2.19451129e-01 1.76907952e-02 8.70543894e+01] [-2.19410474e-01 9.75623463e-01 4.23108957e-03 -5.84589779e+01] [-1.81880723e-02 2.45725931e-04 -9.99834553e-01 2.25279293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.23 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.00, Y:-58.45, Z:2.25 [[-9.56746263e-01 -2.90520483e-01 1.53113235e-02 8.70039526e+01] [-2.90479553e-01 9.56868747e-01 4.88157655e-03 -5.84467691e+01] [-1.60691249e-02 2.22803716e-04 -9.99870858e-01 2.25248818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.26 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.94, Y:-58.44, Z:2.25 [[-9.32540159e-01 -3.60776188e-01 1.44704320e-02 8.69445986e+01] [-3.60729193e-01 9.32652398e-01 5.82692937e-03 -5.84396379e+01] [-1.55981005e-02 2.13938393e-04 -9.99878319e-01 2.25179794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.29 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.87, Y:-58.44, Z:2.25 [[-9.02888869e-01 -4.29651015e-01 1.38453779e-02 8.68699846e+01] [-4.29597053e-01 9.02994997e-01 6.81238335e-03 -5.84429154e+01] [-1.54292544e-02 2.02891578e-04 -9.99880941e-01 2.25048662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.32 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.79, Y:-58.45, Z:2.25 [[-8.67613320e-01 -4.97074724e-01 1.28001936e-02 8.67908403e+01] [-4.97017522e-01 8.67707719e-01 7.54309612e-03 -5.84548268e+01] [-1.48563092e-02 1.82570161e-04 -9.99889622e-01 2.25025661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.35 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.71, Y:-58.48, Z:2.25 [[-8.26447076e-01 -5.62897328e-01 1.14816568e-02 8.67061597e+01] [-5.62840582e-01 8.26526816e-01 7.99386805e-03 -5.84771590e+01] [-1.39896242e-02 1.44166462e-04 -9.99902130e-01 2.24861010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.38 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.62, Y:-58.51, Z:2.25 [[-7.81433775e-01 -6.23893943e-01 1.08444958e-02 8.66173953e+01] [-6.23831301e-01 7.81509006e-01 8.84196789e-03 -5.85090918e+01] [-1.39915213e-02 1.44276442e-04 -9.99902103e-01 2.24869175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.41 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.53, Y:-58.55, Z:2.25 [[-7.30642129e-01 -6.82692690e-01 9.63179582e-03 8.65263976e+01] [-6.82631233e-01 7.30705603e-01 9.16091180e-03 -5.85524544e+01] [-1.32920947e-02 1.18383441e-04 -9.99911649e-01 2.24938824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.44 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.43, Y:-58.61, Z:2.25 [[-6.75261977e-01 -7.37527727e-01 8.60899655e-03 8.64287527e+01] [-7.37465996e-01 6.75316847e-01 9.54257158e-03 -5.86114341e+01] [-1.28517115e-02 9.48935289e-05 -9.99917409e-01 2.24805251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.47 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.35, Y:-58.66, Z:2.25 [[-6.14954046e-01 -7.88525346e-01 7.70060439e-03 8.63479810e+01] [-7.88462190e-01 6.15002256e-01 9.98001480e-03 -5.86631110e+01] [-1.26053837e-02 6.56150788e-05 -9.99920547e-01 2.24855721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.26, Y:-58.74, Z:2.25 [[-5.48356489e-01 -8.36217086e-01 6.79310898e-03 8.62577245e+01] [-8.36152918e-01 5.48398564e-01 1.03591940e-02 -5.87367889e+01] [-1.23878663e-02 4.53373828e-07 -9.99923267e-01 2.24946402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.53 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.18, Y:-58.81, Z:2.25 [[-4.79996633e-01 -8.77248224e-01 6.22791290e-03 8.61785018e+01] [-8.77175385e-01 4.80037033e-01 1.13045094e-02 -5.88120562e+01] [-1.29064896e-02 -3.68454537e-05 -9.99916707e-01 2.24970817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.10, Y:-58.90, Z:2.25 [[-4.08871107e-01 -9.12576910e-01 5.27267678e-03 8.61003342e+01] [-9.12503126e-01 4.08905098e-01 1.16045872e-02 -5.89032467e+01] [-1.27461028e-02 -6.65536118e-05 -9.99918763e-01 2.25019953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.59 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.03, Y:-59.00, Z:2.25 [[-3.35033580e-01 -9.42195138e-01 4.56304569e-03 8.60281507e+01] [-9.42111936e-01 3.35064636e-01 1.25215899e-02 -5.90040688e+01] [-1.33266964e-02 -1.03746707e-04 -9.99911190e-01 2.25097615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.62 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.97, Y:-59.10, Z:2.25 [[-2.57794398e-01 -9.66191694e-01 3.95719934e-03 8.59671872e+01] [-9.66087922e-01 2.57824711e-01 1.41613760e-02 -5.90989301e+01] [-1.47028677e-02 -1.72279075e-04 -9.99891892e-01 2.25242227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.65 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.91, Y:-59.20, Z:2.25 [[-1.80660419e-01 -9.83540940e-01 3.00522486e-03 8.59137187e+01] [-9.83423596e-01 1.80685291e-01 1.51939700e-02 -5.92036722e+01] [-1.54868915e-02 -2.10460043e-04 -9.99880049e-01 2.25253306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.68 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.87, Y:-59.31, Z:2.25 [[-1.02998425e-01 -9.94679636e-01 1.93545333e-03 8.58681587e+01] [-9.94545751e-01 1.03016320e-01 1.63213472e-02 -5.93132339e+01] [-1.64338950e-02 -2.43823822e-04 -9.99864925e-01 2.25308931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.71 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.83, Y:-59.43, Z:2.25 [[-2.49041509e-02 -9.99689583e-01 7.21718330e-04 8.58304308e+01] [-9.99532640e-01 2.49130308e-02 1.77156168e-02 -5.94270370e+01] [-1.77280977e-02 -2.80188635e-04 -9.99842806e-01 2.25427778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.73999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.80, Y:-59.54, Z:2.26 [[ 5.33610029e-02 -9.98575015e-01 -7.36159555e-04 8.58012731e+01] [-9.98371324e-01 -5.33649886e-02 2.01712233e-02 -5.95443869e+01] [-2.01817647e-02 -3.41396114e-04 -9.99796269e-01 2.25706185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.76999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.78, Y:-59.68, Z:2.26 [[ 1.30460687e-01 -9.91450507e-01 -2.42912883e-03 8.57833274e+01] [-9.91222908e-01 -1.30482792e-01 2.12458972e-02 -5.96773488e+01] [-2.13812151e-02 -3.63946199e-04 -9.99771329e-01 2.25847161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.79999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.77, Y:-59.80, Z:2.26 [[ 2.06833783e-01 -9.78367544e-01 -4.09078834e-03 8.57741372e+01] [-9.78139641e-01 -2.06873907e-01 2.11194242e-02 -5.97969444e+01] [-2.15088366e-02 -3.66848166e-04 -9.99768591e-01 2.25902656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.82999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.77, Y:-59.90, Z:2.26 [[ 2.81774812e-01 -9.59463113e-01 -5.78711170e-03 8.57723667e+01] [-9.59233262e-01 -2.81833995e-01 2.10035415e-02 -5.99035428e+01] [-2.17831281e-02 -3.67078922e-04 -9.99762652e-01 2.25783619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.85999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.78, Y:-60.02, Z:2.26 [[ 3.55178321e-01 -9.34771079e-01 -7.16872239e-03 8.57813123e+01] [-9.34560126e-01 -3.55250481e-01 1.98611823e-02 -6.00207739e+01] [-2.11123509e-02 -3.54659275e-04 -9.99777047e-01 2.25743819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.80, Y:-60.14, Z:2.26 [[ 4.26098724e-01 -9.04639256e-01 -8.22764173e-03 8.57996261e+01] [-9.04455598e-01 -4.26178026e-01 1.82308028e-02 -6.01355886e+01] [-1.99987400e-02 -3.26585210e-04 -9.99799952e-01 2.25690957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.92 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.83, Y:-60.25, Z:2.26 [[ 4.94475909e-01 -8.69143376e-01 -9.13054720e-03 8.58285668e+01] [-8.68983753e-01 -4.94560107e-01 1.66594484e-02 -6.02537020e+01] [-1.89950536e-02 -3.03398734e-04 -9.99819532e-01 2.25635613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.95 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.87, Y:-60.37, Z:2.26 [[ 5.60172834e-01 -8.28318781e-01 -9.71562511e-03 8.58654585e+01] [-8.28185359e-01 -5.60257010e-01 1.48692328e-02 -6.03680237e+01] [-1.77597119e-02 -2.83001806e-04 -9.99842244e-01 2.25607420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.98 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.90, Y:-60.46, Z:2.25 [[ 6.22362088e-01 -7.82663187e-01 -1.01866211e-02 8.59015107e+01] [-7.82551348e-01 -6.22445392e-01 1.32333523e-02 -6.04649091e+01] [-1.66978731e-02 -2.64382681e-04 -9.99860546e-01 2.25493883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.01 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.95, Y:-60.57, Z:2.25 [[ 6.80209927e-01 -7.32948603e-01 -1.00399976e-02 8.59520421e+01] [-7.32863922e-01 -6.80283982e-01 1.11433882e-02 -6.05657187e+01] [-1.49975804e-02 -2.21891281e-04 -9.99887505e-01 2.25359237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.04 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.01, Y:-60.66, Z:2.25 [[ 7.34062722e-01 -6.79002369e-01 -1.03780223e-02 8.60113369e+01] [-6.78930596e-01 -7.34136051e-01 9.87440011e-03 -6.06648978e+01] [-1.43236214e-02 -2.02472142e-04 -9.99897391e-01 2.25281287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.01, Y:-60.67, Z:2.25 [[ 7.83672865e-01 -6.21081950e-01 -1.06794828e-02 8.60072074e+01] [-6.21021387e-01 -7.83745612e-01 8.67490333e-03 -6.06682618e+01] [-1.37578237e-02 -1.66099141e-04 -9.99905343e-01 2.25292500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.1 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.00, Y:-60.67, Z:2.25 [[ 8.28816177e-01 -5.59403875e-01 -1.14476701e-02 8.60029439e+01] [-5.59348116e-01 -8.28895219e-01 7.89950056e-03 -6.06731492e+01] [-1.39079302e-02 -1.44001154e-04 -9.99903270e-01 2.25287703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.13 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.00, Y:-60.68, Z:2.25 [[ 8.69127354e-01 -4.94446810e-01 -1.18319441e-02 8.59984389e+01] [-4.94399172e-01 -8.69207880e-01 6.86443622e-03 -6.06783142e+01] [-1.36785176e-02 -1.16365925e-04 -9.99906438e-01 2.25293189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.16 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.99, Y:-60.68, Z:2.25 [[ 9.04376030e-01 -4.26571569e-01 -1.18613973e-02 8.59930205e+01] [-4.26533624e-01 -9.04453807e-01 5.69023633e-03 -6.06824912e+01] [-1.31553790e-02 -8.68285596e-05 -9.99913460e-01 2.25321924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.19 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.99, Y:-60.69, Z:2.25 [[ 9.34281321e-01 -3.56326152e-01 -1.22510112e-02 8.59895170e+01] [-3.56294655e-01 -9.34361637e-01 4.73810058e-03 -6.06861031e+01] [-1.31351841e-02 -6.17490476e-05 -9.99913728e-01 2.25316902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.22 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.99, Y:-60.69, Z:2.25 [[ 9.58769800e-01 -2.83890520e-01 -1.29090630e-02 8.59860047e+01] [-2.83864227e-01 -9.58856700e-01 3.86393123e-03 -6.06903364e+01] [-1.34748750e-02 -4.01993724e-05 -9.99909209e-01 2.25316687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.25 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.98, Y:-60.69, Z:2.25 [[ 9.77300028e-01 -2.11489621e-01 -1.25217788e-02 8.59816796e+01] [-2.11472376e-01 -9.77380243e-01 2.70075639e-03 -6.06924647e+01] [-1.28097212e-02 8.56103021e-06 -9.99917952e-01 2.25353730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.28 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.97, Y:-60.69, Z:2.25 [[ 9.90602285e-01 -1.36135316e-01 -1.32018409e-02 8.59739413e+01] [-1.36123643e-01 -9.90690252e-01 1.78298457e-03 -6.06947080e+01] [-1.33216622e-02 3.08540815e-05 -9.99911262e-01 2.25435542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.31 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.97, Y:-60.70, Z:2.25 [[ 9.98094090e-01 -6.02393331e-02 -1.33944159e-02 8.59671350e+01] [-6.02346967e-02 -9.98183961e-01 7.49660811e-04 -6.07005895e+01] [-1.34152502e-02 5.85765549e-05 -9.99910010e-01 2.25404124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.34 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.96, Y:-60.71, Z:2.25 [[ 9.99785599e-01 1.56001659e-02 -1.36158604e-02 8.59609261e+01] [ 1.55974572e-02 -9.99878306e-01 -3.05112488e-04 -6.07068761e+01] [-1.36189632e-02 9.26742727e-05 -9.99907253e-01 2.25395098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.37 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.95, Y:-60.71, Z:2.25 [[ 9.96005768e-01 8.84152430e-02 -1.24601013e-02 8.59541852e+01] [ 8.84063587e-02 -9.96083691e-01 -1.26309697e-03 -6.07115954e+01] [-1.25229808e-02 1.56499680e-04 -9.99921572e-01 2.25344853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.4 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.95, Y:-60.72, Z:2.25 [[ 9.86494172e-01 1.63425328e-01 -1.10186373e-02 8.59486107e+01] [ 1.63413151e-01 -9.86555691e-01 -2.00264090e-03 -6.07207005e+01] [-1.11977816e-02 1.75003337e-04 -9.99937288e-01 2.25201622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.43 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.94, Y:-60.73, Z:2.25 [[ 9.71264473e-01 2.37812638e-01 -9.51168988e-03 8.59424928e+01] [ 2.37799386e-01 -9.71311029e-01 -2.51722765e-03 -6.07273151e+01] [-9.83743784e-03 1.83019780e-04 -9.99951594e-01 2.25250343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.46 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.94, Y:-60.74, Z:2.25 [[ 9.50334484e-01 3.11130072e-01 -7.90229099e-03 8.59377404e+01] [ 3.11117734e-01 -9.50367322e-01 -2.77662547e-03 -6.07368489e+01] [-8.37397081e-03 1.80180070e-04 -9.99964921e-01 2.24976546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.48999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.93, Y:-60.75, Z:2.25 [[ 9.24455421e-01 3.81254078e-01 -5.24428276e-03 8.59341212e+01] [ 3.81246965e-01 -9.24470282e-01 -2.33413000e-03 -6.07480409e+01] [-5.73808015e-03 1.58432245e-04 -9.99983525e-01 2.24823020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.51999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.93, Y:-60.76, Z:2.25 [[ 8.92244405e-01 4.51538712e-01 -3.56554349e-03 8.59323213e+01] [ 4.51534521e-01 -8.92251520e-01 -1.94978030e-03 -6.07594583e+01] [-4.06176289e-03 1.29714596e-04 -9.99991743e-01 2.24801987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.54999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.93, Y:-60.77, Z:2.25 [[ 8.54270548e-01 5.19824157e-01 -2.16265915e-03 8.59300911e+01] [ 5.19822192e-01 -8.54273279e-01 -1.43307680e-03 -6.07712767e+01] [-2.59244986e-03 1.00037087e-04 -9.99996635e-01 2.24786187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.57999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.93, Y:-60.78, Z:2.25 [[ 8.10981822e-01 5.85070596e-01 -9.39355308e-04 8.59304645e+01] [ 5.85070100e-01 -8.10982362e-01 -7.65450344e-04 -6.07846276e+01] [-1.20964308e-03 7.11776102e-05 -9.99999266e-01 2.24769584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.60999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.93, Y:-60.80, Z:2.25 [[ 7.61520868e-01 6.48139806e-01 8.71559235e-04 8.59312326e+01] [ 6.48139417e-01 -7.61521367e-01 7.10007710e-04 -6.07985449e+01] [ 1.12389524e-03 2.42062075e-05 -9.99999368e-01 2.24723130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.64 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.93, Y:-60.81, Z:2.25 [[ 7.07000667e-01 7.07211852e-01 1.20568864e-03 8.59345504e+01] [ 7.07210863e-01 -7.07001695e-01 1.18247765e-03 -6.08117379e+01] [ 1.68868612e-03 1.66636124e-05 -9.99998574e-01 2.24767595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.67 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.94, Y:-60.83, Z:2.25 [[ 6.47556733e-01 7.62016702e-01 9.08078854e-04 8.59370175e+01] [ 7.62016007e-01 -6.47557369e-01 1.02943090e-03 -6.08251850e+01] [ 1.37247670e-03 2.53557095e-05 -9.99999058e-01 2.24834917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.7 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.94, Y:-60.84, Z:2.25 [[ 5.83236372e-01 8.12301813e-01 1.04805800e-03 8.59444280e+01] [ 8.12300579e-01 -5.83237313e-01 1.41625993e-03 -6.08397098e+01] [ 1.76169704e-03 2.53238176e-05 -9.99998448e-01 2.24920822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.73 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.95, Y:-60.85, Z:2.25 [[ 5.14672543e-01 8.57386097e-01 1.12010415e-03 8.59514340e+01] [ 8.57384187e-01 -5.14673761e-01 1.80995253e-03 -6.08533932e+01] [ 2.12831635e-03 2.88267114e-05 -9.99997735e-01 2.24973692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.76 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.96, Y:-60.87, Z:2.25 [[ 4.38152192e-01 8.98900177e-01 1.06205346e-03 8.59638229e+01] [ 8.98897793e-01 -4.38153477e-01 2.07093442e-03 -6.08675359e+01] [ 2.32690573e-03 4.72930557e-05 -9.99997292e-01 2.25082270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.79 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.97, Y:-60.88, Z:2.25 [[ 3.62540297e-01 9.31967534e-01 1.02420386e-03 8.59732571e+01] [ 9.31964259e-01 -3.62541739e-01 2.47119992e-03 -6.08778704e+01] [ 2.67439475e-03 5.86118383e-05 -9.99996422e-01 2.25139661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.82 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.98, Y:-60.89, Z:2.25 [[ 2.85107872e-01 9.58495164e-01 7.23077747e-04 8.59830924e+01] [ 9.58492632e-01 -2.85108781e-01 2.20375632e-03 -6.08871795e+01] [ 2.31844559e-03 6.47564186e-05 -9.99997310e-01 2.25180695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.85 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.00, Y:-60.90, Z:2.25 [[ 2.03765855e-01 9.79019479e-01 5.79515140e-04 8.59953242e+01] [ 9.79016554e-01 -2.03766663e-01 2.39473579e-03 -6.08961453e+01] [ 2.46257885e-03 7.93895304e-05 -9.99996965e-01 2.25261091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.88 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.00, Y:-60.90, Z:2.25 [[ 1.24646366e-01 9.92201140e-01 4.26551547e-04 8.60038564e+01] [ 9.92197496e-01 -1.24647065e-01 2.69022208e-03 -6.09040752e+01] [ 2.72240981e-03 8.78969716e-05 -9.99996290e-01 2.25253346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.91 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.01, Y:-60.91, Z:2.25 [[ 4.54502744e-02 9.98966582e-01 2.02898337e-04 8.60130245e+01] [ 9.98963377e-01 -4.54506429e-02 2.53197170e-03 -6.09096005e+01] [ 2.53857698e-03 8.76091997e-05 -9.99996774e-01 2.25254640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.94 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.02, Y:-60.91, Z:2.25 [[-3.34332051e-02 9.99440954e-01 -2.71445727e-07 8.60242416e+01] [ 9.99437046e-01 3.34330751e-02 2.79657898e-03 -6.09146094e+01] [ 2.79502464e-03 9.32273058e-05 -9.99996090e-01 2.25269446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.97 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.03, Y:-60.92, Z:2.25 [[-1.11778513e-01 9.93733124e-01 -2.07745941e-04 8.60345631e+01] [ 9.93729557e-01 1.11778668e-01 2.66395769e-03 -6.09199592e+01] [ 2.67048457e-03 9.13299464e-05 -9.99996430e-01 2.25289399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.0 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.04, Y:-60.92, Z:2.25 [[-1.88087387e-01 9.82152244e-01 -3.24449369e-04 8.60442012e+01] [ 9.82149969e-01 1.88087650e-01 2.11532544e-03 -6.09237002e+01] [ 2.13859654e-03 7.92080958e-05 -9.99997710e-01 2.25332675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.03 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.05, Y:-60.93, Z:2.25 [[-2.63401251e-01 9.64686313e-01 -3.14842290e-04 8.60537765e+01] [ 9.64685294e-01 2.63401431e-01 1.40329040e-03 -6.09275072e+01] [ 1.43666496e-03 6.59047209e-05 -9.99998966e-01 2.25343744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.06 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.06, Y:-60.93, Z:2.25 [[-3.37045259e-01 9.41488379e-01 -3.55825738e-04 8.60635543e+01] [ 9.41487647e-01 3.37045441e-01 1.17506431e-03 -6.09304043e+01] [ 1.22623884e-03 6.10443185e-05 -9.99999246e-01 2.25399062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.09 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.07, Y:-60.93, Z:2.25 [[-4.08392020e-01 9.12806572e-01 -3.47330602e-04 8.60727873e+01] [ 9.12806117e-01 4.08392163e-01 9.13208930e-04 -6.09325722e+01] [ 9.75430209e-04 5.59017411e-05 -9.99999523e-01 2.25439143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.12 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.08, Y:-60.93, Z:2.25 [[-4.77642168e-01 8.78554371e-01 -4.20527250e-04 8.60815571e+01] [ 8.78553924e-01 4.77642350e-01 8.88122514e-04 -6.09336897e+01] [ 9.81125540e-04 5.47488971e-05 -9.99999517e-01 2.25416637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.15 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.09, Y:-60.94, Z:2.25 [[-5.43588789e-01 8.39351629e-01 -2.65842184e-04 8.60898369e+01] [ 8.39351481e-01 5.43588852e-01 5.00340560e-04 -6.09362587e+01] [ 5.64470512e-04 4.88444883e-05 -9.99999839e-01 2.25414306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.18 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.10, Y:-60.94, Z:2.25 [[-6.07316771e-01 7.94459777e-01 4.72812518e-05 8.60988223e+01] [ 7.94459778e-01 6.07316771e-01 8.81614604e-06 -6.09378208e+01] [-2.17106237e-05 4.29172462e-05 -9.99999999e-01 2.25457883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.21 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.11, Y:-60.94, Z:2.26 [[-6.67307553e-01 7.44782204e-01 3.13603898e-04 8.61079095e+01] [ 7.44782148e-01 6.67307625e-01 -2.91291852e-04 -6.09375954e+01] [-4.26219260e-04 3.91853318e-05 -9.99999908e-01 2.25500877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.23999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.12, Y:-60.94, Z:2.26 [[-7.23318790e-01 6.90513870e-01 7.23445657e-04 8.61170096e+01] [ 6.90513572e-01 7.23319151e-01 -6.42779826e-04 -6.09365984e+01] [-9.67130484e-04 3.46143187e-05 -9.99999532e-01 2.25567231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.26999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.14, Y:-60.93, Z:2.26 [[-7.69067634e-01 6.39163696e-01 2.17814982e-03 8.61412331e+01] [ 6.39161206e-01 7.69070718e-01 -1.78414376e-03 -6.09253695e+01] [-2.81551117e-03 2.00616511e-05 -9.99996036e-01 2.25698803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.29999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.16, Y:-60.91, Z:2.26 [[-8.12357266e-01 5.83155538e-01 2.29997276e-03 8.61626754e+01] [ 5.83153271e-01 8.12360522e-01 -1.62643882e-03 -6.09073575e+01] [-2.81687388e-03 1.99872391e-05 -9.99996032e-01 2.25700130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.32999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.18, Y:-60.89, Z:2.26 [[-8.50798199e-01 5.25481981e-01 3.33345917e-03 8.61782240e+01] [ 5.25478032e-01 8.50804729e-01 -2.03734832e-03 -6.08871621e+01] [-3.90671265e-03 1.82872875e-05 -9.99992369e-01 2.25785256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.35999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.20, Y:-60.87, Z:2.26 [[-8.83730230e-01 4.67972744e-01 4.73191156e-03 8.62002281e+01] [ 4.67966249e-01 8.83742898e-01 -2.46595218e-03 -6.08746687e+01] [-5.33579164e-03 3.51384167e-05 -9.99985764e-01 2.25808292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.39 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.22, Y:-60.86, Z:2.26 [[-9.13475787e-01 4.06859629e-01 5.21803791e-03 8.62152284e+01] [ 4.06853311e-01 9.13490689e-01 -2.26809392e-03 -6.08550367e+01] [-5.68942490e-03 5.11271163e-05 -9.99983814e-01 2.25749302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.42 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.23, Y:-60.84, Z:2.26 [[-9.38816712e-01 3.44382964e-01 4.85335588e-03 8.62338804e+01] [ 3.44378733e-01 9.38829255e-01 -1.70841816e-03 -6.08362716e+01] [-5.14482259e-03 6.75010318e-05 -9.99986763e-01 2.25660783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.45 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.24, Y:-60.81, Z:2.26 [[-9.59854879e-01 2.80462228e-01 4.42146856e-03 8.62440989e+01] [ 2.80459639e-01 9.59865059e-01 -1.20763487e-03 -6.08144749e+01] [-4.58270915e-03 8.08892554e-05 -9.99989496e-01 2.25569551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.48 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.26, Y:-60.80, Z:2.25 [[-9.75811956e-01 2.18594123e-01 2.76331968e-03 8.62625607e+01] [ 2.18593490e-01 9.75815865e-01 -5.32793905e-04 -6.07960283e+01] [-2.81295680e-03 8.41370309e-05 -9.99996040e-01 2.25272843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.51 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.27, Y:-60.77, Z:2.25 [[-9.88345680e-01 1.52212883e-01 2.01376905e-03 8.62714041e+01] [ 1.52212727e-01 9.88347728e-01 -2.31100829e-04 -6.07718267e+01] [-2.02548059e-03 7.81137736e-05 -9.99997946e-01 2.25169766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.54 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.40, Y:-59.94, Z:1.41 [[-9.84298280e-01 -1.76503811e-01 1.81703062e-03 8.63952125e+01] [ 1.76503350e-01 -9.84299953e-01 -4.12104327e-04 -5.99354768e+01] [ 1.86124114e-03 -8.49215882e-05 9.99998264e-01 1.41251908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.21, Y:-60.77, Z:2.25 [[-9.88224274e-01 1.53012108e-01 -2.80616964e-04 8.62091339e+01] [ 1.53012093e-01 9.88224313e-01 7.52130895e-05 -6.07669097e+01] [ 2.88821020e-04 3.13896118e-05 -9.99999958e-01 2.24945420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.6 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.22, Y:-60.74, Z:2.25 [[-9.96418883e-01 8.45514717e-02 -6.77184106e-04 8.62164680e+01] [ 8.45514389e-02 9.96419113e-01 7.69227221e-05 -6.07413509e+01] [ 6.81263116e-04 1.93903622e-05 -9.99999768e-01 2.24847622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.63 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.22, Y:-60.71, Z:2.25 [[-9.99878032e-01 1.55456393e-02 -1.50108711e-03 8.62229290e+01] [ 1.55456309e-02 9.99879159e-01 1.72026826e-05 -6.07110747e+01] [ 1.50117314e-03 -6.13476176e-06 -9.99998873e-01 2.24691167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.66 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.21, Y:-59.86, Z:1.42 [[-9.99707774e-01 -2.41675304e-02 -5.44548489e-04 8.62144368e+01] [ 2.41675043e-02 -9.99707922e-01 5.44263482e-05 -5.98626322e+01] [-5.45704789e-04 4.12500654e-05 9.99999850e-01 1.41642632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.69 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.12, Y:-60.71, Z:2.25 [[-9.99964129e-01 8.39956605e-03 -1.08996615e-03 8.61192520e+01] [ 8.39955231e-03 9.99964723e-01 1.71835405e-05 -6.07119318e+01] [ 1.09007204e-03 8.02769636e-06 -9.99999406e-01 2.24726969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.72 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.12, Y:-60.68, Z:2.25 [[-9.97919590e-01 -6.44673040e-02 -6.77774634e-04 8.61161989e+01] [-6.44673024e-02 9.97919820e-01 -2.42403347e-05 -6.06782180e+01] [ 6.77927449e-04 1.95043974e-05 -9.99999770e-01 2.24797719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.10, Y:-60.65, Z:2.25 [[-9.90416452e-01 -1.38113049e-01 1.91991434e-04 8.61045118e+01] [-1.38113038e-01 9.90416470e-01 6.99982043e-05 -6.06488206e+01] [-1.99819144e-04 4.28108530e-05 -9.99999979e-01 2.24841697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.78 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.07, Y:-60.62, Z:2.25 [[-9.76383411e-01 -2.16040833e-01 1.33939065e-03 8.60744489e+01] [-2.16040542e-01 9.76384327e-01 3.60060780e-04 -6.06181903e+01] [-1.38554787e-03 6.21946902e-05 -9.99999038e-01 2.24843085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.81 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.02, Y:-60.60, Z:2.25 [[-9.56658319e-01 -2.91206771e-01 1.86475264e-03 8.60247751e+01] [-2.91206087e-01 9.56660134e-01 6.34459093e-04 -6.05989755e+01] [-1.96869330e-03 6.39332498e-05 -9.99998060e-01 2.24872704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.84 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.96, Y:-60.59, Z:2.25 [[-9.30966596e-01 -3.65097178e-01 2.29063325e-03 8.59604125e+01] [-3.65095916e-01 9.30969412e-01 9.61927011e-04 -6.05878204e+01] [-2.48370633e-03 5.92210688e-05 -9.99996914e-01 2.24892087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.87 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.89, Y:-60.58, Z:2.25 [[-8.99450754e-01 -4.37015995e-01 2.31524083e-03 8.58896566e+01] [-4.37014405e-01 8.99453733e-01 1.17977722e-03 -6.05830675e+01] [-2.59803352e-03 4.93579172e-05 -9.99996624e-01 2.24898769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.9 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.81, Y:-60.59, Z:2.25 [[-8.60465427e-01 -5.09500179e-01 2.96936454e-03 8.58064904e+01] [-5.09497040e-01 8.60470550e-01 1.78858324e-03 -6.05868966e+01] [-3.46633422e-03 2.61315959e-05 -9.99993992e-01 2.24904712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.93 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.72, Y:-60.60, Z:2.25 [[-8.18291745e-01 -5.74794526e-01 3.14218781e-03 8.57228991e+01] [-5.74790220e-01 8.18297778e-01 2.22486264e-03 -6.06037537e+01] [-3.85008417e-03 1.44879075e-05 -9.99992588e-01 2.24865052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.96 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.64, Y:-60.63, Z:2.25 [[-7.71352897e-01 -6.36402324e-01 2.60575144e-03 8.56355876e+01] [-6.36398645e-01 7.71357298e-01 2.16395060e-03 -6.06312815e+01] [-3.38710858e-03 1.08728731e-05 -9.99994264e-01 2.24838164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.98999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.55, Y:-60.67, Z:2.25 [[-7.20053366e-01 -6.93915913e-01 1.96363169e-03 8.55455094e+01] [-6.93913284e-01 7.20056044e-01 1.91005819e-03 -6.06706359e+01] [-2.73934464e-03 1.27537141e-05 -9.99996248e-01 2.24764044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.01999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.46, Y:-60.72, Z:2.25 [[-6.64849801e-01 -7.46975402e-01 1.57820946e-03 8.54564839e+01] [-7.46973244e-01 6.64851674e-01 1.79557797e-03 -6.07195139e+01] [-2.39052778e-03 1.49094146e-05 -9.99997143e-01 2.24650308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.04999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.37, Y:-60.77, Z:2.25 [[-6.06616114e-01 -7.94994487e-01 8.09230720e-04 8.53708784e+01] [-7.94993721e-01 6.06616654e-01 1.10409386e-03 -6.07745654e+01] [-1.36864137e-03 2.64277877e-05 -9.99999063e-01 2.24550640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.07999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.29, Y:-60.84, Z:2.25 [[-5.45115144e-01 -8.38360990e-01 5.75117822e-04 8.52890465e+01] [-8.38360463e-01 5.45115447e-01 9.39942075e-04 -6.08403964e+01] [-1.10151638e-03 3.02206163e-05 -9.99999393e-01 2.24553899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.10999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.21, Y:-60.92, Z:2.25 [[-4.80360088e-01 -8.77071274e-01 4.07403740e-04 8.52081128e+01] [-8.77070899e-01 4.80360260e-01 8.12256771e-04 -6.09194465e+01] [-9.08107648e-04 3.28537696e-05 -9.99999587e-01 2.24532585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.14 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.14, Y:-61.00, Z:2.25 [[-4.12878475e-01 -9.10785977e-01 5.19866519e-04 8.51353195e+01] [-9.10785155e-01 4.12878801e-01 1.22361054e-03 -6.10024140e+01] [-1.32908919e-03 3.17157450e-05 -9.99999116e-01 2.24518600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.17 meters Centerline goodness [0,1] 0.9999568146484712 Centerline is valid? [True, True] Translation: X:85.07, Y:-61.09, Z:2.25 [[-3.43040456e-01 -9.39320489e-01 5.13917820e-04 8.50657282e+01] [-9.39319289e-01 3.43040839e-01 1.50212149e-03 -6.10931116e+01] [-1.58726829e-03 3.25555202e-05 -9.99998740e-01 2.24524427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.2 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.00, Y:-61.19, Z:2.25 [[-2.69881056e-01 -9.62893351e-01 7.81544049e-04 8.50031635e+01] [-9.62889019e-01 2.69882187e-01 2.88849136e-03 -6.11913134e+01] [-2.99223394e-03 2.70089166e-05 -9.99995523e-01 2.24607367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.23 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.95, Y:-61.29, Z:2.25 [[-1.94626364e-01 -9.80877111e-01 8.19920326e-04 8.49474842e+01] [-9.80867966e-01 1.94628090e-01 4.23551961e-03 -6.12933825e+01] [-4.31410376e-03 2.01101996e-05 -9.99990694e-01 2.24803185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.26 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.90, Y:-61.41, Z:2.25 [[-1.17666267e-01 -9.93052915e-01 7.46476308e-04 8.48996168e+01] [-9.93032623e-01 1.17668635e-01 6.34844006e-03 -6.14061469e+01] [-6.39217375e-03 5.72191627e-06 -9.99979570e-01 2.24904376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.29 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.86, Y:-61.52, Z:2.25 [[-3.89155323e-02 -9.99242418e-01 4.13163994e-04 8.48590150e+01] [-9.99194191e-01 3.89177134e-02 9.81730944e-03 -6.15185712e+01] [-9.82595143e-03 -3.07852401e-05 -9.99951724e-01 2.25188053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.32 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.83, Y:-61.64, Z:2.25 [[ 3.92608832e-02 -9.99228915e-01 -3.98766724e-04 8.48291563e+01] [-9.99162129e-01 -3.92628695e-02 1.15527970e-02 -6.16365684e+01] [-1.15595455e-02 -5.51404047e-05 -9.99933185e-01 2.25310663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.35 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.81, Y:-61.75, Z:2.25 [[ 1.16709162e-01 -9.93165057e-01 -1.46337393e-03 8.48083168e+01] [-9.93078726e-01 -1.16718312e-01 1.30950188e-02 -6.17543910e+01] [-1.31763176e-02 -7.50631450e-05 -9.99913186e-01 2.25414730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.38 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.80, Y:-61.87, Z:2.26 [[ 1.93580836e-01 -9.81080748e-01 -2.65062393e-03 8.47967882e+01] [-9.80982117e-01 -1.93598960e-01 1.39114864e-02 -6.18740256e+01] [-1.41614495e-02 -9.27824948e-05 -9.99899717e-01 2.25513531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.41 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.79, Y:-61.99, Z:2.26 [[ 2.68772420e-01 -9.63195895e-01 -3.88007543e-03 8.47941262e+01] [-9.63090048e-01 -2.68800406e-01 1.42793681e-02 -6.19915928e+01] [-1.47967946e-02 -1.01038292e-04 -9.99890516e-01 2.25594322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.44 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.80, Y:-62.12, Z:2.26 [[ 3.41773820e-01 -9.39768159e-01 -5.14428061e-03 8.48022746e+01] [-9.39657249e-01 -3.41812518e-01 1.44380348e-02 -6.21151775e+01] [-1.53267849e-02 -1.00681748e-04 -9.99882533e-01 2.25611711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.47 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.82, Y:-62.23, Z:2.26 [[ 4.13115074e-01 -9.10658266e-01 -6.12027362e-03 8.48165843e+01] [-9.10554791e-01 -4.13160395e-01 1.37280657e-02 -6.22269364e+01] [-1.50302312e-02 -9.84264056e-05 -9.99887035e-01 2.25566426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.84, Y:-62.34, Z:2.25 [[ 4.81728392e-01 -8.76292201e-01 -7.05231167e-03 8.48406989e+01] [-8.76195386e-01 -4.81780002e-01 1.30259581e-02 -6.23395533e+01] [-1.48122083e-02 -9.57709326e-05 -9.99890289e-01 2.25482535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.53 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.87, Y:-62.45, Z:2.25 [[ 5.47623604e-01 -8.36686401e-01 -8.01586811e-03 8.48745772e+01] [-8.36594189e-01 -5.47682259e-01 1.24220280e-02 -6.24519645e+01] [-1.47834907e-02 -9.65670696e-05 -9.99890714e-01 2.25419583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.91, Y:-62.55, Z:2.25 [[ 6.10046291e-01 -7.92321303e-01 -8.39497145e-03 8.49107029e+01] [-7.92244325e-01 -6.10104045e-01 1.10445929e-02 -6.25532308e+01] [-1.38726723e-02 -8.68444649e-05 -9.99903766e-01 2.25202912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.59 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.96, Y:-62.65, Z:2.25 [[ 6.68676854e-01 -7.43505509e-01 -8.41564152e-03 8.49550155e+01] [-7.43445244e-01 -6.68729805e-01 9.46662812e-03 -6.26529708e+01] [-1.26662805e-02 -7.35464386e-05 -9.99919777e-01 2.25194281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.62 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.01, Y:-62.75, Z:2.25 [[ 7.23395021e-01 -6.90378503e-01 -8.78445292e-03 8.50060042e+01] [-6.90326449e-01 -7.23448352e-01 8.47790983e-03 -6.27464115e+01] [-1.22080647e-02 -6.87375682e-05 -9.99925476e-01 2.25008062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.65 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.00, Y:-62.75, Z:2.25 [[ 7.75010712e-01 -6.31883462e-01 -9.03809034e-03 8.50023730e+01] [-6.31839579e-01 -7.75063408e-01 7.44714552e-03 -6.27538132e+01] [-1.17108212e-02 -6.09943590e-05 -9.99931424e-01 2.25001112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.68 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.00, Y:-62.76, Z:2.25 [[ 8.22049151e-01 -5.69342836e-01 -9.16125678e-03 8.50005804e+01] [-5.69306712e-01 -8.22100196e-01 6.41368430e-03 -6.27624005e+01] [-1.11830562e-02 -5.67987629e-05 -9.99937466e-01 2.24876957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.71 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.00, Y:-62.77, Z:2.25 [[ 8.64010192e-01 -5.03393305e-01 -9.03152657e-03 8.49983284e+01] [-5.03365192e-01 -8.64057393e-01 5.32027350e-03 -6.27716172e+01] [-1.04819474e-02 -5.06144208e-05 -9.99945062e-01 2.24769856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.73999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.00, Y:-62.78, Z:2.25 [[ 9.00703311e-01 -4.34346782e-01 -8.74175483e-03 8.49954633e+01] [-4.34325850e-01 -9.00745731e-01 4.26433218e-03 -6.27813099e+01] [-9.72629730e-03 -4.41280236e-05 -9.99952697e-01 2.24705550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.76999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.00, Y:-62.79, Z:2.25 [[ 9.31844937e-01 -3.62747617e-01 -8.89828536e-03 8.49956168e+01] [-3.62730653e-01 -9.31887421e-01 3.50836292e-03 -6.27900863e+01] [-9.56485048e-03 -4.15693739e-05 -9.99954255e-01 2.24713454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.79999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.00, Y:-62.80, Z:2.25 [[ 9.57257187e-01 -2.89093740e-01 -9.13717077e-03 8.49965825e+01] [-2.89080186e-01 -9.57300793e-01 2.79968552e-03 -6.27985652e+01] [-9.55639238e-03 -3.86440575e-05 -9.99954336e-01 2.24754284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.82999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.00, Y:-62.81, Z:2.25 [[ 9.76774934e-01 -2.14046004e-01 -9.74868015e-03 8.49978790e+01] [-2.14034984e-01 -9.76823580e-01 2.17218551e-03 -6.28080625e+01] [-9.98768827e-03 -3.51777570e-05 -9.99950121e-01 2.24802304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.85999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.00, Y:-62.82, Z:2.25 [[ 9.90457479e-01 -1.37438167e-01 -1.02339435e-02 8.50000239e+01] [-1.37430483e-01 -9.90510348e-01 1.45360094e-03 -6.28159181e+01] [-1.03366072e-02 -3.32741204e-05 -9.99946575e-01 2.24843010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.00, Y:-62.82, Z:2.25 [[ 9.98133385e-01 -6.00854923e-02 -1.09306295e-02 8.50000000e+01] [-6.00815515e-02 -9.98193234e-01 6.88841459e-04 -6.28223489e+01] [-1.09522698e-02 -3.08264783e-05 -9.99940022e-01 2.24918169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.92 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.00, Y:-62.83, Z:2.25 [[ 9.99796323e-01 1.65255262e-02 -1.15853535e-02 8.49994169e+01] [ 1.65245910e-02 -9.99863444e-01 -1.76444881e-04 -6.28284644e+01] [-1.15866873e-02 -1.50342863e-05 -9.99932872e-01 2.25093618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.95 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.00, Y:-62.83, Z:2.25 [[ 9.95528899e-01 9.37336661e-02 -1.16709748e-02 8.50007300e+01] [ 9.37272700e-02 -9.95597308e-01 -1.09500105e-03 -6.28328953e+01] [-1.17222295e-02 -3.78341573e-06 -9.99931292e-01 2.25192925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.98 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.00, Y:-62.84, Z:2.25 [[ 9.85295652e-01 1.70450951e-01 -1.17877637e-02 8.50013741e+01] [ 1.70438674e-01 -9.85366162e-01 -2.04575720e-03 -6.28366303e+01] [-1.19639648e-02 6.58486102e-06 -9.99928429e-01 2.25214294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.01 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.00, Y:-62.84, Z:2.25 [[ 9.69137064e-01 2.46264016e-01 -1.12865030e-02 8.50029847e+01] [ 2.46247112e-01 -9.69202783e-01 -2.88542104e-03 -6.28411731e+01] [-1.16494854e-02 1.70997212e-05 -9.99932142e-01 2.25207666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.04 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.01, Y:-62.85, Z:2.25 [[ 9.47297100e-01 3.20169547e-01 -1.09391369e-02 8.50066166e+01] [ 3.20147813e-01 -9.47360259e-01 -3.73061216e-03 -6.28504925e+01] [-1.15577319e-02 3.18573414e-05 -9.99933207e-01 2.25089513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.01, Y:-62.86, Z:2.25 [[ 9.19898672e-01 3.92006521e-01 -1.08314799e-02 8.50103558e+01] [ 3.91978719e-01 -9.19962437e-01 -4.66891140e-03 -6.28603657e+01] [-1.17947984e-02 4.92157786e-05 -9.99930438e-01 2.25227679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.1 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.02, Y:-62.87, Z:2.25 [[ 8.86483505e-01 4.62641367e-01 -1.04862066e-02 8.50153817e+01] [ 4.62608309e-01 -8.86545522e-01 -5.53074134e-03 -6.28689254e+01] [-1.18552492e-02 5.19046752e-05 -9.99929723e-01 2.25159349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.13 meters Centerline goodness [0,1] 0.9999575182140658 Centerline is valid? [True, True] Translation: X:85.02, Y:-62.88, Z:2.25 [[ 8.47639834e-01 5.30477132e-01 -1.00361302e-02 8.50212720e+01] [ 5.30439192e-01 -8.47699245e-01 -6.34457498e-03 -6.28777994e+01] [-1.18732719e-02 5.43576990e-05 -9.99929509e-01 2.25250685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.16 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.03, Y:-62.89, Z:2.25 [[ 8.03004255e-01 5.95905829e-01 -8.96709723e-03 8.50283588e+01] [ 5.95868068e-01 -8.03054320e-01 -6.70858375e-03 -6.28856104e+01] [-1.11987503e-02 4.38144004e-05 -9.99937291e-01 2.25165259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.19 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.03, Y:-62.89, Z:2.25 [[ 7.53887327e-01 6.56949829e-01 -8.41548163e-03 8.50344253e+01] [ 6.56908254e-01 -7.53934294e-01 -7.39088628e-03 -6.28923294e+01] [-1.12001617e-02 4.36961558e-05 -9.99937275e-01 2.25166547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.22 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.04, Y:-62.90, Z:2.25 [[ 6.99523059e-01 7.14570919e-01 -7.47612324e-03 8.50417766e+01] [ 7.14529600e-01 -6.99563007e-01 -7.68440747e-03 -6.28985817e+01] [-1.07210734e-02 3.35088707e-05 -9.99942527e-01 2.25151242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.25 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.05, Y:-62.91, Z:2.25 [[ 6.39699169e-01 7.68597627e-01 -6.53156842e-03 8.50492318e+01] [ 7.68557398e-01 -6.39732513e-01 -7.86364872e-03 -6.29058440e+01] [-1.02224384e-02 1.04843233e-05 -9.99947749e-01 2.25080438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.28 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.06, Y:-62.91, Z:2.25 [[ 5.76808648e-01 8.16860057e-01 -5.60633964e-03 8.50588858e+01] [ 8.16821426e-01 -5.76835893e-01 -7.94416677e-03 -6.29114821e+01] [-9.72321045e-03 2.88576005e-06 -9.99952728e-01 2.25016110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.31 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.07, Y:-62.92, Z:2.25 [[ 5.10613279e-01 8.59796765e-01 -4.85810188e-03 8.50684608e+01] [ 8.59757881e-01 -5.10636389e-01 -8.17707746e-03 -6.29165523e+01] [-9.51134836e-03 -1.46704231e-06 -9.99954766e-01 2.25044589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.34 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.08, Y:-62.92, Z:2.25 [[ 4.41694207e-01 8.97157288e-01 -3.87657692e-03 8.50795208e+01] [ 8.97122713e-01 -4.41711219e-01 -7.87636529e-03 -6.29219575e+01] [-8.77866604e-03 1.17972198e-06 -9.99961467e-01 2.24981386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.37 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.09, Y:-62.93, Z:2.25 [[ 3.70678340e-01 9.28756482e-01 -2.99414871e-03 8.50887537e+01] [ 9.28725991e-01 -3.70690432e-01 -7.52573668e-03 -6.29257921e+01] [-8.09947901e-03 8.88385160e-06 -9.99967199e-01 2.24973348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.4 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.10, Y:-62.93, Z:2.25 [[ 2.97581380e-01 9.54694038e-01 -2.14861579e-03 8.50970093e+01] [ 9.54668727e-01 -2.97589136e-01 -6.95182925e-03 -6.29284409e+01] [-7.27627466e-03 1.75186351e-05 -9.99973527e-01 2.24894389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.43 meters Centerline goodness [0,1] 0.9998517420311341 Centerline is valid? [True, True] Translation: X:85.10, Y:-62.93, Z:2.25 [[ 2.23823786e-01 9.74628264e-01 -1.63111027e-03 8.51043231e+01] [ 9.74601340e-01 -2.23829727e-01 -7.24437815e-03 -6.29307817e+01] [-7.42566666e-03 3.17818915e-05 -9.99972429e-01 2.25078852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.46 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.11, Y:-62.93, Z:2.25 [[ 1.48745487e-01 9.88875262e-01 -7.03926721e-04 8.51127423e+01] [ 9.88862793e-01 -1.48747147e-01 -4.96614250e-03 -6.29322546e+01] [-5.01560256e-03 4.26043421e-05 -9.99987421e-01 2.24770871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.48999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.13, Y:-62.93, Z:2.25 [[ 7.19244507e-02 9.97410035e-01 -3.10644429e-04 8.51250353e+01] [ 9.97397643e-01 -7.19251056e-02 -4.97196415e-03 -6.29328368e+01] [-4.98143006e-03 4.77697687e-05 -9.99987591e-01 2.24759911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.51999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.14, Y:-62.93, Z:2.25 [[-6.12125535e-03 9.99981262e-01 7.93858789e-05 8.51365718e+01] [ 9.99969069e-01 6.12157275e-03 -4.93827959e-03 -6.29340515e+01] [-4.93867302e-03 4.91549531e-05 -9.99987803e-01 2.24805910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.54999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.15, Y:-62.93, Z:2.25 [[-8.43494087e-02 9.96436136e-01 4.52144765e-04 8.51462665e+01] [ 9.96424769e-01 8.43506062e-02 -4.75967043e-03 -6.29337116e+01] [-4.78084630e-03 4.90528569e-05 -9.99988570e-01 2.24788284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.57999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.16, Y:-62.93, Z:2.25 [[-1.62716391e-01 9.86672563e-01 7.93824440e-04 8.51551506e+01] [ 9.86662151e-01 1.62718321e-01 -4.53288233e-03 -6.29339073e+01] [-4.60164040e-03 4.56622776e-05 -9.99989411e-01 2.24749434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.60999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.17, Y:-62.93, Z:2.25 [[-2.40948529e-01 9.70537394e-01 9.86205924e-04 8.51659919e+01] [ 9.70529900e-01 2.40950545e-01 -3.81419275e-03 -6.29313800e+01] [-3.93944355e-03 3.81182013e-05 -9.99992240e-01 2.24695682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.64 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.18, Y:-62.93, Z:2.25 [[-3.17321998e-01 9.48317073e-01 1.21570329e-03 8.51758388e+01] [ 9.48310512e-01 3.17324325e-01 -3.52773409e-03 -6.29291184e+01] [-3.73118269e-03 3.34365780e-05 -9.99993039e-01 2.24692821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.67 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.19, Y:-62.92, Z:2.25 [[-3.91973453e-01 9.19975527e-01 1.35743687e-03 8.51869269e+01] [ 9.19970260e-01 3.91975803e-01 -3.11296553e-03 -6.29241154e+01] [-3.39593451e-03 2.86016982e-05 -9.99994233e-01 2.24674496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.7 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.20, Y:-62.92, Z:2.25 [[-4.64434746e-01 8.85605843e-01 1.63032782e-03 8.51979133e+01] [ 8.85600553e-01 4.64437607e-01 -3.06095365e-03 -6.29192770e+01] [-3.46798399e-03 2.22059839e-05 -9.99993986e-01 2.24682169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.73 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.21, Y:-62.91, Z:2.25 [[-5.34214804e-01 8.45347133e-01 1.66362053e-03 8.52085649e+01] [ 8.45343131e-01 5.34217394e-01 -2.60138509e-03 -6.29126283e+01] [-3.08780845e-03 1.66317655e-05 -9.99995233e-01 2.24671397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.76 meters Centerline goodness [0,1] 0.9999367728882145 Centerline is valid? [True, True] Translation: X:85.22, Y:-62.90, Z:2.25 [[-6.03013559e-01 7.97728905e-01 1.80023812e-03 8.52201815e+01] [ 7.97725357e-01 6.03016246e-01 -2.37933593e-03 -6.29042428e+01] [-2.98363788e-03 1.32376977e-06 -9.99995549e-01 2.24746935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.79 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.23, Y:-62.90, Z:2.25 [[-6.66195353e-01 7.45774904e-01 1.88263591e-03 8.52286668e+01] [ 7.45771897e-01 6.66198013e-01 -2.11760681e-03 -6.28963043e+01] [-2.83346632e-03 -6.72286390e-06 -9.99995986e-01 2.24641335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.82 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.24, Y:-62.89, Z:2.25 [[-7.24684576e-01 6.89077157e-01 2.22201143e-03 8.52364179e+01] [ 6.89073833e-01 7.24687982e-01 -2.14048850e-03 -6.28863812e+01] [-3.08522671e-03 -2.00490670e-05 -9.99995240e-01 2.24645368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.85 meters Centerline goodness [0,1] 0.9998529195469922 Centerline is valid? [True, True] Translation: X:85.26, Y:-62.86, Z:2.25 [[-7.75282024e-01 6.31608062e-01 3.00636450e-03 8.52569826e+01] [ 6.31603008e-01 7.75287851e-01 -2.52750443e-03 -6.28586526e+01] [-3.92719005e-03 -6.06998906e-05 -9.99992287e-01 2.24957014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.88 meters Centerline goodness [0,1] 0.9998948718487837 Centerline is valid? [True, True] Translation: X:85.27, Y:-62.83, Z:2.25 [[-8.19801952e-01 5.72640976e-01 2.65937755e-03 8.52706439e+01] [ 5.72637740e-01 8.19806263e-01 -1.92595595e-03 -6.28331998e+01] [-3.28305567e-03 -5.60424974e-05 -9.99994609e-01 2.24884506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.91 meters Centerline goodness [0,1] 0.9998945703742752 Centerline is valid? [True, True] Translation: X:85.29, Y:-62.81, Z:2.25 [[-8.59818683e-01 5.10592391e-01 2.69138487e-03 8.52854002e+01] [ 5.10589660e-01 8.59822893e-01 -1.67098365e-03 -6.28073689e+01] [-3.16730586e-03 -6.25496776e-05 -9.99994982e-01 2.24848483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.94 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.30, Y:-62.78, Z:2.25 [[-8.95116371e-01 4.45826427e-01 2.34083629e-03 8.52971685e+01] [ 4.45824742e-01 8.95119430e-01 -1.22716426e-03 -6.27811875e+01] [-2.64243030e-03 -5.48520828e-05 -9.99996507e-01 2.24705398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.97 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.31, Y:-62.75, Z:2.25 [[-9.25702695e-01 3.78240142e-01 2.98588483e-03 8.53056479e+01] [ 3.78237874e-01 9.25707507e-01 -1.31266380e-03 -6.27535660e+01] [-3.26055814e-03 -8.57616894e-05 -9.99994681e-01 2.24740356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.0 meters Centerline goodness [0,1] 0.9997475385003787 Centerline is valid? [True, True] Translation: X:85.55, Y:-62.21, Z:1.42 [[-8.64584111e-01 -5.02465274e-01 4.79205680e-03 8.55493619e+01] [ 5.02459398e-01 -8.64597342e-01 -2.44738868e-03 -6.22125109e+01] [ 5.37292740e-03 2.91840614e-04 9.99985523e-01 1.41722132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.03 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.26, Y:-62.73, Z:2.25 [[-9.27583181e-01 3.73597155e-01 3.82210616e-03 8.52644925e+01] [ 3.73593428e-01 9.27591047e-01 -1.67348033e-03 -6.27337406e+01] [-4.17055894e-03 -1.24378470e-04 -9.99991295e-01 2.24869987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.06 meters Centerline goodness [0,1] 0.9999789407181215 Centerline is valid? [True, True] Translation: X:85.27, Y:-62.71, Z:2.25 [[-9.51763175e-01 3.06797692e-01 4.69410077e-03 8.52731342e+01] [ 3.06793152e-01 9.51774738e-01 -1.67626709e-03 -6.27090342e+01] [-4.98200140e-03 -1.55291318e-04 -9.99987578e-01 2.25006207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.09 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.28, Y:-62.68, Z:2.25 [[-9.71108750e-01 2.38584143e-01 5.04016077e-03 8.52799770e+01] [ 2.38580045e-01 9.71121815e-01 -1.40802209e-03 -6.26834136e+01] [-5.23054181e-03 -1.64860785e-04 -9.99986307e-01 2.24977650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.12 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.28, Y:-62.66, Z:2.25 [[-9.85532508e-01 1.69403570e-01 5.30149117e-03 8.52797681e+01] [ 1.69400186e-01 9.85546753e-01 -1.08422377e-03 -6.26568469e+01] [-5.40853879e-03 -1.70464176e-04 -9.99985359e-01 2.24972042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.15 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.28, Y:-62.63, Z:2.25 [[-9.95027833e-01 9.94491953e-02 5.42846420e-03 8.52784856e+01] [ 9.94467799e-02 9.95042627e-01 -7.13733498e-04 -6.26304042e+01] [-5.47253350e-03 -1.70341412e-04 -9.99985011e-01 2.24961801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.18 meters Centerline goodness [0,1] 0.9997895755739327 Centerline is valid? [True, True] Translation: X:85.28, Y:-62.61, Z:2.25 [[-9.99550566e-01 2.94641072e-02 5.52570198e-03 8.52823329e+01] [ 2.94627309e-02 9.99565825e-01 -3.30327196e-04 -6.26066452e+01] [-5.53303565e-03 -1.67376466e-04 -9.99984679e-01 2.25190168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.21 meters Centerline goodness [0,1] 0.9999578254818439 Centerline is valid? [True, True] Translation: X:85.28, Y:-62.58, Z:2.25 [[-9.99145702e-01 -4.10746906e-02 4.55367826e-03 8.52764971e+01] [-4.10748574e-02 9.99156070e-01 5.69242625e-05 -6.25808025e+01] [-4.55217342e-03 -1.30166053e-04 -9.99989630e-01 2.24926732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.23999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.28, Y:-61.97, Z:1.42 [[-9.95555379e-01 -9.40619968e-02 4.67215989e-03 8.52788590e+01] [ 9.40616329e-02 -9.95566331e-01 -2.98051452e-04 -6.19711023e+01] [ 4.67948039e-03 1.42744262e-04 9.99989041e-01 1.41994342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.26999999999998 meters Centerline goodness [0,1] 0.9999788158034106 Centerline is valid? [True, True] Translation: X:85.22, Y:-62.59, Z:2.25 [[-9.99117140e-01 -4.18480117e-02 3.69919079e-03 8.52183260e+01] [-4.18480424e-02 9.99123985e-01 6.91334206e-05 -6.25891385e+01] [-3.69884334e-03 -8.57315076e-05 -9.99993156e-01 2.24898276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.29999999999998 meters Centerline goodness [0,1] 0.9998519458544839 Centerline is valid? [True, True] Translation: X:85.22, Y:-61.97, Z:1.42 [[-9.96305072e-01 -8.57654470e-02 4.52671335e-03 8.52156149e+01] [ 8.57653115e-02 -9.96315342e-01 -2.24391071e-04 -6.19657007e+01] [ 4.52927896e-03 1.64673018e-04 9.99989729e-01 1.41798462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.32999999999998 meters Centerline goodness [0,1] 0.9998938180891503 Centerline is valid? [True, True] Translation: X:85.16, Y:-62.60, Z:2.25 [[-9.99187304e-01 -4.01723704e-02 3.30324464e-03 8.51552960e+01] [-4.01723223e-02 9.99192763e-01 8.09262238e-05 -6.26013420e+01] [-3.30382914e-03 -5.18385532e-05 -9.99994541e-01 2.25063746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.35999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.15, Y:-62.58, Z:2.25 [[-9.94004557e-01 -1.09284562e-01 3.43881281e-03 8.51491422e+01] [-1.09284080e-01 9.94010504e-01 3.28243599e-04 -6.25810528e+01] [-3.45408801e-03 -4.95318627e-05 -9.99994033e-01 2.24816957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.39 meters Centerline goodness [0,1] 0.9999359562794868 Centerline is valid? [True, True] Translation: X:85.14, Y:-62.56, Z:2.25 [[-9.84148737e-01 -1.77307162e-01 3.66526940e-03 8.51425829e+01] [-1.77306107e-01 9.84155561e-01 6.13645278e-04 -6.25595320e+01] [-3.71599897e-03 -4.59564218e-05 -9.99993095e-01 2.24974983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.42 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.12, Y:-62.54, Z:2.25 [[-9.69452047e-01 -2.45241754e-01 4.38294909e-03 8.51229489e+01] [-2.45239491e-01 9.69461954e-01 1.05482233e-03 -6.25407660e+01] [-4.50778887e-03 -5.22725339e-05 -9.99989839e-01 2.24900150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.45 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.09, Y:-62.53, Z:2.25 [[-9.50710427e-01 -3.10012337e-01 6.48346579e-03 8.50924409e+01] [-3.10005547e-01 9.50732532e-01 2.05257884e-03 -6.25323566e+01] [-6.80036661e-03 -5.85022608e-05 -9.99976876e-01 2.25065991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.48 meters Centerline goodness [0,1] 0.9999568043886741 Centerline is valid? [True, True] Translation: X:85.04, Y:-62.53, Z:2.25 [[-9.26266234e-01 -3.76800130e-01 7.24752644e-03 8.50374789e+01] [-3.76789029e-01 9.26294586e-01 2.89276230e-03 -6.25279383e+01] [-7.80333771e-03 -5.13204081e-05 -9.99969552e-01 2.25283217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.51 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.97, Y:-62.53, Z:2.25 [[-8.96764624e-01 -4.42446349e-01 7.37819571e-03 8.49732735e+01] [-4.42431735e-01 8.96794975e-01 3.59624116e-03 -6.25315683e+01] [-8.20787261e-03 -3.93660820e-05 -9.99966314e-01 2.25272129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.54 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.90, Y:-62.54, Z:2.25 [[-8.62222682e-01 -5.06476632e-01 7.31211478e-03 8.49038106e+01] [-5.06458671e-01 8.62253687e-01 4.26549427e-03 -6.25431470e+01] [-8.46527110e-03 -2.54780163e-05 -9.99964169e-01 2.25307503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.82, Y:-62.57, Z:2.25 [[-8.22439695e-01 -5.68809963e-01 6.94072184e-03 8.48239661e+01] [-5.68789872e-01 8.22468982e-01 4.78078440e-03 -6.25663467e+01] [-8.42788622e-03 -1.59054182e-05 -9.99964485e-01 2.25369564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.6 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.74, Y:-62.60, Z:2.25 [[-7.76691499e-01 -6.29848442e-01 6.42308951e-03 8.47422747e+01] [-6.29827139e-01 7.76718057e-01 5.18025022e-03 -6.26014301e+01] [-8.25170213e-03 -2.19797750e-05 -9.99965954e-01 2.25340436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.63 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.66, Y:-62.64, Z:2.25 [[-7.25543791e-01 -6.88152109e-01 5.73436233e-03 8.46570713e+01] [-6.88130981e-01 7.25566451e-01 5.39240643e-03 -6.26407057e+01] [-7.87145678e-03 -3.35653709e-05 -9.99969019e-01 2.25350492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.66 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.57, Y:-62.69, Z:2.25 [[-6.69250395e-01 -7.43023138e-01 4.53041343e-03 8.45695428e+01] [-7.43006535e-01 6.69265728e-01 4.96742190e-03 -6.26929383e+01] [-6.72295985e-03 -4.16777186e-05 -9.99977400e-01 2.25242356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.69 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.49, Y:-62.75, Z:2.25 [[-6.08279087e-01 -7.93715326e-01 3.54011192e-03 8.44850749e+01] [-7.93702348e-01 6.08289387e-01 4.53928717e-03 -6.27521988e+01] [-5.75631431e-03 -4.86416827e-05 -9.99983431e-01 2.25135539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.72 meters Centerline goodness [0,1] 0.9999560400914366 Centerline is valid? [True, True] Translation: X:84.40, Y:-62.82, Z:2.25 [[-5.40454148e-01 -8.41371264e-01 1.92622495e-03 8.43996221e+01] [-8.41366184e-01 5.40457579e-01 2.92405377e-03 -6.28220521e+01] [-3.50125769e-03 -4.03435473e-05 -9.99993870e-01 2.25077677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.32, Y:-62.90, Z:2.25 [[-4.71523295e-01 -8.81852902e-01 1.11449327e-03 8.43205182e+01] [-8.81850558e-01 4.71524611e-01 2.03318752e-03 -6.29010190e+01] [-2.31848331e-03 -2.41212329e-05 -9.99997312e-01 2.24912981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.78 meters Centerline goodness [0,1] 0.9998899236069833 Centerline is valid? [True, True] Translation: X:84.25, Y:-62.98, Z:2.25 [[-3.99895605e-01 -9.16560249e-01 9.02434552e-04 8.42468512e+01] [-9.16558067e-01 3.99896622e-01 2.00047171e-03 -6.29841930e+01] [-2.19443338e-03 -2.71538241e-05 -9.99997592e-01 2.25052728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.81 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.18, Y:-63.08, Z:2.25 [[-3.25168165e-01 -9.45656037e-01 5.69902570e-04 8.41790686e+01] [-9.45654688e-01 3.25168664e-01 1.59710419e-03 -6.30759195e+01] [-1.69562568e-03 -1.96035984e-05 -9.99998562e-01 2.24906052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.84 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.12, Y:-63.18, Z:2.25 [[-2.46890636e-01 -9.69043021e-01 7.98784453e-04 8.41159899e+01] [-9.69038834e-01 2.46891918e-01 2.84953521e-03 -6.31784541e+01] [-2.95853563e-03 -7.05295961e-05 -9.99995621e-01 2.25064642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.87 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.06, Y:-63.28, Z:2.25 [[-1.69683465e-01 -9.85498295e-01 7.95662990e-04 8.40617778e+01] [-9.85490398e-01 1.69685292e-01 3.94681012e-03 -6.32786007e+01] [-4.02458695e-03 -1.14409818e-04 -9.99991895e-01 2.25198557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.9 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.02, Y:-63.39, Z:2.25 [[-9.17056019e-02 -9.95785986e-01 5.94675590e-04 8.40155427e+01] [-9.95774377e-01 9.17074057e-02 4.81063762e-03 -6.33946569e+01] [-4.84490167e-03 -1.51000297e-04 -9.99988252e-01 2.25332906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.93 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.98, Y:-63.50, Z:2.25 [[-1.36096847e-02 -9.99907339e-01 2.99241113e-04 8.39778939e+01] [-9.99887497e-01 1.36113008e-02 6.30286634e-03 -6.35012442e+01] [-6.30635537e-03 -2.13427424e-04 -9.99980092e-01 2.25487062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.96 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.21, Y:-63.57, Z:1.41 [[-1.58766591e-01 9.87315751e-01 8.82158452e-04 8.32129691e+01] [-9.87283191e-01 -1.58768528e-01 8.02846105e-03 -6.35716538e+01] [ 8.06668505e-03 4.03711178e-04 9.99967382e-01 1.41392952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.98999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.96, Y:-63.79, Z:2.26 [[-1.72459671e-03 -9.99998454e-01 3.42363199e-04 8.39643265e+01] [-9.99959155e-01 1.72756621e-03 8.87148662e-03 -6.37918924e+01] [-8.87206437e-03 -3.27049479e-04 -9.99960589e-01 2.25590915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.01999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.94, Y:-63.91, Z:2.26 [[ 7.57951402e-02 -9.97123351e-01 -3.45695955e-04 8.39357296e+01] [-9.97083607e-01 -7.57952077e-02 8.90880285e-03 -6.39077064e+01] [-8.90937745e-03 -3.30556192e-04 -9.99960256e-01 2.25600620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.04999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.92, Y:-64.02, Z:2.26 [[ 1.52651354e-01 -9.88279632e-01 -9.66170300e-04 8.39169598e+01] [-9.88245159e-01 -1.52654105e-01 8.26014167e-03 -6.40211542e+01] [-8.31081963e-03 -3.06108688e-04 -9.99965418e-01 2.25535291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.07999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.91, Y:-64.13, Z:2.25 [[ 2.28082660e-01 -9.73640764e-01 -1.40114512e-03 8.39095898e+01] [-9.73614717e-01 -2.28086814e-01 7.12659471e-03 -6.41345799e+01] [-7.25832584e-03 -2.61277162e-04 -9.99973624e-01 2.25417308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.10999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.91, Y:-64.25, Z:2.25 [[ 3.02774602e-01 -9.53060198e-01 -1.94899708e-03 8.39096052e+01] [-9.53034543e-01 -3.02780763e-01 6.99781617e-03 -6.42529741e+01] [-7.25945889e-03 -2.61299466e-04 -9.99973616e-01 2.25422867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.14 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.92, Y:-64.38, Z:2.25 [[ 3.74740679e-01 -9.27127946e-01 -1.78731664e-03 8.39209565e+01] [-9.27115080e-01 -3.74744901e-01 4.88757056e-03 -6.43835614e+01] [-5.20119105e-03 -1.74523305e-04 -9.99986458e-01 2.25282817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.17 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.93, Y:-64.48, Z:2.25 [[ 4.44770583e-01 -8.95642611e-01 -1.85526987e-03 8.39325571e+01] [-8.95633434e-01 -4.44774429e-01 4.05701836e-03 -6.44794701e+01] [-4.45881511e-03 -1.42800699e-04 -9.99990049e-01 2.25164694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.2 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.97, Y:-64.60, Z:2.25 [[ 5.12053925e-01 -8.58951826e-01 -1.59312352e-03 8.39659489e+01] [-8.58947077e-01 -5.12056395e-01 2.85789244e-03 -6.45970285e+01] [-3.27056101e-03 -9.49862514e-05 -9.99994647e-01 2.25015012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.23 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.00, Y:-64.70, Z:2.25 [[ 5.76191241e-01 -8.17313899e-01 -1.28262099e-03 8.39993767e+01] [-8.17311650e-01 -5.76192666e-01 1.91791007e-03 -6.47036311e+01] [-2.30657137e-03 -5.67819033e-05 -9.99997338e-01 2.24931152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.26 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.04, Y:-64.80, Z:2.25 [[ 6.36324648e-01 -7.71420388e-01 -1.23551745e-03 8.40359394e+01] [-7.71418803e-01 -6.36325846e-01 1.56442585e-03 -6.48020449e+01] [-1.99302168e-03 -4.23813341e-05 -9.99998013e-01 2.24979568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.29 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.08, Y:-64.90, Z:2.25 [[ 6.93158534e-01 -7.20783729e-01 -1.43624405e-03 8.40813548e+01] [-7.20782044e-01 -6.93160020e-01 1.55907295e-03 -6.49002254e+01] [-2.11930136e-03 -4.54657973e-05 -9.99997753e-01 2.25042191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.32 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.14, Y:-65.00, Z:2.25 [[ 7.46092434e-01 -6.65839362e-01 -2.00619971e-03 8.41389937e+01] [-6.65836714e-01 -7.46095128e-01 1.87901085e-03 -6.49951976e+01] [-2.74793521e-03 -6.61143524e-05 -9.99996222e-01 2.25070212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.35 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.13, Y:-65.00, Z:2.25 [[ 7.95053074e-01 -6.06527449e-01 -3.88109268e-03 8.41317571e+01] [-6.06519377e-01 -7.95062535e-01 3.13229669e-03 -6.50043388e+01] [-4.98553531e-03 -1.36384205e-04 -9.99987563e-01 2.25265489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.38 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.13, Y:-65.01, Z:2.25 [[ 8.39661479e-01 -5.43084927e-01 -5.23086521e-03 8.41299791e+01] [-5.43073061e-01 -8.39677754e-01 3.59444676e-03 -6.50080744e+01] [-6.34433101e-03 -1.77376500e-04 -9.99979859e-01 2.25340264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.41 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.13, Y:-65.01, Z:2.25 [[ 8.78945923e-01 -4.76879021e-01 -6.36119038e-03 8.41267222e+01] [-4.76864865e-01 -8.78968918e-01 3.67982818e-03 -6.50140315e+01] [-7.34612149e-03 -2.00941780e-04 -9.99972997e-01 2.25437304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.44 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.12, Y:-65.02, Z:2.26 [[ 9.12819495e-01 -4.08292934e-01 -7.57952373e-03 8.41229513e+01] [-4.08276854e-01 -9.12850936e-01 3.63032493e-03 -6.50202306e+01] [-8.40121135e-03 -2.19287270e-04 -9.99964685e-01 2.25539735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.47 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.12, Y:-65.02, Z:2.25 [[ 9.40228799e-01 -3.40430810e-01 -8.75608307e-03 8.41210073e+01] [-3.40414047e-01 -9.40269548e-01 3.38435889e-03 -6.50239543e+01] [-9.38521831e-03 -2.01378018e-04 -9.99955938e-01 2.25483647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.12, Y:-65.03, Z:2.25 [[ 9.63021330e-01 -2.69268629e-01 -9.18281756e-03 8.41178665e+01] [-2.69254676e-01 -9.63065094e-01 2.74650871e-03 -6.50286746e+01] [-9.58319970e-03 -1.72429902e-04 -9.99954065e-01 2.25429088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.53 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.12, Y:-65.03, Z:2.25 [[ 9.80315260e-01 -1.97234213e-01 -8.98084782e-03 8.41158879e+01] [-1.97224757e-01 -9.80356389e-01 1.93542419e-03 -6.50318987e+01] [-9.18616341e-03 -1.26080337e-04 -9.99957798e-01 2.25348298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.11, Y:-65.03, Z:2.25 [[ 9.92186572e-01 -1.24489904e-01 -8.25045704e-03 8.41104492e+01] [-1.24484987e-01 -9.92220872e-01 1.10887671e-03 -6.50347801e+01] [-8.32431963e-03 -7.31545469e-05 -9.99965350e-01 2.25191441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.59 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.10, Y:-65.04, Z:2.25 [[ 9.98659949e-01 -5.12164773e-02 -7.42821327e-03 8.41046339e+01] [-5.12148614e-02 -9.98687575e-01 4.07717478e-04 -6.50374364e+01] [-7.43934614e-03 -2.67362026e-05 -9.99972327e-01 2.25053099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.62 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.10, Y:-65.04, Z:2.25 [[ 9.99840905e-01 1.72742131e-02 -4.44584319e-03 8.40989902e+01] [ 1.72738693e-02 -9.99850789e-01 -1.15729977e-04 -6.50394561e+01] [-4.44717897e-03 3.89146505e-05 -9.99990110e-01 2.24808085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.65 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.09, Y:-65.04, Z:2.25 [[ 9.95873422e-01 9.06889003e-02 -3.41327711e-03 8.40925107e+01] [ 9.06881855e-02 -9.95879270e-01 -3.63935382e-04 -6.50448232e+01] [-3.43221682e-03 5.28896665e-05 -9.99994109e-01 2.24736417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.68 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.09, Y:-65.05, Z:2.25 [[ 9.86522222e-01 1.63601703e-01 -2.89613351e-03 8.40878974e+01] [ 1.63600809e-01 -9.86526471e-01 -5.44586691e-04 -6.50537027e+01] [-2.94620769e-03 6.34370885e-05 -9.99995658e-01 2.24698287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.71 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.08, Y:-65.06, Z:2.25 [[ 9.71731445e-01 2.36073912e-01 -2.66578670e-03 8.40819293e+01] [ 2.36072816e-01 -9.71735099e-01 -7.22978769e-04 -6.50618605e+01] [-2.76111493e-03 7.32214317e-05 -9.99996185e-01 2.24666745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.73999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.08, Y:-65.07, Z:2.25 [[ 9.51583610e-01 3.07380764e-01 -2.38750634e-03 8.40780536e+01] [ 3.07379584e-01 -9.51586601e-01 -8.55490400e-04 -6.50713475e+01] [-2.53488033e-03 8.01999392e-05 -9.99996784e-01 2.24662631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.76999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.07, Y:-65.08, Z:2.25 [[ 9.27150259e-01 3.74683425e-01 -2.17449291e-03 8.40740868e+01] [ 3.74682157e-01 -9.27152804e-01 -9.79083551e-04 -6.50804643e+01] [-2.38293358e-03 9.30138723e-05 -9.99997156e-01 2.24636505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.79999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.07, Y:-65.09, Z:2.25 [[ 8.95949535e-01 4.44150770e-01 -2.12694229e-03 8.40709110e+01] [ 4.44149252e-01 -8.95952055e-01 -1.16523315e-03 -6.50911506e+01] [-2.42317751e-03 9.93102682e-05 -9.99997059e-01 2.24628244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.82999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.07, Y:-65.10, Z:2.25 [[ 8.59552877e-01 5.11034688e-01 -3.52138682e-03 8.40685977e+01] [ 5.11029624e-01 -8.59560075e-01 -2.28071356e-03 -6.51027527e+01] [-4.19236726e-03 1.60860918e-04 -9.99991199e-01 2.24753563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.85999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.07, Y:-65.11, Z:2.25 [[ 8.16921827e-01 5.76731118e-01 -4.46616129e-03 8.40684145e+01] [ 5.76721102e-01 -8.16934009e-01 -3.40523857e-03 -6.51145178e+01] [-5.61246610e-03 2.06084257e-04 -9.99984229e-01 2.24887157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.07, Y:-65.13, Z:2.25 [[ 7.69031962e-01 6.39188667e-01 -5.26206292e-03 8.40715422e+01] [ 6.39171452e-01 -7.69049924e-01 -4.69785575e-03 -6.51287738e+01] [-7.04960524e-03 2.49440829e-04 -9.99975120e-01 2.25008007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.92 meters Centerline goodness [0,1] 0.9999777421652422 Centerline is valid? [True, True] Translation: X:84.08, Y:-65.14, Z:2.25 [[ 7.16144968e-01 6.97930407e-01 -5.43431150e-03 8.40751856e+01] [ 6.97907410e-01 -7.16165536e-01 -5.67204431e-03 -6.51419583e+01] [-7.85055880e-03 2.69359725e-04 -9.99969148e-01 2.25161118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.95 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.08, Y:-65.16, Z:2.25 [[ 6.57406741e-01 7.53513422e-01 -5.82230720e-03 8.40803015e+01] [ 7.53479926e-01 -6.57432460e-01 -7.11071538e-03 -6.51561861e+01] [-9.18579323e-03 2.87640626e-04 -9.99957768e-01 2.25238400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.98 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.09, Y:-65.17, Z:2.25 [[ 5.95444903e-01 8.03379663e-01 -5.14638228e-03 8.40856879e+01] [ 8.03345631e-01 -5.95467080e-01 -7.39956508e-03 -6.51688036e+01] [-9.00916132e-03 2.71709588e-04 -9.99959380e-01 2.25217700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.01 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.09, Y:-65.18, Z:2.25 [[ 5.29470027e-01 8.48317912e-01 -4.26743046e-03 8.40894974e+01] [ 8.48286550e-01 -5.29487168e-01 -7.29844039e-03 -6.51803095e+01] [-8.45094737e-03 2.44301570e-04 -9.99964260e-01 2.25227695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.04 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.09, Y:-65.19, Z:2.25 [[ 4.59742393e-01 8.88044912e-01 -3.62863023e-03 8.40936952e+01] [ 8.88013275e-01 -4.59756657e-01 -7.49928259e-03 -6.51898030e+01] [-8.32798665e-03 2.25466308e-04 -9.99965296e-01 2.25199987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.10, Y:-65.20, Z:2.25 [[ 3.86836893e-01 9.22144198e-01 -2.70123478e-03 8.41033349e+01] [ 9.22118209e-01 -3.86846279e-01 -6.92574031e-03 -6.52009080e+01] [-7.43149387e-03 1.88274091e-04 -9.99972368e-01 2.25122814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.1 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.12, Y:-65.21, Z:2.25 [[ 3.08886241e-01 9.51097645e-01 -1.59998833e-03 8.41170547e+01] [ 9.51082785e-01 -3.08890361e-01 -5.31799492e-03 -6.52121637e+01] [-5.55215342e-03 1.20934101e-04 -9.99984579e-01 2.25064427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.13 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.13, Y:-65.22, Z:2.25 [[ 2.31113749e-01 9.72926200e-01 -1.02163058e-03 8.41298734e+01] [ 9.72914752e-01 -2.31115987e-01 -4.72084250e-03 -6.52209036e+01] [-4.82914652e-03 9.70921478e-05 -9.99988335e-01 2.24983058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.16 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.14, Y:-65.23, Z:2.25 [[ 1.51477767e-01 9.88460483e-01 -5.99673384e-04 8.41415226e+01] [ 9.88450520e-01 -1.51478933e-01 -4.43884654e-03 -6.52296750e+01] [-4.47846228e-03 7.96390925e-05 -9.99989968e-01 2.24958888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.19 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.15, Y:-65.24, Z:2.25 [[ 7.06125846e-02 9.97503790e-01 -2.26987086e-04 8.41526984e+01] [ 9.97495368e-01 -7.06129213e-02 -4.09961529e-03 -6.52358359e+01] [-4.10541001e-03 6.30658648e-05 -9.99991571e-01 2.24930707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.22 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.17, Y:-65.24, Z:2.25 [[-1.36784004e-02 9.99906442e-01 9.38367554e-05 8.41677035e+01] [ 9.99898221e-01 1.36786684e-02 -4.05494899e-03 -6.52421164e+01] [-4.05585318e-03 3.83619890e-05 -9.99991774e-01 2.24980661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.25 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.18, Y:-65.25, Z:2.25 [[-9.46917791e-02 9.95506532e-01 4.59565113e-04 8.41791145e+01] [ 9.95496161e-01 9.46928904e-02 -4.54419316e-03 -6.52462030e+01] [-4.56729152e-03 2.71975718e-05 -9.99989570e-01 2.25003368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.28 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.19, Y:-65.25, Z:2.25 [[-1.74875901e-01 9.84590128e-01 8.36483011e-04 8.41924843e+01] [ 9.84579282e-01 1.74877901e-01 -4.62148856e-03 -6.52488198e+01] [-4.69655441e-03 1.53968668e-05 -9.99988971e-01 2.24985542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.31 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.21, Y:-65.25, Z:2.25 [[-2.55584859e-01 9.66785432e-01 1.51928340e-03 8.42072444e+01] [ 9.66768044e-01 2.55589374e-01 -5.79831013e-03 -6.52506061e+01] [-5.99403446e-03 -1.31656364e-05 -9.99982036e-01 2.24994933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.34 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.22, Y:-65.25, Z:2.25 [[-3.32045972e-01 9.43260437e-01 2.28484060e-03 8.42179060e+01] [ 9.43237457e-01 3.32053832e-01 -6.58429465e-03 -6.52502861e+01] [-6.96939472e-03 -3.11412798e-05 -9.99975713e-01 2.25037440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.37 meters Centerline goodness [0,1] 0.9998271503575827 Centerline is valid? [True, True] Translation: X:84.23, Y:-65.25, Z:2.25 [[-4.05070009e-01 9.14279150e-01 3.45300768e-03 8.42305209e+01] [ 9.14244959e-01 4.05084724e-01 -7.90699943e-03 -6.52485397e+01] [-8.62796538e-03 -4.59934623e-05 -9.99962777e-01 2.25275145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.4 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.24, Y:-65.25, Z:2.25 [[-4.77276462e-01 8.78744159e-01 3.98516924e-03 8.42438256e+01] [ 8.78712428e-01 4.77293096e-01 -7.46795614e-03 -6.52463999e+01] [-8.46451660e-03 -6.24619540e-05 -9.99964173e-01 2.25092167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.43 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.25, Y:-65.24, Z:2.25 [[-5.45510918e-01 8.38088744e-01 5.00952683e-03 8.42539809e+01] [ 8.38052033e-01 5.45533913e-01 -7.84465295e-03 -6.52435801e+01] [-9.30738211e-03 -8.10996905e-05 -9.99956682e-01 2.25136990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.46 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.27, Y:-65.24, Z:2.25 [[-6.10725902e-01 7.91815763e-01 6.45524775e-03 8.42654896e+01] [ 7.91769537e-01 6.10760006e-01 -8.55664956e-03 -6.52394778e+01] [-1.07178972e-02 -1.14699000e-04 -9.99942555e-01 2.25324071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.48999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.27, Y:-65.23, Z:2.25 [[-6.71297765e-01 7.41148293e-01 7.64973087e-03 8.42735983e+01] [ 7.41097920e-01 6.71341337e-01 -8.64194687e-03 -6.52348302e+01] [-1.15405447e-02 -1.32119989e-04 -9.99933397e-01 2.25357788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.51999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.28, Y:-65.23, Z:2.25 [[-7.27631584e-01 6.85915310e-01 8.51265107e-03 8.42817353e+01] [ 6.85866072e-01 7.27681364e-01 -8.21972751e-03 -6.52295078e+01] [-1.18325345e-02 -1.42394804e-04 -9.99929983e-01 2.25361724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.54999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.30, Y:-65.21, Z:2.25 [[-7.74346617e-01 6.32698213e-01 8.96041298e-03 8.43004541e+01] [ 6.32653710e-01 7.74398445e-01 -7.50542209e-03 -6.52088290e+01] [-1.16875970e-02 -1.42959686e-04 -9.99931687e-01 2.25274291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.57999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.32, Y:-65.19, Z:2.25 [[-8.16987890e-01 5.76582977e-01 9.10263958e-03 8.43230880e+01] [ 5.76545366e-01 8.17038587e-01 -6.58693825e-03 -6.51922775e+01] [-1.12351242e-02 -1.33364117e-04 -9.99936875e-01 2.25215966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.60999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.34, Y:-65.17, Z:2.25 [[-8.55273452e-01 5.18089477e-01 9.51930404e-03 8.43390431e+01] [ 5.18055787e-01 8.55326417e-01 -5.90957028e-03 -6.51701694e+01] [-1.12037984e-02 -1.22768027e-04 -9.99937228e-01 2.25148032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.64 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.35, Y:-65.15, Z:2.25 [[-8.89211648e-01 4.57394702e-01 9.62971674e-03 8.43537954e+01] [ 4.57366609e-01 8.89263783e-01 -5.07046310e-03 -6.51474086e+01] [-1.08825613e-02 -1.04403962e-04 -9.99940778e-01 2.25080314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.67 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.37, Y:-65.13, Z:2.25 [[-9.17931663e-01 3.96609345e-01 1.01237348e-02 8.43700205e+01] [ 3.96584431e-01 9.17987485e-01 -4.44595156e-03 -6.51264668e+01] [-1.10567678e-02 -6.61641179e-05 -9.99938870e-01 2.25100024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.7 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.38, Y:-65.10, Z:2.25 [[-9.43052949e-01 3.32475049e-01 1.05582788e-02 8.43841155e+01] [ 3.32453679e-01 9.43112050e-01 -3.76984868e-03 -6.51033850e+01] [-1.12110206e-02 -4.50282975e-05 -9.99937154e-01 2.25152817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.73 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.63, Y:-64.44, Z:1.42 [[-9.14649781e-01 -4.04112316e-01 1.04409694e-02 8.46272680e+01] [ 4.04086697e-01 -9.14709371e-01 -4.55067658e-03 -6.44425325e+01] [ 1.13894370e-02 5.67814780e-05 9.99935137e-01 1.42181234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.76 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.34, Y:-65.09, Z:2.25 [[-9.42173261e-01 3.34995427e-01 9.36001323e-03 8.43366657e+01] [ 3.34979173e-01 9.42219753e-01 -3.30003131e-03 -6.50911100e+01] [-9.92468475e-03 2.62082334e-05 -9.99950749e-01 2.24913180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.79 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.59, Y:-64.43, Z:1.42 [[-9.18479149e-01 -3.95363825e-01 9.13777547e-03 8.45867691e+01] [ 3.95343999e-01 -9.18524602e-01 -3.95950299e-03 -6.44259110e+01] [ 9.95871583e-03 -2.41562395e-05 9.99950410e-01 1.42393013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.82 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.30, Y:-65.08, Z:2.25 [[-9.42242899e-01 3.34827461e-01 8.30007840e-03 8.43006271e+01] [ 3.34815002e-01 9.42279453e-01 -2.88897165e-03 -6.50803634e+01] [-8.78830038e-03 5.68777459e-05 -9.99961381e-01 2.24772984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.85 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.31, Y:-65.05, Z:2.25 [[-9.63319367e-01 2.68242610e-01 7.85495554e-03 8.43116585e+01] [ 2.68234227e-01 9.63351389e-01 -2.12151037e-03 -6.50549404e+01] [-8.13616180e-03 6.32759057e-05 -9.99966899e-01 2.24678166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.88 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.51, Y:-64.37, Z:1.43 [[-9.46676899e-01 -3.22089177e-01 7.83645171e-03 8.45050177e+01] [ 3.22077668e-01 -9.46709332e-01 -2.72332733e-03 -6.43708382e+01] [ 8.29599622e-03 -5.41649777e-05 9.99965586e-01 1.42638020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.91 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.27, Y:-65.04, Z:2.25 [[-9.64085052e-01 2.65490967e-01 7.38635901e-03 8.42665774e+01] [ 2.65483719e-01 9.64113345e-01 -1.96285705e-03 -6.50419991e+01] [-7.64240811e-03 6.85969175e-05 -9.99970794e-01 2.24625552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.94 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.27, Y:-65.01, Z:2.25 [[-9.80605236e-01 1.95851980e-01 7.44132218e-03 8.42746799e+01] [ 1.95846833e-01 9.80633468e-01 -1.42138417e-03 -6.50148157e+01] [-7.57559047e-03 6.35426219e-05 -9.99971303e-01 2.24579815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.97 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.28, Y:-64.99, Z:2.25 [[-9.92019279e-01 1.25838086e-01 7.90736993e-03 8.42840605e+01] [ 1.25834553e-01 9.92050791e-01 -9.44766580e-04 -6.49870915e+01] [-7.96340022e-03 5.77936955e-05 -9.99968290e-01 2.24602801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.0 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.28, Y:-64.96, Z:2.25 [[-9.98453133e-01 5.50277481e-02 7.95533179e-03 8.42847793e+01] [ 5.50264649e-02 9.98484824e-01 -3.80249915e-04 -6.49595261e+01] [-7.96420236e-03 5.80920668e-05 -9.99968284e-01 2.24603704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.03 meters Centerline goodness [0,1] 0.9999144330117441 Centerline is valid? [True, True] Translation: X:84.28, Y:-64.93, Z:2.25 [[-9.99784443e-01 -1.85494366e-02 9.32662536e-03 8.42803970e+01] [-1.85482463e-02 9.99827944e-01 2.14108155e-04 -6.49290753e+01] [-9.32899224e-03 4.10694581e-05 -9.99956483e-01 2.24710139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.06 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.27, Y:-64.23, Z:1.42 [[-9.98853789e-01 -4.67814204e-02 1.01295542e-02 8.42686352e+01] [ 4.67791418e-02 -9.98905150e-01 -4.61890244e-04 -6.42309890e+01] [ 1.01400717e-02 1.24910328e-05 9.99948588e-01 1.42493218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.09 meters Centerline goodness [0,1] 0.9998929175679439 Centerline is valid? [True, True] Translation: X:84.19, Y:-64.93, Z:2.25 [[-9.99586373e-01 -2.69522973e-02 1.00327817e-02 8.41937062e+01] [-2.69507965e-02 9.99636721e-01 2.84783331e-04 -6.49269919e+01] [-1.00368126e-02 1.42740788e-05 -9.99949630e-01 2.25000349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.12 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.18, Y:-64.24, Z:1.42 [[-9.98965823e-01 -4.43916547e-02 9.83184758e-03 8.41765570e+01] [ 4.43892319e-02 -9.99014204e-01 -4.64604240e-04 -6.42350184e+01] [ 9.84277993e-03 -2.76955946e-05 9.99951558e-01 1.42485573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.15 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.11, Y:-64.93, Z:2.25 [[-9.99318426e-01 -3.59252866e-02 8.48869331e-03 8.41064689e+01] [-3.59241074e-02 9.99354478e-01 2.91404859e-04 -6.49270432e+01] [-8.49368248e-03 -1.37424846e-05 -9.99963928e-01 2.24761831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.18 meters Centerline goodness [0,1] 0.9998499174546001 Centerline is valid? [True, True] Translation: X:84.10, Y:-64.90, Z:2.25 [[-9.94159432e-01 -1.07582893e-01 8.54075661e-03 8.40966381e+01] [-1.07579097e-01 9.94196118e-01 9.03978988e-04 -6.48996875e+01] [-8.58843974e-03 -2.01076470e-05 -9.99963118e-01 2.24945027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.21 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.09, Y:-64.87, Z:2.25 [[-9.83264886e-01 -1.82036164e-01 7.28001920e-03 8.40891269e+01] [-1.82031493e-01 9.83291835e-01 1.30475417e-03 -6.48720360e+01] [-7.39589588e-03 -4.22738054e-05 -9.99972649e-01 2.24662848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.23999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.06, Y:-64.85, Z:2.25 [[-9.67215381e-01 -2.53835494e-01 7.87079177e-03 8.40634198e+01] [-2.53827620e-01 9.67247403e-01 2.00035633e-03 -6.48488113e+01] [-8.12076434e-03 -6.30489288e-05 -9.99967024e-01 2.24706360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.26999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.03, Y:-64.83, Z:2.25 [[-9.45072792e-01 -3.26763976e-01 7.91968930e-03 8.40260028e+01] [-3.26753381e-01 9.45105970e-01 2.63322459e-03 -6.48288170e+01] [-8.34538857e-03 -9.91963434e-05 -9.99965172e-01 2.24883137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.29999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.97, Y:-64.82, Z:2.25 [[-9.17545367e-01 -3.97556830e-01 7.68541255e-03 8.39694256e+01] [-3.97543962e-01 9.17577546e-01 3.20089105e-03 -6.48194480e+01] [-8.32449809e-03 -1.18326595e-04 -9.99965344e-01 2.24930649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.32999999999998 meters Centerline goodness [0,1] 0.9998929427886263 Centerline is valid? [True, True] Translation: X:83.90, Y:-64.82, Z:2.25 [[-8.84962884e-01 -4.65593577e-01 7.95710486e-03 8.39047963e+01] [-4.65576194e-01 8.84998644e-01 4.02575554e-03 -6.48203820e+01] [-8.91639293e-03 -1.41994369e-04 -9.99960238e-01 2.25075625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.35999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.83, Y:-64.83, Z:2.25 [[-8.46850088e-01 -5.31791631e-01 6.52610271e-03 8.38323353e+01] [-5.31777055e-01 8.46875223e-01 3.93959715e-03 -6.48299934e+01] [-7.62183948e-03 -1.34183495e-04 -9.99970944e-01 2.24870314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.39 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.75, Y:-64.85, Z:2.25 [[-8.03861345e-01 -5.94786668e-01 5.97982661e-03 8.37518010e+01] [-5.94771491e-01 8.03883574e-01 4.25129511e-03 -6.48504030e+01] [-7.33569804e-03 -1.39178583e-04 -9.99973084e-01 2.24866271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.42 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.67, Y:-64.88, Z:2.25 [[-7.56371034e-01 -6.54121150e-01 5.32726386e-03 8.36732187e+01] [-6.54106176e-01 7.56389783e-01 4.42810284e-03 -6.48774630e+01] [-6.92600368e-03 -1.35307462e-04 -9.99976006e-01 2.24905614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.45 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.59, Y:-64.92, Z:2.25 [[-7.04515642e-01 -7.09672094e-01 4.81955246e-03 8.35909352e+01] [-7.09656773e-01 7.04532115e-01 4.66524231e-03 -6.49183773e+01] [-6.70632176e-03 -1.33491861e-04 -9.99977503e-01 2.24970085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.48 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.51, Y:-64.97, Z:2.25 [[-6.48607467e-01 -7.61110252e-01 4.42015872e-03 8.35072183e+01] [-7.61093965e-01 6.48622515e-01 4.98096302e-03 -6.49689386e+01] [-6.65807648e-03 -1.33466321e-04 -9.99977826e-01 2.25015835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.51 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.43, Y:-65.03, Z:2.25 [[-5.88491085e-01 -8.08492867e-01 4.18654747e-03 8.34259252e+01] [-8.08474110e-01 5.88505959e-01 5.50906928e-03 -6.50274568e+01] [-6.91785135e-03 -1.42677077e-04 -9.99976061e-01 2.25084905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.54 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.35, Y:-65.10, Z:2.25 [[-5.24628554e-01 -8.51321587e-01 4.05424186e-03 8.33453824e+01] [-8.51298492e-01 5.24644194e-01 6.27276952e-03 -6.50971762e+01] [-7.46717856e-03 -1.60495982e-04 -9.99972107e-01 2.25135829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.27, Y:-65.18, Z:2.25 [[-4.56533523e-01 -8.89695113e-01 4.44401574e-03 8.32681855e+01] [-8.89657575e-01 4.56555098e-01 8.17565206e-03 -6.51780912e+01] [-9.30277573e-03 -2.21193034e-04 -9.99956704e-01 2.25379528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.6 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.20, Y:-65.26, Z:2.25 [[-3.86101593e-01 -9.22446370e-01 4.27252916e-03 8.31998952e+01] [-9.22397158e-01 3.86125144e-01 9.53188411e-03 -6.52601220e+01] [-1.04423828e-02 -2.60693113e-04 -9.99945443e-01 2.25465355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.63 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.13, Y:-65.35, Z:2.26 [[-3.13185782e-01 -9.49684650e-01 3.70562340e-03 8.31339549e+01] [-9.49628609e-01 3.13207572e-01 1.03209741e-02 -6.53533000e+01] [-1.09623000e-02 -2.86583660e-04 -9.99939871e-01 2.25566500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.66 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.07, Y:-65.46, Z:2.26 [[-2.38463959e-01 -9.71147001e-01 2.90552385e-03 8.30738168e+01] [-9.71089299e-01 2.38481476e-01 1.05905128e-02 -6.54577143e+01] [-1.09778583e-02 -2.96067519e-04 -9.99939698e-01 2.25607955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.69 meters Centerline goodness [0,1] 0.9999782466826191 Centerline is valid? [True, True] Translation: X:83.02, Y:-65.56, Z:2.26 [[-1.62174640e-01 -9.86759860e-01 2.08910421e-03 8.30239478e+01] [-9.86700550e-01 1.62187806e-01 1.08231507e-02 -6.55568804e+01] [-1.10186779e-02 -3.06079695e-04 -9.99939246e-01 2.25673873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.72 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.98, Y:-65.67, Z:2.26 [[-8.47029749e-02 -9.96405537e-01 1.18846182e-03 8.29814976e+01] [-9.96350929e-01 8.47107803e-02 1.04359534e-02 -6.56722152e+01] [-1.04991173e-02 -3.00168742e-04 -9.99944838e-01 2.25541667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.95, Y:-65.78, Z:2.25 [[-7.35566250e-03 -9.99972888e-01 3.44203781e-04 8.29512001e+01] [-9.99926869e-01 7.35862749e-03 9.59724569e-03 -6.57785368e+01] [-9.59951835e-03 -2.73584509e-04 -9.99953886e-01 2.25451444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.78 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.93, Y:-65.90, Z:2.25 [[ 6.91358402e-02 -9.97607184e-01 -3.78155509e-04 8.29273557e+01] [-9.97565507e-01 -6.91364098e-02 9.12230083e-03 -6.58955138e+01] [-9.12661715e-03 -2.53443040e-04 -9.99958319e-01 2.25411662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.81 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.91, Y:-66.01, Z:2.25 [[ 1.44765734e-01 -9.89465446e-01 -1.00671748e-03 8.29115358e+01] [-9.89429584e-01 -1.44769061e-01 8.42721782e-03 -6.60080174e+01] [-8.48418238e-03 -2.23896321e-04 -9.99963984e-01 2.25424420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.84 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.91, Y:-66.13, Z:2.25 [[ 2.19149802e-01 -9.75690000e-01 -1.54532751e-03 8.29066293e+01] [-9.75659117e-01 -2.19155164e-01 7.76535624e-03 -6.61284522e+01] [-7.91524694e-03 -1.94063411e-04 -9.99968655e-01 2.25416256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.87 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.91, Y:-66.24, Z:2.25 [[ 2.88582270e-01 -9.57453195e-01 -1.91142806e-03 8.29149166e+01] [-9.57429086e-01 -2.88588570e-01 6.79574920e-03 -6.62385613e+01] [-7.05822807e-03 -1.31075914e-04 -9.99975082e-01 2.25335968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.9 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.93, Y:-66.36, Z:2.25 [[ 3.57863657e-01 -9.33771160e-01 -2.24153933e-03 8.29303356e+01] [-9.33751167e-01 -3.57870664e-01 6.11118921e-03 -6.63559476e+01] [-6.50863340e-03 -9.39325550e-05 -9.99978814e-01 2.25295541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.93 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.95, Y:-66.47, Z:2.25 [[ 4.24953889e-01 -9.05210971e-01 -2.70020333e-03 8.29522983e+01] [-9.05191718e-01 -4.24962462e-01 5.90417201e-03 -6.64662716e+01] [-6.49200633e-03 -6.47991675e-05 -9.99978925e-01 2.25296175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.96 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.98, Y:-66.58, Z:2.25 [[ 4.89289899e-01 -8.72116361e-01 -2.90635263e-03 8.29842214e+01] [-8.72100633e-01 -4.89298530e-01 5.23769065e-03 -6.65767508e+01] [-5.98994978e-03 -2.81171605e-05 -9.99982060e-01 2.25279154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.98999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.02, Y:-66.67, Z:2.25 [[ 5.46624756e-01 -8.37373186e-01 -2.74286428e-03 8.30247407e+01] [-8.37362932e-01 -5.46631637e-01 4.14421358e-03 -6.66745083e+01] [-4.96958972e-03 3.14431389e-05 -9.99987651e-01 2.25224744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.01999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.07, Y:-66.78, Z:2.25 [[ 6.06220076e-01 -7.95292241e-01 -2.73306893e-03 8.30688233e+01] [-7.95284521e-01 -6.06226235e-01 3.50461203e-03 -6.67756569e+01] [-4.44404884e-03 4.90012397e-05 -9.99990124e-01 2.25125918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.04999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.12, Y:-66.87, Z:2.25 [[ 6.62744032e-01 -7.48840388e-01 -2.90192738e-03 8.31213158e+01] [-7.48833633e-01 -6.62750382e-01 3.18135520e-03 -6.68728890e+01] [-4.30558074e-03 6.46366498e-05 -9.99990729e-01 2.25109079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.07999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.18, Y:-66.96, Z:2.25 [[ 7.15942676e-01 -6.98153534e-01 -2.77972874e-03 8.31784084e+01] [-6.98148663e-01 -7.15948069e-01 2.60900238e-03 -6.69644807e+01] [-3.81162566e-03 7.27677528e-05 -9.99992733e-01 2.25060527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.10999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.18, Y:-66.97, Z:2.25 [[ 7.64366207e-01 -6.44776695e-01 -2.70459555e-03 8.31776659e+01] [-6.44773067e-01 -7.64370987e-01 2.16485361e-03 -6.69675202e+01] [-3.46316152e-03 8.91094216e-05 -9.99993999e-01 2.24977894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.14 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.17, Y:-66.97, Z:2.25 [[ 8.10774770e-01 -5.85350740e-01 -2.96363325e-03 8.31735184e+01] [-5.85347281e-01 -8.10780180e-01 2.01485021e-03 -6.69711124e+01] [-3.58224916e-03 1.01164952e-04 -9.99993579e-01 2.25005037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.17 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.17, Y:-66.97, Z:2.25 [[ 8.52811340e-01 -5.22208661e-01 -3.30648749e-03 8.31672272e+01] [-5.22205255e-01 -8.52817742e-01 1.88961861e-03 -6.69734996e+01] [-3.80660640e-03 1.15176970e-04 -9.99992748e-01 2.25012473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.2 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.16, Y:-66.98, Z:2.25 [[ 8.90237328e-01 -4.55479828e-01 -3.95297118e-03 8.31609622e+01] [-4.55476011e-01 -8.90246094e-01 1.86955164e-03 -6.69766985e+01] [-4.37066022e-03 1.36138885e-04 -9.99990439e-01 2.25020453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.23 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.15, Y:-66.99, Z:2.25 [[ 9.22821890e-01 -3.85209668e-01 -3.64285240e-03 8.31526828e+01] [-3.85207205e-01 -9.22829072e-01 1.38342411e-03 -6.69850077e+01] [-3.89463844e-03 1.26598940e-04 -9.99992408e-01 2.25027525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.26 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.15, Y:-66.99, Z:2.25 [[ 9.50239680e-01 -3.11489582e-01 -4.33477090e-03 8.31452630e+01] [-3.11487015e-01 -9.50249557e-01 1.27243769e-03 -6.69906083e+01] [-4.51546521e-03 1.41104061e-04 -9.99989795e-01 2.25103993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.29 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.13, Y:-67.00, Z:2.25 [[ 9.71828595e-01 -2.35636781e-01 -4.94860551e-03 8.31343512e+01] [-2.35634523e-01 -9.71841183e-01 1.04276540e-03 -6.70006069e+01] [-5.05497251e-03 1.52673067e-04 -9.99987212e-01 2.25127403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.32 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.12, Y:-67.01, Z:2.25 [[ 9.87361145e-01 -1.58386787e-01 -5.62091743e-03 8.31241129e+01] [-1.58385176e-01 -9.87377131e-01 7.33472817e-04 -6.70079831e+01] [-5.66613773e-03 1.66067434e-04 -9.99983934e-01 2.25177524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.35 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.12, Y:-67.02, Z:2.25 [[ 9.96774693e-01 -8.00105025e-02 -6.20729740e-03 8.31154930e+01] [-8.00100491e-02 -9.96794005e-01 3.21730332e-04 -6.70172353e+01] [-6.21313864e-03 1.75953517e-04 -9.99980683e-01 2.25218296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.38 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.11, Y:-67.03, Z:2.25 [[ 9.99974118e-01 -1.27991447e-03 -7.07984549e-03 8.31074879e+01] [-1.28125463e-03 -9.99999162e-01 -1.84759089e-04 -6.70259183e+01] [-7.07960309e-03 1.93825392e-04 -9.99974921e-01 2.25264037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.41 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.10, Y:-67.04, Z:2.25 [[ 9.96871966e-01 7.86854915e-02 -7.40792280e-03 8.30994112e+01] [ 7.86818988e-02 -9.96899472e-01 -7.75627585e-04 -6.70355798e+01] [-7.44598497e-03 1.90331964e-04 -9.99972260e-01 2.25349631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.44 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.09, Y:-67.04, Z:2.25 [[ 9.87443218e-01 1.57794198e-01 -7.54207773e-03 8.30922539e+01] [ 1.57788162e-01 -9.87472003e-01 -1.39240829e-03 -6.70443721e+01] [-7.66730456e-03 1.84873540e-04 -9.99970589e-01 2.25390958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.47 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.09, Y:-67.05, Z:2.25 [[ 9.71649022e-01 2.36319236e-01 -7.16918929e-03 8.30868734e+01] [ 2.36311535e-01 -9.71675456e-01 -1.91507704e-03 -6.70540059e+01] [-7.41869481e-03 1.66620612e-04 -9.99972467e-01 2.25394285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.08, Y:-67.06, Z:2.25 [[ 9.49642416e-01 3.13273365e-01 -6.25140562e-03 8.30811405e+01] [ 3.13265606e-01 -9.49662982e-01 -2.20916554e-03 -6.70630107e+01] [-6.62880123e-03 1.39566933e-04 -9.99978020e-01 2.25364819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.53 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.08, Y:-67.08, Z:2.25 [[ 9.20807522e-01 3.89979584e-01 -5.42501098e-03 8.30791499e+01] [ 3.89972136e-01 -9.20823497e-01 -2.41250421e-03 -6.70781430e+01] [-5.93630497e-03 1.05848905e-04 -9.99982374e-01 2.25253294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.08, Y:-67.09, Z:2.25 [[ 8.86584529e-01 4.62535117e-01 -5.39808636e-03 8.30769940e+01] [ 4.62525873e-01 -8.86600957e-01 -2.92590764e-03 -6.70902260e+01] [-6.13928357e-03 9.73098387e-05 -9.99981150e-01 2.25242171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.59 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.08, Y:-67.10, Z:2.25 [[ 8.46777574e-01 5.31923941e-01 -4.96609226e-03 8.30764590e+01] [ 5.31914201e-01 -8.46792132e-01 -3.21996373e-03 -6.71020583e+01] [-5.91802365e-03 8.50580776e-05 -9.99982485e-01 2.25231768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.62 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.08, Y:-67.11, Z:2.25 [[ 8.01529899e-01 5.97938414e-01 -4.41297655e-03 8.30763664e+01] [ 5.97928855e-01 -8.01542044e-01 -3.38180611e-03 -6.71141589e+01] [-5.55929802e-03 7.19726918e-05 -9.99984544e-01 2.25217934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.65 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.08, Y:-67.13, Z:2.25 [[ 7.51232518e-01 6.60024964e-01 -4.09277655e-03 8.30761964e+01] [ 6.60014710e-01 -7.51243665e-01 -3.67958375e-03 -6.71258449e+01] [-5.50328958e-03 6.29302369e-05 -9.99984855e-01 2.25280876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.68 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.08, Y:-67.14, Z:2.25 [[ 6.96194092e-01 7.17845125e-01 -3.48749686e-03 8.30758415e+01] [ 7.17835741e-01 -6.96202825e-01 -3.67101224e-03 -6.71356016e+01] [-5.06322341e-03 5.22871452e-05 -9.99987180e-01 2.25258893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.71 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.08, Y:-67.15, Z:2.25 [[ 6.35845223e-01 7.71811194e-01 -2.88684191e-03 8.30790007e+01] [ 7.71802969e-01 -6.35851775e-01 -3.56324600e-03 -6.71476880e+01] [-4.58575670e-03 3.75997915e-05 -9.99989485e-01 2.25185223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.73999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.08, Y:-67.16, Z:2.25 [[ 5.72573399e-01 8.19849485e-01 -2.55432494e-03 8.30802652e+01] [ 8.19841074e-01 -5.72579096e-01 -3.71382986e-03 -6.71576401e+01] [-4.50733456e-03 3.22996835e-05 -9.99989841e-01 2.25201989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.76999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.08, Y:-67.17, Z:2.25 [[ 5.05581798e-01 8.62775694e-01 -2.26879203e-03 8.30846656e+01] [ 8.62766767e-01 -5.05586887e-01 -3.92489557e-03 -6.71680561e+01] [-4.53337600e-03 2.69173934e-05 -9.99989724e-01 2.25110962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.79999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.09, Y:-67.18, Z:2.25 [[ 4.33938674e-01 9.00939565e-01 -2.26418491e-03 8.30897659e+01] [ 9.00927147e-01 -4.33944581e-01 -4.73032339e-03 -6.71788716e+01] [-5.24426627e-03 1.28046080e-05 -9.99986249e-01 2.25159412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.82999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.10, Y:-67.19, Z:2.25 [[ 3.60547839e-01 9.32738547e-01 -2.01453628e-03 8.30972443e+01] [ 9.32723935e-01 -3.60553467e-01 -5.22092091e-03 -6.71888873e+01] [-5.59610222e-03 3.38554442e-06 -9.99984342e-01 2.25184629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.85999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.10, Y:-67.20, Z:2.25 [[ 2.84417163e-01 9.58698919e-01 -1.80571059e-03 8.31045627e+01] [ 9.58679860e-01 -2.84422895e-01 -6.04511612e-03 -6.71994865e+01] [-6.30903172e-03 -1.17635948e-05 -9.99980098e-01 2.25305547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.11, Y:-67.21, Z:2.25 [[ 2.06575915e-01 9.78429331e-01 -1.56047524e-03 8.31133583e+01] [ 9.78402556e-01 -2.06581807e-01 -7.23843755e-03 -6.72083623e+01] [-7.40466541e-03 -3.14860990e-05 -9.99972585e-01 2.25390784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.92 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.12, Y:-67.22, Z:2.25 [[ 1.29288305e-01 9.91606553e-01 -9.88766792e-04 8.31207111e+01] [ 9.91579393e-01 -1.29292082e-01 -7.33925226e-03 -6.72163803e+01] [-7.40549035e-03 -3.15612904e-05 -9.99972578e-01 2.25391498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.95 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.13, Y:-67.22, Z:2.25 [[ 4.93846711e-02 9.98779727e-01 -4.60084634e-04 8.31305798e+01] [ 9.98745771e-01 -4.93867860e-02 -8.23595438e-03 -6.72234785e+01] [-8.24862637e-03 -5.27776844e-05 -9.99965978e-01 2.25496316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.98 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.14, Y:-67.23, Z:2.26 [[-3.20854463e-02 9.99485099e-01 2.46240259e-04 8.31408703e+01] [ 9.99422175e-01 3.20861895e-02 -1.12157530e-02 -6.72303955e+01] [-1.12178789e-02 -1.13764466e-04 -9.99937071e-01 2.25742296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.01 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.15, Y:-67.24, Z:2.26 [[-1.11410992e-01 9.93773616e-01 1.26136179e-03 8.31497551e+01] [ 9.93694400e-01 1.11418039e-01 -1.25482821e-02 -6.72355023e+01] [-1.26106901e-02 -1.44608409e-04 -9.99920472e-01 2.25791132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.04 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.16, Y:-67.24, Z:2.26 [[-1.89801602e-01 9.81819445e-01 2.43509769e-03 8.31587965e+01] [ 9.81726663e-01 1.89817144e-01 -1.34985405e-02 -6.72400970e+01] [-1.37153528e-02 -1.71444270e-04 -9.99905925e-01 2.25828804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.17, Y:-67.25, Z:2.26 [[-2.66817876e-01 9.63739864e-01 3.70074502e-03 8.31676206e+01] [ 9.63636821e-01 2.66843468e-01 -1.40940264e-02 -6.72455230e+01] [-1.45704948e-02 -1.94364026e-04 -9.99893826e-01 2.25867281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.1 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.18, Y:-67.25, Z:2.26 [[-3.42180943e-01 9.39620447e-01 5.06140392e-03 8.31760959e+01] [ 9.39508047e-01 3.42218305e-01 -1.45348560e-02 -6.72494212e+01] [-1.53893530e-02 -2.18321032e-04 -9.99881553e-01 2.25763408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.13 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.19, Y:-67.25, Z:2.26 [[-4.15043101e-01 9.09781485e-01 6.07233150e-03 8.31852230e+01] [ 9.09676285e-01 4.15087462e-01 -1.38367436e-02 -6.72532641e+01] [-1.51089618e-02 -2.18988995e-04 -9.99885829e-01 2.25747809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.16 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.20, Y:-67.26, Z:2.26 [[-4.85095315e-01 8.74433146e-01 7.01490097e-03 8.31952868e+01] [ 8.74335198e-01 4.85145985e-01 -1.30894904e-02 -6.72552731e+01] [-1.48491353e-02 -2.16275650e-04 -9.99889722e-01 2.25562406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.19 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.21, Y:-67.26, Z:2.26 [[-5.52196318e-01 8.33677234e-01 7.84191362e-03 8.32061633e+01] [ 8.33587643e-01 5.52251957e-01 -1.22236466e-02 -6.72570024e+01] [-1.45212880e-02 -2.12930343e-04 -9.99894538e-01 2.25528127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.22 meters Centerline goodness [0,1] 0.9998659367668417 Centerline is valid? [True, True] Translation: X:83.22, Y:-67.26, Z:2.26 [[-6.15326396e-01 7.88218362e-01 9.23255406e-03 8.32154130e+01] [ 7.88124326e-01 6.15395618e-01 -1.21770059e-02 -6.72586223e+01] [-1.52798130e-02 -2.16432702e-04 -9.99883233e-01 2.25648611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.25 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.23, Y:-67.26, Z:2.25 [[-6.75451730e-01 7.37352962e-01 8.69308342e-03 8.32251749e+01] [ 7.37288310e-01 6.75507642e-01 -9.76593364e-03 -6.72574956e+01] [-1.30731844e-02 -1.87107998e-04 -9.99914525e-01 2.25306033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.28 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.23, Y:-67.26, Z:2.25 [[-7.30797440e-01 6.82543054e-01 8.37145131e-03 8.32348955e+01] [ 6.82495785e-01 7.30845369e-01 -8.03424422e-03 -6.72575078e+01] [-1.16019540e-02 -1.57924870e-04 -9.99932683e-01 2.25161108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.31 meters Centerline goodness [0,1] 0.9999329833575338 Centerline is valid? [True, True] Translation: X:83.25, Y:-67.23, Z:2.25 [[-7.76739072e-01 6.29753185e-01 9.34558944e-03 8.32461910e+01] [ 6.29705129e-01 7.76795276e-01 -7.78135680e-03 -6.72330375e+01] [-1.21599440e-02 -1.59118257e-04 -9.99926052e-01 2.25214251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.34 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.28, Y:-67.23, Z:2.25 [[-8.19350625e-01 5.73220726e-01 9.08584149e-03 8.32839971e+01] [ 5.73183509e-01 8.19400987e-01 -6.53353997e-03 -6.72295113e+01] [-1.11901080e-02 -1.45405543e-04 -9.99937378e-01 2.25060076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.37 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.30, Y:-67.21, Z:2.25 [[-8.57421920e-01 5.14528590e-01 9.37981014e-03 8.33018115e+01] [ 5.14496094e-01 8.57473213e-01 -5.78423910e-03 -6.72099521e+01] [-1.10190923e-02 -1.33657710e-04 -9.99939279e-01 2.25078484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.4 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.74, Y:-66.52, Z:1.42 [[-8.06272943e-01 -5.91462126e-01 9.82318935e-03 8.37402123e+01] [ 5.91421324e-01 -8.06332755e-01 -6.95026050e-03 -6.65182146e+01] [ 1.20315752e-02 2.05836662e-04 9.99927597e-01 1.42398936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.43 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.27, Y:-67.20, Z:2.25 [[-8.57248514e-01 5.14800789e-01 1.02534622e-02 8.32656273e+01] [ 5.14762566e-01 8.57309826e-01 -6.27403076e-03 -6.71966213e+01] [-1.20202698e-02 -1.00305055e-04 -9.99927749e-01 2.25109824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.46 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.28, Y:-67.17, Z:2.25 [[-8.90735083e-01 4.54405648e-01 1.03208465e-02 8.32765360e+01] [ 4.54374157e-01 8.90794871e-01 -5.35018167e-03 -6.71746527e+01] [-1.16249099e-02 -7.60685724e-05 -9.99932426e-01 2.25121010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.48999999999998 meters Centerline goodness [0,1] 0.9998427249033881 Centerline is valid? [True, True] Translation: X:83.30, Y:-67.16, Z:2.25 [[-9.19569052e-01 3.92742084e-01 1.21002019e-02 8.33008437e+01] [ 3.92707345e-01 9.19648657e-01 -5.22384839e-03 -6.71595385e+01] [-1.31795596e-02 -5.18511506e-05 -9.99913144e-01 2.25291591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.51999999999998 meters Centerline goodness [0,1] 0.9998872604284104 Centerline is valid? [True, True] Translation: X:83.32, Y:-67.14, Z:2.25 [[-9.44560894e-01 3.28109818e-01 1.21928377e-02 8.33181006e+01] [ 3.28082073e-01 9.44639586e-01 -4.26694429e-03 -6.71399124e+01] [-1.29178635e-02 -3.01372345e-05 -9.99916560e-01 2.25210567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.54999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.33, Y:-67.12, Z:2.25 [[-9.64620575e-01 2.63414044e-01 1.09629884e-02 8.33300329e+01] [ 2.63397167e-01 9.64682871e-01 -2.98185649e-03 -6.71198656e+01] [-1.13612700e-02 1.12599768e-05 -9.99935459e-01 2.25015985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.57999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.35, Y:-67.10, Z:2.25 [[-9.80551183e-01 1.95964829e-01 1.08241928e-02 8.33485552e+01] [ 1.95953225e-01 9.80610924e-01 -2.13279952e-03 -6.70983311e+01] [-1.10322754e-02 2.97163907e-05 -9.99939142e-01 2.24987359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.60999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.35, Y:-67.07, Z:2.25 [[-9.91774848e-01 1.27591531e-01 1.01514412e-02 8.33472367e+01] [ 1.27585322e-01 9.91826799e-01 -1.25958290e-03 -6.70726284e+01] [-1.02291836e-02 4.59522600e-05 -9.99947679e-01 2.24877940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.64 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.46, Y:-66.21, Z:1.43 [[-9.82295531e-01 -1.87084071e-01 9.74887952e-03 8.34606569e+01] [ 1.87074217e-01 -9.82343904e-01 -1.92121979e-03 -6.62143757e+01] [ 9.93618199e-03 -6.34416147e-05 9.99950633e-01 1.42760449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.67 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.28, Y:-67.07, Z:2.25 [[-9.91913483e-01 1.26649907e-01 8.21245022e-03 8.32790756e+01] [ 1.26646167e-01 9.91947476e-01 -9.75920215e-04 -6.70686908e+01] [-8.26991948e-03 7.20469238e-05 -9.99965801e-01 2.24700295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.7 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.30, Y:-67.04, Z:2.25 [[-9.98399135e-01 5.60746768e-02 7.40261577e-03 8.33047085e+01] [ 5.60736364e-02 9.98426575e-01 -3.48179722e-04 -6.70435994e+01] [-7.41049237e-03 6.74692512e-05 -9.99972540e-01 2.24664931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.73 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.35, Y:-66.17, Z:1.43 [[-9.93927326e-01 -1.09800796e-01 7.22884785e-03 8.33522034e+01] [ 1.09797342e-01 -9.93953610e-01 -8.74029591e-04 -6.61726842e+01] [ 7.28110856e-03 -7.50136111e-05 9.99973490e-01 1.42940569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.76 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.21, Y:-67.04, Z:2.25 [[-9.98743505e-01 4.98862527e-02 4.77202273e-03 8.32120513e+01] [ 4.98859108e-02 9.98754905e-01 -1.90720931e-04 -6.70369698e+01] [-4.77559546e-03 4.75754094e-05 -9.99988596e-01 2.24587878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.79 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.22, Y:-67.01, Z:2.25 [[-9.99753649e-01 -2.18123794e-02 4.10632814e-03 8.32237739e+01] [-2.18120274e-02 9.99762081e-01 1.30485202e-04 -6.70094258e+01] [-4.10819736e-03 4.08857150e-05 -9.99991560e-01 2.24509895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.82 meters Centerline goodness [0,1] 0.9998866393089533 Centerline is valid? [True, True] Translation: X:83.21, Y:-66.14, Z:1.43 [[-9.99395403e-01 -3.44820831e-02 4.45131278e-03 8.32058892e+01] [ 3.44816526e-02 -9.99405316e-01 -1.73450701e-04 -6.61406816e+01] [ 4.45464660e-03 -1.98572127e-05 9.99990078e-01 1.43052244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.85 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.12, Y:-67.01, Z:2.24 [[-9.99563922e-01 -2.93535649e-02 3.21458140e-03 8.31171916e+01] [-2.93533094e-02 9.99569091e-01 1.26639021e-04 -6.70104470e+01] [-3.21691351e-03 3.22251946e-05 -9.99994825e-01 2.24329978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.88 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.12, Y:-66.98, Z:2.24 [[-9.94843775e-01 -1.01379689e-01 2.83246379e-03 8.31178454e+01] [-1.01379199e-01 9.94847806e-01 3.16307898e-04 -6.69823810e+01] [-2.84993759e-03 2.75240328e-05 -9.99995939e-01 2.24268970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.91 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.11, Y:-66.95, Z:2.24 [[-9.84644738e-01 -1.74554839e-01 2.31250784e-03 8.31092276e+01] [-1.74554309e-01 9.84647454e-01 4.30642668e-04 -6.69532726e+01] [-2.35217572e-03 2.03718288e-05 -9.99997233e-01 2.24227493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.94 meters Centerline goodness [0,1] 0.9997967617370097 Centerline is valid? [True, True] Translation: X:83.08, Y:-66.93, Z:2.24 [[-9.69187812e-01 -2.46311897e-01 2.33109299e-03 8.30845636e+01] [-2.46311140e-01 9.69190616e-01 6.10812599e-04 -6.69284513e+01] [-2.40972386e-03 1.78179544e-05 -9.99997096e-01 2.24491448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.97 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.04, Y:-66.91, Z:2.24 [[-9.47788190e-01 -3.18891634e-01 2.38180227e-03 8.30351472e+01] [-3.18890596e-01 9.47791182e-01 8.13917855e-04 -6.69117671e+01] [-2.51700278e-03 1.18873859e-05 -9.99996832e-01 2.24312674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.0 meters Centerline goodness [0,1] 0.999887321404426 Centerline is valid? [True, True] Translation: X:82.97, Y:-66.91, Z:2.24 [[-9.21231618e-01 -3.89008374e-01 2.18866704e-03 8.29709732e+01] [-3.89007252e-01 9.21234218e-01 9.34630765e-04 -6.69050260e+01] [-2.37985417e-03 9.60405963e-06 -9.99997168e-01 2.24473953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.03 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.90, Y:-66.91, Z:2.24 [[-8.88701934e-01 -4.58480086e-01 2.21003740e-03 8.28993246e+01] [-4.58478657e-01 8.88704682e-01 1.14442571e-03 -6.69063394e+01] [-2.48876698e-03 3.79835816e-06 -9.99996903e-01 2.24345709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.06 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.82, Y:-66.92, Z:2.24 [[-8.50952282e-01 -5.25236843e-01 2.54409735e-03 8.28178930e+01] [-5.25234510e-01 8.50956085e-01 1.56531420e-03 -6.69183202e+01] [-2.98707581e-03 -4.24003629e-06 -9.99995539e-01 2.24342727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.09 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.73, Y:-66.94, Z:2.24 [[-8.08600976e-01 -5.88353699e-01 2.09421335e-03 8.27307054e+01] [-5.88351734e-01 8.08603688e-01 1.52042062e-03 -6.69427299e+01] [-2.58793373e-03 -2.72045989e-06 -9.99996651e-01 2.24292917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.12 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.65, Y:-66.97, Z:2.24 [[-7.61097413e-01 -6.48635435e-01 1.67345770e-03 8.26464168e+01] [-6.48633871e-01 7.61099253e-01 1.42439267e-03 -6.69727759e+01] [-2.19757896e-03 -1.35977077e-06 -9.99997585e-01 2.24258033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.15 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.56, Y:-67.01, Z:2.24 [[-7.09002965e-01 -7.05203508e-01 1.67567503e-03 8.25583024e+01] [-7.05201554e-01 7.09004945e-01 1.66028706e-03 -6.70147616e+01] [-2.35890214e-03 -4.54018269e-06 -9.99997218e-01 2.24227996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.18 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.47, Y:-67.07, Z:2.24 [[-6.52443585e-01 -7.57836678e-01 9.68316943e-04 8.24657883e+01] [-7.57835837e-01 6.52444304e-01 1.12870059e-03 -6.70702812e+01] [-1.48714358e-03 2.58817831e-06 -9.99998894e-01 2.24292323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.21 meters Centerline goodness [0,1] 0.9999104384040124 Centerline is valid? [True, True] Translation: X:82.39, Y:-67.13, Z:2.24 [[-5.92448537e-01 -8.05608013e-01 6.79280547e-04 8.23850350e+01] [-8.05607471e-01 5.92448926e-01 9.34171786e-04 -6.71262373e+01] [-1.15501531e-03 6.21522445e-06 -9.99999333e-01 2.24473977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.23999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.30, Y:-67.21, Z:2.24 [[-5.28548387e-01 -8.48902822e-01 7.75431378e-04 8.22951311e+01] [-8.48901902e-01 5.28548956e-01 1.24975981e-03 -6.72069317e+01] [-1.47077807e-03 2.29335829e-06 -9.99998918e-01 2.24374038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.26999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.22, Y:-67.28, Z:2.24 [[-4.61652143e-01 -8.87060766e-01 7.04681604e-04 8.22223616e+01] [-8.87059726e-01 4.61652681e-01 1.35804673e-03 -6.72794228e+01] [-1.52998812e-03 1.85051055e-06 -9.99998830e-01 2.24406904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.29999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.15, Y:-67.38, Z:2.24 [[-3.92173234e-01 -9.19891178e-01 6.12599145e-04 8.21457391e+01] [-9.19890048e-01 3.92173712e-01 1.44156669e-03 -6.73757617e+01] [-1.56632977e-03 1.82001556e-06 -9.99998773e-01 2.24398496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.32999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.08, Y:-67.48, Z:2.24 [[-3.19976072e-01 -9.47425332e-01 7.43926469e-04 8.20760072e+01] [-9.47422815e-01 3.19976937e-01 2.18396802e-03 -6.74817047e+01] [-2.30718594e-03 -5.99540105e-06 -9.99997338e-01 2.24410167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.35999999999999 meters Centerline goodness [0,1] 0.9998877010151829 Centerline is valid? [True, True] Translation: X:82.02, Y:-67.56, Z:2.25 [[-2.45522542e-01 -9.69390786e-01 4.30658032e-04 8.20218806e+01] [-9.69389297e-01 2.45522920e-01 1.69927958e-03 -6.75634703e+01] [-1.75300239e-03 -2.63844420e-07 -9.99998463e-01 2.24655733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.39 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.97, Y:-67.67, Z:2.25 [[-1.69005513e-01 -9.85614957e-01 5.41114174e-04 8.19681649e+01] [-9.85610221e-01 1.69006379e-01 3.05554802e-03 -6.76726119e+01] [-3.10304558e-03 -1.69231980e-05 -9.99995185e-01 2.24588415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.42 meters Centerline goodness [0,1] 0.9999327956989247 Centerline is valid? [True, True] Translation: X:81.92, Y:-67.79, Z:2.25 [[-9.19910941e-02 -9.95759795e-01 2.63814529e-04 8.19242145e+01] [-9.95756106e-01 9.19914714e-02 2.71036122e-03 -6.77888569e+01] [-2.72313742e-03 -1.33658336e-05 -9.99996292e-01 2.24746400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.45 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.89, Y:-67.91, Z:2.25 [[-1.36837569e-02 -9.99906370e-01 7.57949152e-05 8.18884844e+01] [-9.99899878e-01 1.36839412e-02 3.60328457e-03 -6.79089930e+01] [-3.60398437e-03 -2.64808563e-05 -9.99993505e-01 2.24749419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.48 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.86, Y:-68.02, Z:2.25 [[ 6.38996183e-02 -9.97956306e-01 -2.23885927e-04 8.18631982e+01] [-9.97948360e-01 -6.39000029e-02 3.98241059e-03 -6.80155765e+01] [-3.98857808e-03 -3.10479227e-05 -9.99992045e-01 2.24763550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.51 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.85, Y:-68.13, Z:2.25 [[ 1.40601906e-01 -9.90066042e-01 -5.80740977e-04 8.18475497e+01] [-9.90056572e-01 -1.40603101e-01 4.33029783e-03 -6.81329839e+01] [-4.36893481e-03 -3.38817063e-05 -9.99990456e-01 2.24775256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.54 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.84, Y:-68.26, Z:2.25 [[ 2.15501586e-01 -9.76503014e-01 -9.64690154e-04 8.18427241e+01] [-9.76492603e-01 -2.15503743e-01 4.50925576e-03 -6.82573037e+01] [-4.61119617e-03 -2.97389675e-05 -9.99989368e-01 2.24813985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.85, Y:-68.38, Z:2.25 [[ 2.89940663e-01 -9.57043753e-01 -1.29138433e-03 8.18472257e+01] [-9.57033858e-01 -2.89943537e-01 4.35197432e-03 -6.83846292e+01] [-4.53945837e-03 -2.59157944e-05 -9.99989696e-01 2.24833295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.6 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.86, Y:-68.49, Z:2.25 [[ 3.61986197e-01 -9.32182300e-01 -1.46733266e-03 8.18559901e+01] [-9.32174461e-01 -3.61989171e-01 3.82286129e-03 -6.84915341e+01] [-4.09476217e-03 -1.60129864e-05 -9.99991616e-01 2.24815747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.63 meters Centerline goodness [0,1] 0.999819209039548 Centerline is valid? [True, True] Translation: X:81.88, Y:-68.61, Z:2.25 [[ 4.31351179e-01 -9.02183057e-01 -1.37510286e-03 8.18777372e+01] [-9.02178454e-01 -4.31353371e-01 2.88206711e-03 -6.86098375e+01] [-3.19330737e-03 -2.59487059e-06 -9.99994901e-01 2.25074246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.66 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.91, Y:-68.72, Z:2.25 [[ 4.99065360e-01 -8.66562337e-01 -1.86612024e-03 8.19072734e+01] [-8.66556257e-01 -4.99068849e-01 3.24602690e-03 -6.87228940e+01] [-3.74420714e-03 -2.88141103e-06 -9.99992990e-01 2.24806857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.69 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.94, Y:-68.83, Z:2.25 [[ 5.62027143e-01 -8.27116392e-01 -1.99106302e-03 8.19441292e+01] [-8.27111257e-01 -5.62030670e-01 2.91446303e-03 -6.88284995e+01] [-3.52963863e-03 8.82330495e-06 -9.99993771e-01 2.24863609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.72 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.99, Y:-68.94, Z:2.25 [[ 6.23149621e-01 -7.82099680e-01 -2.15441336e-03 8.19902523e+01] [-7.82095080e-01 -6.23153345e-01 2.68237749e-03 -6.89351293e+01] [-3.44041647e-03 1.34335698e-05 -9.99994082e-01 2.24866845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.04, Y:-69.03, Z:2.25 [[ 6.80626449e-01 -7.32626729e-01 -2.39003540e-03 8.20418406e+01] [-7.32622303e-01 -6.80630645e-01 2.54667280e-03 -6.90348493e+01] [-3.49249190e-03 1.76603747e-05 -9.99993901e-01 2.24821277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.78 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.10, Y:-69.13, Z:2.25 [[ 7.34323849e-01 -6.78796450e-01 -1.96602771e-03 8.20987979e+01] [-6.78794089e-01 -7.34326480e-01 1.79023670e-03 -6.91284530e+01] [-2.65891253e-03 1.99144864e-05 -9.99996465e-01 2.24742115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.81 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.09, Y:-69.14, Z:2.25 [[ 7.84968100e-01 -6.19532624e-01 -2.10016276e-03 8.20945543e+01] [-6.19530475e-01 -7.84970909e-01 1.63193411e-03 -6.91400756e+01] [-2.65960309e-03 2.00986134e-05 -9.99996463e-01 2.24743012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.84 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.09, Y:-69.15, Z:2.25 [[ 8.30650883e-01 -5.56790909e-01 -1.73047313e-03 8.20875177e+01] [-5.56789753e-01 -8.30652685e-01 1.13502577e-03 -6.91468326e+01] [-2.06939419e-03 2.06995473e-05 -9.99997859e-01 2.24682131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.87 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.08, Y:-69.15, Z:2.24 [[ 8.71195542e-01 -4.90936091e-01 -2.84620456e-04 8.20809519e+01] [-4.90936072e-01 -8.71195589e-01 1.39290527e-04 -6.91503357e+01] [-3.16342833e-04 1.83811626e-05 -9.99999950e-01 2.24499212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.9 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.07, Y:-69.15, Z:2.24 [[ 9.06764097e-01 -4.21638047e-01 4.79692431e-04 8.20749044e+01] [-4.21637978e-01 -9.06764224e-01 -2.40918273e-04 -6.91546256e+01] [ 5.36548245e-04 1.61994929e-05 -9.99999856e-01 2.24454995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.93 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.07, Y:-69.16, Z:2.24 [[ 9.36890446e-01 -3.49622028e-01 8.54184651e-04 8.20685123e+01] [-3.49621868e-01 -9.36890835e-01 -3.34764015e-04 -6.91611058e+01] [ 9.17318646e-04 1.49955740e-05 -9.99999579e-01 2.24468630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.96 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.06, Y:-69.17, Z:2.25 [[ 9.61356909e-01 -2.75304206e-01 6.98472744e-04 8.20628364e+01] [-2.75304121e-01 -9.61357163e-01 -2.16121769e-04 -6.91680260e+01] [ 7.30981007e-04 1.54777309e-05 -9.99999733e-01 2.24505886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.98999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.05, Y:-69.17, Z:2.25 [[ 9.79707057e-01 -2.00434434e-01 3.47785802e-04 8.20540032e+01] [-2.00434416e-01 -9.79707118e-01 -8.75157649e-05 -6.91748259e+01] [ 3.58269398e-04 1.60315685e-05 -9.99999936e-01 2.24628833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.01999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.05, Y:-69.18, Z:2.25 [[ 9.92305787e-01 -1.23810087e-01 5.36925377e-04 8.20453274e+01] [-1.23810060e-01 -9.92305932e-01 -8.19627824e-05 -6.91829891e+01] [ 5.42942056e-04 1.48553800e-05 -9.99999853e-01 2.24649852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.04999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.04, Y:-69.19, Z:2.25 [[ 9.98918042e-01 -4.65053339e-02 1.41431720e-05 8.20357501e+01] [-4.65053337e-02 -9.98918042e-01 -1.79623791e-05 -6.91904908e+01] [ 1.49632162e-05 1.72852116e-05 -1.00000000e+00 2.24662588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.07999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.03, Y:-69.20, Z:2.25 [[ 9.99513106e-01 3.11983107e-02 -4.64860521e-04 8.20281015e+01] [ 3.11982979e-02 -9.99513214e-01 -3.46973269e-05 -6.91997086e+01] [-4.65716732e-04 2.01775760e-05 -9.99999891e-01 2.24692290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.10999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.02, Y:-69.21, Z:2.25 [[ 9.94017707e-01 1.09217903e-01 -4.98700454e-04 8.20212973e+01] [ 1.09217878e-01 -9.94017832e-01 -7.53530994e-05 -6.92091151e+01] [-5.03947051e-04 2.04353094e-05 -9.99999873e-01 2.24705372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.14 meters Centerline goodness [0,1] 0.9999546814103145 Centerline is valid? [True, True] Translation: X:82.02, Y:-69.22, Z:2.25 [[ 9.82461792e-01 1.86463973e-01 1.18567058e-04 8.20152283e+01] [ 1.86463973e-01 -9.82461799e-01 5.76895073e-06 -6.92207143e+01] [ 1.17563307e-04 1.64407111e-05 -9.99999993e-01 2.24871788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.17 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.01, Y:-69.23, Z:2.25 [[ 9.64539008e-01 2.63940327e-01 8.21126659e-05 8.20104660e+01] [ 2.63940327e-01 -9.64539011e-01 5.13156908e-06 -6.92333754e+01] [ 8.05552977e-05 1.67232454e-05 -9.99999997e-01 2.24685554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.2 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.01, Y:-69.25, Z:2.25 [[ 9.40673407e-01 3.39312730e-01 6.42153351e-04 8.20072613e+01] [ 3.39312661e-01 -9.40673626e-01 2.16821692e-04 -6.92450351e+01] [ 6.77627081e-04 1.39323628e-05 -9.99999770e-01 2.24617151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.23 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.00, Y:-69.26, Z:2.25 [[ 9.10954751e-01 4.12505610e-01 7.49821737e-04 8.20042323e+01] [ 4.12505483e-01 -9.10955060e-01 3.24417419e-04 -6.92569701e+01] [ 8.16877911e-04 1.37759883e-05 -9.99999666e-01 2.24601431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.26 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.00, Y:-69.27, Z:2.25 [[ 8.75061659e-01 4.84010857e-01 7.63409900e-04 8.20027863e+01] [ 4.84010688e-01 -8.75061992e-01 4.05109243e-04 -6.92696694e+01] [ 8.64108260e-04 1.50029843e-05 -9.99999627e-01 2.24660649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.29 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.00, Y:-69.28, Z:2.25 [[ 8.33940324e-01 5.51853385e-01 1.17385432e-03 8.20009693e+01] [ 5.51852864e-01 -8.33941150e-01 7.58638932e-04 -6.92811731e+01] [ 1.39758288e-03 1.51352715e-05 -9.99999023e-01 2.24699813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.32 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.00, Y:-69.29, Z:2.25 [[ 7.87325852e-01 6.16535953e-01 1.19193203e-03 8.20009455e+01] [ 6.16535279e-01 -7.87326754e-01 9.11764823e-04 -6.92934536e+01] [ 1.50057577e-03 1.70121314e-05 -9.99998874e-01 2.24712516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.35 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.00, Y:-69.31, Z:2.25 [[ 7.35922642e-01 6.77065040e-01 8.92545907e-04 8.20021654e+01] [ 6.77064571e-01 -7.35923183e-01 7.96454009e-04 -6.93055770e+01] [ 1.19609639e-03 1.81826726e-05 -9.99999285e-01 2.24765121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.38 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.00, Y:-69.32, Z:2.25 [[ 6.79626110e-01 7.33558606e-01 3.48982958e-04 8.20035550e+01] [ 7.33558523e-01 -6.79626199e-01 3.50150490e-04 -6.93170398e+01] [ 4.94033867e-04 1.80280075e-05 -9.99999878e-01 2.24816670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.41 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.01, Y:-69.33, Z:2.25 [[ 6.18650506e-01 7.85666046e-01 -6.45001561e-04 8.20056395e+01] [ 7.85665598e-01 -6.18650842e-01 -8.38733334e-04 -6.93292392e+01] [-1.05799506e-03 1.21272638e-05 -9.99999440e-01 2.24974421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.44 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.01, Y:-69.34, Z:2.25 [[ 5.54448087e-01 8.32217613e-01 -1.07862971e-03 8.20089801e+01] [ 8.32216016e-01 -5.54449136e-01 -1.63028596e-03 -6.93394073e+01] [-1.95479800e-03 6.25601349e-06 -9.99998089e-01 2.25052316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.47 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.01, Y:-69.35, Z:2.25 [[ 4.86981200e-01 8.73411620e-01 -1.20563062e-03 8.20121635e+01] [ 8.73408934e-01 -4.86982692e-01 -2.16600837e-03 -6.93496212e+01] [-2.47893812e-03 1.79680211e-06 -9.99996927e-01 2.25159113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.02, Y:-69.36, Z:2.25 [[ 4.16362635e-01 9.09197980e-01 -1.09070993e-03 8.20165637e+01] [ 9.09194867e-01 -4.16364063e-01 -2.37916280e-03 -6.93590594e+01] [-2.61726243e-03 -1.07338050e-06 -9.99996575e-01 2.25215320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.53 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.02, Y:-69.37, Z:2.25 [[ 3.42728924e-01 9.39433741e-01 -1.06308410e-03 8.20217803e+01] [ 9.39429293e-01 -3.42730573e-01 -2.89098769e-03 -6.93682825e+01] [-3.08024280e-03 -7.86724024e-06 -9.99995256e-01 2.25258274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.03, Y:-69.38, Z:2.25 [[ 2.67462150e-01 9.63567757e-01 -1.08412374e-03 8.20262493e+01] [ 9.63560108e-01 -2.67464346e-01 -3.83953531e-03 -6.93774149e+01] [-3.98961688e-03 -1.76880216e-05 -9.99992041e-01 2.25298006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.59 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.03, Y:-69.39, Z:2.25 [[ 1.90809235e-01 9.81626753e-01 -8.67925747e-04 8.20309003e+01] [ 9.81617139e-01 -1.90811207e-01 -4.34456081e-03 -6.93854975e+01] [-4.43034708e-03 -2.29884662e-05 -9.99990186e-01 2.25333817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.62 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.04, Y:-69.39, Z:2.25 [[ 1.12788492e-01 9.93618871e-01 -5.43848774e-04 8.20352644e+01] [ 9.93608447e-01 -1.12789800e-01 -4.55140613e-03 -6.93944679e+01] [-4.58370362e-03 -2.70264997e-05 -9.99989494e-01 2.25419087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.65 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.04, Y:-69.40, Z:2.25 [[ 3.38227982e-02 9.99427834e-01 -1.54776883e-04 8.20385282e+01] [ 9.99420311e-01 -3.38231441e-02 -3.87765639e-03 -6.94030194e+01] [-3.88067276e-03 -2.35339710e-05 -9.99992470e-01 2.25416650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.68 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.04, Y:-69.41, Z:2.25 [[-4.54458742e-02 9.98966796e-01 1.13963471e-04 8.20409672e+01] [ 9.98962749e-01 4.54460145e-02 -2.84348893e-03 -6.94101452e+01] [-2.84573021e-03 -1.53795775e-05 -9.99995951e-01 2.25294582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.71 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.05, Y:-69.42, Z:2.25 [[-1.24362667e-01 9.92236811e-01 1.95740513e-04 8.20488870e+01] [ 9.92235546e-01 1.24362821e-01 -1.58439042e-03 -6.94170494e+01] [-1.59643334e-03 -2.81832377e-06 -9.99998726e-01 2.25177869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.73999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.06, Y:-69.42, Z:2.25 [[-2.02780014e-01 9.79224308e-01 1.41105147e-04 8.20592836e+01] [ 9.79224097e-01 2.02780063e-01 -6.43893541e-04 -6.94232711e+01] [-6.59129518e-04 7.60481912e-06 -9.99999783e-01 2.25092041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.76999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.06, Y:-69.43, Z:2.25 [[-2.80243630e-01 9.59928908e-01 -9.15540268e-06 8.20638828e+01] [ 9.59928903e-01 2.80243629e-01 9.37401438e-05 -6.94296144e+01] [ 9.25496172e-05 1.74815425e-05 -9.99999996e-01 2.25014724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.79999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.07, Y:-69.43, Z:2.25 [[-3.57751944e-01 9.33816500e-01 -5.38732790e-04 8.20742802e+01] [ 9.33815244e-01 3.57752347e-01 1.53226796e-03 -6.94333166e+01] [ 1.62359003e-03 4.50949497e-05 -9.99998681e-01 2.24934031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.82999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.09, Y:-69.44, Z:2.25 [[-4.31532831e-01 9.02096978e-01 -6.77271153e-04 8.20850659e+01] [ 9.02095682e-01 4.31533360e-01 1.52963674e-03 -6.94366227e+01] [ 1.67214578e-03 4.91250896e-05 -9.99998601e-01 2.24888107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.85999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.10, Y:-69.44, Z:2.25 [[-5.02557335e-01 8.64543692e-01 -5.73774840e-04 8.20959549e+01] [ 8.64543029e-01 5.02557661e-01 1.07143055e-03 -6.94398539e+01] [ 1.21465347e-03 4.24022446e-05 -9.99999261e-01 2.24918378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.11, Y:-69.44, Z:2.25 [[-5.70246785e-01 8.21473376e-01 -3.11049195e-04 8.21063328e+01] [ 8.21473224e-01 5.70246870e-01 5.00349883e-04 -6.94408998e+01] [ 5.88398937e-04 2.98043276e-05 -9.99999826e-01 2.24986786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.92 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.12, Y:-69.44, Z:2.25 [[-6.35382716e-01 7.72196753e-01 9.89334714e-04 8.21191124e+01] [ 7.72195751e-01 6.35383486e-01 -1.24452319e-03 -6.94407339e+01] [-1.58962371e-03 -2.67884630e-05 -9.99998736e-01 2.25140180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.95 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.13, Y:-69.44, Z:2.25 [[-6.94844295e-01 7.19158275e-01 1.66791565e-03 8.21293072e+01] [ 7.19156017e-01 6.94846294e-01 -1.80295911e-03 -6.94406349e+01] [-2.45555798e-03 -5.32842749e-05 -9.99996984e-01 2.25197087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.98 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.14, Y:-69.44, Z:2.25 [[-7.49686236e-01 6.61789814e-01 2.18874832e-03 8.21407486e+01] [ 6.61786714e-01 7.49689427e-01 -2.02678953e-03 -6.94392208e+01] [-2.98219014e-03 -7.09716595e-05 -9.99995551e-01 2.25271597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.01 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.15, Y:-69.42, Z:2.25 [[-7.94919247e-01 6.06707887e-01 2.98837028e-03 8.21542808e+01] [ 6.06703126e-01 7.94924858e-01 -2.40567436e-03 -6.94150619e+01] [-3.83507143e-03 -9.92632587e-05 -9.99992641e-01 2.25346528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.04 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.18, Y:-69.41, Z:2.25 [[-8.35296640e-01 5.49783019e-01 4.26097803e-03 8.21849310e+01] [ 5.49775039e-01 8.35307497e-01 -2.96514063e-03 -6.94064865e+01] [-5.18941086e-03 -1.34192642e-04 -9.99986526e-01 2.25452647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.21, Y:-69.39, Z:2.25 [[-8.71580709e-01 4.90228485e-01 4.80640435e-03 8.22059111e+01] [ 4.90220141e-01 8.71593950e-01 -2.86347039e-03 -6.93895719e+01] [-5.59298770e-03 -1.39549335e-04 -9.99984349e-01 2.25426676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.1 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.22, Y:-69.37, Z:2.25 [[-9.03225377e-01 4.29143626e-01 4.43476941e-03 8.22237263e+01] [ 4.29137837e-01 9.03236257e-01 -2.23189891e-03 -6.93714140e+01] [-4.96344971e-03 -1.12780379e-04 -9.99987676e-01 2.25307238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.13 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.24, Y:-69.35, Z:2.25 [[-9.30272475e-01 3.66841928e-01 4.48576201e-03 8.22382017e+01] [ 3.66837164e-01 9.30283285e-01 -1.87204371e-03 -6.93504333e+01] [-4.85977355e-03 -9.59665180e-05 -9.99988187e-01 2.25273242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.16 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.58, Y:-68.60, Z:1.43 [[-8.86264275e-01 -4.63164547e-01 3.77332570e-03 8.25760581e+01] [ 4.63160577e-01 -8.86272306e-01 -1.91822377e-03 -6.85989027e+01] [ 4.23264731e-03 4.76025084e-05 9.99991041e-01 1.42543879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.19 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.20, Y:-69.34, Z:2.25 [[-9.28051083e-01 3.72445592e-01 2.33866966e-03 8.22049740e+01] [ 3.72444359e-01 9.28054029e-01 -9.58415980e-04 -6.93428393e+01] [-2.52736961e-03 -1.84346657e-05 -9.99996806e-01 2.25112349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.22 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.22, Y:-69.32, Z:2.25 [[-9.51276613e-01 3.08337544e-01 8.74790164e-04 8.22191528e+01] [ 3.08337418e-01 9.51277015e-01 -2.78602183e-04 -6.93236262e+01] [-9.18071289e-04 4.70279954e-06 -9.99999579e-01 2.24877949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.25 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.23, Y:-69.30, Z:2.25 [[-9.70199026e-01 2.42309388e-01 -1.04152086e-04 8.22346263e+01] [ 2.42309385e-01 9.70199031e-01 4.14918423e-05 -6.93022860e+01] [ 1.11102116e-04 1.50183170e-05 -9.99999994e-01 2.24744296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.28 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.24, Y:-69.28, Z:2.25 [[-9.84323496e-01 1.76372353e-01 2.21535714e-04 8.22400091e+01] [ 1.76372352e-01 9.84323520e-01 -2.64280346e-05 -6.92785922e+01] [-2.22723988e-04 1.30590394e-05 -9.99999975e-01 2.24708544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.31 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.25, Y:-69.25, Z:2.25 [[-9.94215587e-01 1.07397869e-01 1.03127737e-03 8.22481419e+01] [ 1.07397822e-01 9.94216122e-01 -1.00708872e-04 -6.92521020e+01] [-1.03612850e-03 1.06306128e-05 -9.99999463e-01 2.24868084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.34 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.36, Y:-68.41, Z:1.43 [[-9.83684039e-01 -1.79886431e-01 2.56592155e-03 8.23575357e+01] [ 1.79886066e-01 -9.83687381e-01 -3.74049166e-04 -6.84096121e+01] [ 2.59135102e-03 9.36273390e-05 9.99996638e-01 1.42778938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.37 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.20, Y:-69.25, Z:2.25 [[-9.94599343e-01 1.03746426e-01 2.97084302e-03 8.21952777e+01] [ 1.03745985e-01 9.94603780e-01 -3.02561978e-04 -6.92454096e+01] [-2.98620142e-03 7.28509018e-06 -9.99995541e-01 2.25180915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.4 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.20, Y:-69.22, Z:2.25 [[-9.99452260e-01 3.28837077e-02 3.72033182e-03 8.21956156e+01] [ 3.28835002e-02 9.99459185e-01 -1.16937316e-04 -6.92181379e+01] [-3.72216514e-03 5.46426777e-06 -9.99993073e-01 2.25281804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.43 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.19, Y:-69.19, Z:2.25 [[-9.99260453e-01 -3.81556649e-02 4.76355527e-03 8.21915851e+01] [-3.81552137e-02 9.99271807e-01 1.85579958e-04 -6.91921538e+01] [-4.76716741e-03 3.68824359e-06 -9.99988637e-01 2.25278288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.46 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.20, Y:-69.16, Z:2.25 [[-9.93996915e-01 -1.09274706e-01 5.40099186e-03 8.22016849e+01] [-1.09273079e-01 9.94011589e-01 5.96318557e-04 -6.91647829e+01] [-5.43381103e-03 2.55579499e-06 -9.99985237e-01 2.25215296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.48999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.19, Y:-69.14, Z:2.25 [[-9.83703640e-01 -1.79712279e-01 5.53587022e-03 8.21898127e+01] [-1.79709410e-01 9.83719216e-01 1.01552811e-03 -6.91390536e+01] [-5.62824479e-03 4.13072371e-06 -9.99984161e-01 2.25211969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.51999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.16, Y:-69.12, Z:2.25 [[-9.68395268e-01 -2.49376483e-01 4.68763128e-03 8.21637788e+01] [-2.49373507e-01 9.68406614e-01 1.21829277e-03 -6.91159438e+01] [-4.84334670e-03 1.08179008e-05 -9.99988271e-01 2.25263151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.54999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.11, Y:-69.10, Z:2.25 [[-9.47622426e-01 -3.19372619e-01 3.58707651e-03 8.21099810e+01] [-3.19370276e-01 9.47629215e-01 1.22355263e-03 -6.91030704e+01] [-3.78998771e-03 1.38603011e-05 -9.99992818e-01 2.25236545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.57999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.05, Y:-69.10, Z:2.25 [[-9.21628274e-01 -3.88061297e-01 3.12329482e-03 8.20464938e+01] [-3.88059010e-01 9.21633566e-01 1.33245648e-03 -6.90978186e+01] [-3.39560813e-03 1.60068686e-05 -9.99994235e-01 2.25175049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.60999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.97, Y:-69.10, Z:2.25 [[-8.90517954e-01 -4.54946525e-01 1.19724173e-03 8.19738506e+01] [-4.54946090e-01 8.90518758e-01 6.29642790e-04 -6.91019682e+01] [-1.35262001e-03 1.60277664e-05 -9.99999085e-01 2.24977266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.64 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.90, Y:-69.11, Z:2.25 [[-8.54112607e-01 -5.20087920e-01 4.58594659e-04 8.18951275e+01] [-5.20087836e-01 8.54112730e-01 2.97042461e-04 -6.91144505e+01] [-5.46179732e-04 1.51982074e-05 -9.99999851e-01 2.24895853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.67 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.81, Y:-69.14, Z:2.25 [[-8.12410059e-01 -5.83086349e-01 -4.54052300e-04 8.18074039e+01] [-5.83086266e-01 8.12410186e-01 -3.09809688e-04 -6.91390765e+01] [ 5.49522513e-04 1.30591535e-05 -9.99999849e-01 2.24839609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.7 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.72, Y:-69.17, Z:2.25 [[-7.65662678e-01 -6.43241329e-01 -1.12092238e-03 8.17213033e+01] [-6.43240662e-01 7.65663498e-01 -9.26509199e-04 -6.91697040e+01] [ 1.45421836e-03 1.16293389e-05 -9.99998943e-01 2.24819659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.73 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.63, Y:-69.21, Z:2.25 [[-7.14403729e-01 -6.99732961e-01 -1.04666258e-03 8.16314570e+01] [-6.99732234e-01 7.14404495e-01 -1.00886483e-03 -6.92141931e+01] [ 1.45367642e-03 1.16467490e-05 -9.99998943e-01 2.24822096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.76 meters Centerline goodness [0,1] 0.9999776296362579 Centerline is valid? [True, True] Translation: X:81.54, Y:-69.27, Z:2.25 [[-6.58658151e-01 -7.52441280e-01 -1.24907393e-03 8.15417463e+01] [-7.52439960e-01 6.58659335e-01 -1.40970704e-03 -6.92667106e+01] [ 1.88343598e-03 1.13381054e-05 -9.99998226e-01 2.24886155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.79 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.45, Y:-69.33, Z:2.25 [[-5.97480281e-01 -8.01882550e-01 -1.29989650e-03 8.14513200e+01] [-8.01880707e-01 5.97481695e-01 -1.71909084e-03 -6.93289982e+01] [ 2.15517331e-03 1.52390434e-05 -9.99997677e-01 2.24912190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.82 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.37, Y:-69.40, Z:2.25 [[-5.33316559e-01 -8.45915559e-01 -5.60739574e-04 8.13667032e+01] [-8.45915122e-01 5.33316853e-01 -8.59997913e-04 -6.94003087e+01] [ 1.02653748e-03 1.56869574e-05 -9.99999473e-01 2.25044659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.85 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.28, Y:-69.48, Z:2.25 [[-4.65708562e-01 -8.84938139e-01 1.62405703e-04 8.12845357e+01] [-8.84938074e-01 4.65708590e-01 3.37001163e-04 -6.94845045e+01] [-3.73858913e-04 1.32253370e-05 -9.99999930e-01 2.25183919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.88 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.21, Y:-69.57, Z:2.25 [[-3.95066525e-01 -9.18652327e-01 5.86380633e-04 8.12095934e+01] [-9.18651282e-01 3.95066960e-01 1.38563515e-03 -6.95733349e+01] [-1.50457657e-03 8.73874327e-06 -9.99998868e-01 2.25320732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.91 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.14, Y:-69.67, Z:2.25 [[-3.22210240e-01 -9.46667803e-01 7.94855481e-04 8.11421923e+01] [-9.46664898e-01 3.22211221e-01 2.34537175e-03 -6.96660291e+01] [-2.47639927e-03 3.24101109e-06 -9.99996934e-01 2.25446880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.94 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.08, Y:-69.77, Z:2.25 [[-2.46723640e-01 -9.69085585e-01 7.57677800e-04 8.10803658e+01] [-9.69081062e-01 2.46724803e-01 2.96081018e-03 -6.97682880e+01] [-3.05621637e-03 -3.74934397e-06 -9.99995330e-01 2.25499584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.97 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.03, Y:-69.88, Z:2.26 [[-1.70510701e-01 -9.85355645e-01 5.94975246e-04 8.10262182e+01] [-9.85349807e-01 1.70511739e-01 3.39171241e-03 -6.98791395e+01] [-3.44349324e-03 -7.93548157e-06 -9.99994071e-01 2.25607401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.0 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.98, Y:-69.99, Z:2.26 [[-9.32220753e-02 -9.95645281e-01 3.45369211e-04 8.09829885e+01] [-9.95638869e-01 9.32227144e-02 3.57320484e-03 -6.99886694e+01] [-3.58984079e-03 -1.07614406e-05 -9.99993556e-01 2.25602597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.03 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.95, Y:-70.11, Z:2.26 [[-1.53448926e-02 -9.99882258e-01 7.09665068e-05 8.09473767e+01] [-9.99875292e-01 1.53450506e-02 3.73235707e-03 -7.01068924e+01] [-3.73300660e-03 -1.36850382e-05 -9.99993032e-01 2.25613559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.06 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.92, Y:-70.23, Z:2.26 [[ 6.23430954e-02 -9.98054757e-01 -1.99430833e-04 8.09215059e+01] [-9.98049024e-01 -6.23434132e-02 3.38290726e-03 -7.02277206e+01] [-3.38875988e-03 -1.18591615e-05 -9.99994258e-01 2.25618373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.09 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.90, Y:-70.34, Z:2.26 [[ 1.39618410e-01 -9.90205293e-01 -4.21586132e-04 8.09045613e+01] [-9.90200558e-01 -1.39619046e-01 3.06204810e-03 -7.03432475e+01] [-3.09091768e-03 -1.00634629e-05 -9.99995223e-01 2.25612014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.12 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.90, Y:-70.47, Z:2.26 [[ 2.16433753e-01 -9.76297146e-01 -5.59097411e-04 8.08979210e+01] [-9.76293794e-01 -2.16434475e-01 2.55832365e-03 -7.04692223e+01] [-2.61869203e-03 -7.86425617e-06 -9.99996571e-01 2.25616003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.15 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.90, Y:-70.59, Z:2.26 [[ 2.92389800e-01 -9.56299034e-01 -6.01383655e-04 8.08991925e+01] [-9.56296971e-01 -2.92390418e-01 1.98638554e-03 -7.05935815e+01] [-2.07541739e-03 -5.69750244e-06 -9.99997846e-01 2.25655352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.18 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.91, Y:-70.71, Z:2.26 [[ 3.65472582e-01 -9.30821801e-01 -7.53350360e-04 8.09106224e+01] [-9.30819791e-01 -3.65473358e-01 1.93444217e-03 -7.07126564e+01] [-2.07595043e-03 -5.75214931e-06 -9.99997845e-01 2.25658025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.21 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.93, Y:-70.83, Z:2.26 [[ 4.37022405e-01 -8.99450435e-01 -5.77337094e-04 8.09300463e+01] [-8.99449650e-01 -4.37022786e-01 1.18782743e-03 -7.08289765e+01] [-1.32070137e-03 1.78445778e-07 -9.99999128e-01 2.25685751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.23999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.95, Y:-70.94, Z:2.26 [[ 5.05688114e-01 -8.62715902e-01 -8.96190841e-04 8.09547282e+01] [-8.62714528e-01 -5.05688908e-01 1.54005071e-03 -7.09366112e+01] [-1.78182000e-03 -5.62848070e-06 -9.99998413e-01 2.25706459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.26999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.99, Y:-71.05, Z:2.26 [[ 5.71242066e-01 -8.20780861e-01 -1.13140846e-03 8.09934699e+01] [-8.20779219e-01 -5.71243186e-01 1.64199877e-03 -7.10516179e+01] [-1.99403054e-03 -9.34222357e-06 -9.99998012e-01 2.25747939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.29999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.03, Y:-71.16, Z:2.26 [[ 6.33940889e-01 -7.73380003e-01 -1.52316242e-03 8.10348590e+01] [-7.73377702e-01 -6.33942718e-01 1.88694225e-03 -7.11565837e+01] [-2.42492113e-03 -1.82299997e-05 -9.99997060e-01 2.25824621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.32999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.08, Y:-71.26, Z:2.26 [[ 6.91813942e-01 -7.22073035e-01 -2.00023104e-03 8.10839792e+01] [-7.22069907e-01 -6.91816833e-01 2.12571615e-03 -7.12575525e+01] [-2.91871582e-03 -2.62934246e-05 -9.99995740e-01 2.25957076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.35999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.14, Y:-71.35, Z:2.26 [[ 7.45186035e-01 -6.66851966e-01 -2.49578079e-03 8.11375037e+01] [-6.66848078e-01 -7.45190213e-01 2.27738612e-03 -7.13495449e+01] [-3.37851084e-03 -3.27697106e-05 -9.99994292e-01 2.26051941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.39 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.13, Y:-71.35, Z:2.26 [[ 7.94941658e-01 -6.06676884e-01 -3.30454579e-03 8.11349546e+01] [-6.06671415e-01 -7.94948525e-01 2.57618497e-03 -7.13526737e+01] [-4.18985567e-03 -4.31432759e-05 -9.99991222e-01 2.26170254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.42 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.13, Y:-71.35, Z:2.26 [[ 8.39496295e-01 -5.43350897e-01 -3.97146743e-03 8.11330666e+01] [-5.43344550e-01 -8.39505688e-01 2.62672514e-03 -7.13549682e+01] [-4.76130296e-03 -4.72508396e-05 -9.99988664e-01 2.26230572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.45 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.13, Y:-71.36, Z:2.26 [[ 8.78163801e-01 -4.78338461e-01 -4.54488591e-03 8.11318053e+01] [-4.78331823e-01 -8.78175561e-01 2.52028626e-03 -7.13557226e+01] [-5.19675758e-03 -3.92606037e-05 -9.99986496e-01 2.26241316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.48 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.13, Y:-71.36, Z:2.26 [[ 9.12125180e-01 -4.09886040e-01 -4.59237538e-03 8.11289228e+01] [-4.09880688e-01 -9.12136740e-01 2.09496468e-03 -7.13596317e+01] [-5.04757108e-03 -2.85440557e-05 -9.99987261e-01 2.26169238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.51 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.12, Y:-71.36, Z:2.26 [[ 9.40639632e-01 -3.39375042e-01 -4.65440113e-03 8.11246476e+01] [-3.39370798e-01 -9.40651147e-01 1.69751563e-03 -7.13628824e+01] [-4.95426220e-03 -1.71826565e-05 -9.99987727e-01 2.26125953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.54 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.12, Y:-71.36, Z:2.26 [[ 9.63059000e-01 -2.69269925e-01 -3.32722400e-03 8.11222704e+01] [-2.69268347e-01 -9.63064747e-01 9.21877952e-04 -7.13649931e+01] [-3.45256615e-03 8.09324690e-06 -9.99994040e-01 2.26042866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.12, Y:-71.37, Z:2.26 [[ 9.80783387e-01 -1.95084134e-01 -2.47570749e-03 8.11177097e+01] [-1.95083550e-01 -9.80786511e-01 4.77452385e-04 -7.13686176e+01] [-2.52128390e-03 1.46924403e-05 -9.99996821e-01 2.25973320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.6 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.11, Y:-71.37, Z:2.26 [[ 9.92845067e-01 -1.19394983e-01 -1.87372097e-03 8.11117625e+01] [-1.19394804e-01 -9.92846835e-01 2.07595844e-04 -7.13716465e+01] [-1.88510384e-03 1.76020374e-05 -9.99998223e-01 2.25965700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.63 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.10, Y:-71.37, Z:2.26 [[ 9.99073499e-01 -4.30086596e-02 -1.54874952e-03 8.11044558e+01] [-4.30086381e-02 -9.99074699e-01 4.72065814e-05 -7.13738682e+01] [-1.54934675e-03 1.94467631e-05 -9.99998800e-01 2.25983478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.66 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.10, Y:-71.38, Z:2.26 [[ 9.99439357e-01 3.34660268e-02 -9.98049100e-04 8.10985600e+01] [ 3.34659910e-02 -9.99439855e-01 -5.25112594e-05 -7.13778083e+01] [-9.99247391e-04 1.90811172e-05 -9.99999501e-01 2.25977202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.69 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.09, Y:-71.38, Z:2.26 [[ 9.93817401e-01 1.11026653e-01 -2.34435065e-04 8.10919858e+01] [ 1.11026646e-01 -9.93817429e-01 -4.10508356e-05 -7.13830760e+01] [-2.37543391e-04 1.47684958e-05 -9.99999972e-01 2.25917423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.72 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.09, Y:-71.39, Z:2.26 [[ 9.82112400e-01 1.88295591e-01 6.94086275e-05 8.10866413e+01] [ 1.88295592e-01 -9.82112402e-01 3.21617175e-07 -7.13885259e+01] [ 6.82276330e-05 1.27534744e-05 -9.99999998e-01 2.25844819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.08, Y:-71.40, Z:2.26 [[ 9.64305999e-01 2.64790031e-01 -4.24051749e-04 8.10834957e+01] [ 2.64789998e-01 -9.64306092e-01 -1.33045495e-04 -7.14005727e+01] [-4.44144806e-04 1.60119073e-05 -9.99999901e-01 2.25892652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.78 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.08, Y:-71.41, Z:2.26 [[ 9.40481703e-01 3.39842489e-01 -1.11735143e-03 8.10822029e+01] [ 3.39842224e-01 -9.40482367e-01 -4.25307119e-04 -7.14131032e+01] [-1.19538674e-03 2.02703704e-05 -9.99999285e-01 2.25973999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.81 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.08, Y:-71.43, Z:2.26 [[ 9.10781701e-01 4.12885782e-01 -1.42311406e-03 8.10815928e+01] [ 4.12885240e-01 -9.10782812e-01 -6.68960678e-04 -7.14251959e+01] [-1.57235218e-03 2.16943516e-05 -9.99998764e-01 2.26015157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.84 meters Centerline goodness [0,1] 0.9999777935690176 Centerline is valid? [True, True] Translation: X:81.08, Y:-71.44, Z:2.26 [[ 8.75398815e-01 4.83398621e-01 -1.63960911e-03 8.10804557e+01] [ 4.83397725e-01 -8.75400350e-01 -9.30901392e-04 -7.14366420e+01] [-1.88531084e-03 2.23266607e-05 -9.99998223e-01 2.26027643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.87 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.08, Y:-71.45, Z:2.26 [[ 8.34472887e-01 5.51047220e-01 -1.40088370e-03 8.10812763e+01] [ 5.51046403e-01 -8.34474062e-01 -9.49234173e-04 -7.14488337e+01] [-1.69207396e-03 2.01582588e-05 -9.99998568e-01 2.26041623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.9 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.08, Y:-71.46, Z:2.26 [[ 7.88545299e-01 6.14975107e-01 -1.38876818e-03 8.10820807e+01] [ 6.14974109e-01 -7.88546522e-01 -1.10827865e-03 -7.14604335e+01] [-1.77667210e-03 1.98714428e-05 -9.99998422e-01 2.26018686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.93 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.09, Y:-71.47, Z:2.26 [[ 7.36621919e-01 6.76303135e-01 -1.48939550e-03 8.10853380e+01] [ 6.76301706e-01 -7.36623424e-01 -1.39022402e-03 -7.14731955e+01] [-2.03733648e-03 1.67887706e-05 -9.99997924e-01 2.26082083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.96 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.09, Y:-71.49, Z:2.26 [[ 6.80745855e-01 7.32518301e-01 -1.42113584e-03 8.10889105e+01] [ 7.32516658e-01 -6.80747338e-01 -1.55125510e-03 -7.14851759e+01] [-2.10375719e-03 1.50048024e-05 -9.99997787e-01 2.26072990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.98999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.09, Y:-71.50, Z:2.26 [[ 6.20209286e-01 7.84435685e-01 -1.04772135e-03 8.10926234e+01] [ 7.84434533e-01 -6.20210171e-01 -1.34479438e-03 -7.14967154e+01] [-1.70471214e-03 1.21851547e-05 -9.99998547e-01 2.26058106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.01999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.10, Y:-71.51, Z:2.26 [[ 5.55723565e-01 8.31366318e-01 -1.16855820e-03 8.10985752e+01] [ 8.31364445e-01 -5.55724793e-01 -1.76441109e-03 -7.15080551e+01] [-2.11626871e-03 9.02707846e-06 -9.99997761e-01 2.26056737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.04999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.11, Y:-71.52, Z:2.26 [[ 4.87027554e-01 8.73385889e-01 -1.11798235e-03 8.11062604e+01] [ 8.73383571e-01 -4.87028838e-01 -2.01242059e-03 -7.15185095e+01] [-2.30210939e-03 3.67686043e-06 -9.99997350e-01 2.26014709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.07999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.11, Y:-71.53, Z:2.26 [[ 4.16353190e-01 9.09202550e-01 -8.62439682e-04 8.11133500e+01] [ 9.09200586e-01 -4.16354083e-01 -1.89016483e-03 -7.15284476e+01] [-2.07762297e-03 2.84549392e-06 -9.99997842e-01 2.25956443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.10999999999999 meters Centerline goodness [0,1] 0.9999779658029262 Centerline is valid? [True, True] Translation: X:81.12, Y:-71.54, Z:2.26 [[ 3.43408805e-01 9.39185814e-01 -6.32647767e-04 8.11206862e+01] [ 9.39184204e-01 -3.43409388e-01 -1.73884355e-03 -7.15380250e+01] [-1.85035437e-03 2.96139617e-06 -9.99998288e-01 2.25938829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.14 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.13, Y:-71.55, Z:2.26 [[ 2.68907635e-01 9.63165863e-01 -4.50978781e-04 8.11292556e+01] [ 9.63164484e-01 -2.68908013e-01 -1.63008043e-03 -7.15459502e+01] [-1.69130964e-03 3.97432879e-06 -9.99998570e-01 2.25931108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.17 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.14, Y:-71.55, Z:2.26 [[ 1.93519758e-01 9.81096318e-01 -3.43084073e-04 8.11357975e+01] [ 9.81094730e-01 -1.93520062e-01 -1.76540044e-03 -7.15525254e+01] [-1.79842152e-03 5.04188934e-06 -9.99998383e-01 2.25953301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.2 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.14, Y:-71.56, Z:2.26 [[ 1.17675508e-01 9.93052079e-01 -2.06631735e-04 8.11438647e+01] [ 9.93050430e-01 -1.17675689e-01 -1.80974053e-03 -7.15592055e+01] [-1.82148212e-03 7.76640325e-06 -9.99998341e-01 2.25969632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.23 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.15, Y:-71.57, Z:2.26 [[ 4.09387675e-02 9.99161654e-01 -8.06006448e-05 8.11505803e+01] [ 9.99159212e-01 -4.09388456e-02 -2.20896498e-03 -7.15659703e+01] [-2.21041280e-03 9.89942711e-06 -9.99997557e-01 2.25954868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.26 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.16, Y:-71.57, Z:2.26 [[-3.37154811e-02 9.99431468e-01 8.55224120e-05 8.11574216e+01] [ 9.99429447e-01 3.37155849e-02 -2.00992705e-03 -7.15714591e+01] [-2.01166778e-03 1.77079593e-05 -9.99997976e-01 2.25906077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.29 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.16, Y:-71.58, Z:2.26 [[-1.09938924e-01 9.93938315e-01 2.44535829e-04 8.11648564e+01] [ 9.93936275e-01 1.09939194e-01 -2.01371121e-03 -7.15779088e+01] [-2.02838880e-03 2.16677855e-05 -9.99997943e-01 2.25908135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.32 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.17, Y:-71.58, Z:2.26 [[-1.85737653e-01 9.82599286e-01 4.08715378e-04 8.11707811e+01] [ 9.82597198e-01 1.85738101e-01 -2.02579696e-03 -7.15839632e+01] [-2.06646066e-03 2.53358127e-05 -9.99997865e-01 2.25943082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.35 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.18, Y:-71.59, Z:2.26 [[-2.60609236e-01 9.65444233e-01 5.09699384e-04 8.11826177e+01] [ 9.65442583e-01 2.60609733e-01 -1.78486335e-03 -7.15867706e+01] [-1.85601865e-03 2.69336153e-05 -9.99998277e-01 2.25975413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.38 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.20, Y:-71.59, Z:2.26 [[-3.33329618e-01 9.42810219e-01 5.06475467e-04 8.11955151e+01] [ 9.42809250e-01 3.33330001e-01 -1.35182228e-03 -7.15886946e+01] [-1.44333533e-03 2.69073514e-05 -9.99998958e-01 2.25977668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.41 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.21, Y:-71.59, Z:2.26 [[-4.05502193e-01 9.14093822e-01 6.74676479e-04 8.12073463e+01] [ 9.14092676e-01 4.05502753e-01 -1.44793349e-03 -7.15911205e+01] [-1.59713023e-03 2.95766220e-05 -9.99998724e-01 2.26015072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.44 meters Centerline goodness [0,1] 0.9999782044855169 Centerline is valid? [True, True] Translation: X:81.22, Y:-71.59, Z:2.26 [[-4.75795750e-01 8.79555264e-01 9.70834703e-04 8.12174798e+01] [ 8.79553575e-01 4.75796739e-01 -1.72370492e-03 -7.15933734e+01] [-1.97801372e-03 3.37696586e-05 -9.99998043e-01 2.26034974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.47 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.23, Y:-71.59, Z:2.26 [[-5.43827512e-01 8.39195819e-01 1.41913377e-03 8.12287580e+01] [ 8.39193143e-01 5.43829363e-01 -2.11982461e-03 -7.15920233e+01] [-2.55071456e-03 3.81083876e-05 -9.99996746e-01 2.26136607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.24, Y:-71.59, Z:2.26 [[-6.08861468e-01 7.93274069e-01 1.99099914e-03 8.12389292e+01] [ 7.93270046e-01 6.08864722e-01 -2.52664191e-03 -7.15908961e+01] [-3.21656865e-03 4.10250749e-05 -9.99994826e-01 2.26219411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.53 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.25, Y:-71.59, Z:2.26 [[-6.70432724e-01 7.41964964e-01 2.82054242e-03 8.12503170e+01] [ 7.41958661e-01 6.70438656e-01 -3.05862746e-03 -7.15871322e+01] [-4.16039508e-03 4.21219384e-05 -9.99991345e-01 2.26279920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.26, Y:-71.58, Z:2.27 [[-7.29577778e-01 6.83885321e-01 4.13931363e-03 8.12620419e+01] [ 6.83874524e-01 7.29589520e-01 -3.84291241e-03 -7.15828607e+01] [-5.64811123e-03 2.70676380e-05 -9.99984049e-01 2.26502679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.59 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.29, Y:-71.56, Z:2.27 [[-7.77667204e-01 6.28653299e-01 5.36175824e-03 8.12853354e+01] [ 6.28638469e-01 7.77685688e-01 -4.31817785e-03 -7.15645921e+01] [-6.88439939e-03 1.25021968e-05 -9.99976302e-01 2.26570601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.62 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.31, Y:-71.55, Z:2.27 [[-8.20203834e-01 5.72043443e-01 5.65419638e-03 8.13053137e+01] [ 5.72029956e-01 8.20223323e-01 -3.92816575e-03 -7.15452057e+01] [-6.88478520e-03 1.24730940e-05 -9.99976300e-01 2.26570981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.65 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.32, Y:-71.52, Z:2.27 [[-8.59967104e-01 5.10304031e-01 6.81005356e-03 8.13190704e+01] [ 5.10287957e-01 8.59994068e-01 -4.05020215e-03 -7.15198518e+01] [-7.92344014e-03 -7.95229655e-06 -9.99968609e-01 2.26620119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.68 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.33, Y:-71.49, Z:2.27 [[-8.95120386e-01 4.45765238e-01 7.26959371e-03 8.13330283e+01] [ 4.45750266e-01 8.95149905e-01 -3.65350938e-03 -7.14942938e+01] [-8.13598359e-03 -2.99073971e-05 -9.99966902e-01 2.26746482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.71 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.35, Y:-71.47, Z:2.27 [[-9.25471397e-01 3.78742743e-01 7.52513019e-03 8.13492377e+01] [ 3.78729766e-01 9.25501989e-01 -3.13563039e-03 -7.14706851e+01] [-8.15212022e-03 -5.19454486e-05 -9.99966770e-01 2.26711210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.73999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.64, Y:-70.78, Z:1.41 [[-8.88582342e-01 -4.58670234e-01 6.56031284e-03 8.16416657e+01] [ 4.58657693e-01 -8.88606559e-01 -3.39180565e-03 -7.07814939e+01] [ 7.38525731e-03 -4.96065502e-06 9.99972729e-01 1.41277335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.76999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.31, Y:-71.45, Z:2.27 [[-9.29706539e-01 3.68253304e-01 5.93768347e-03 8.13083051e+01] [ 3.68245194e-01 9.29725495e-01 -2.44560533e-03 -7.14503207e+01] [-6.42101795e-03 -8.71718633e-05 -9.99979381e-01 2.26658490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.79999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.32, Y:-71.42, Z:2.27 [[-9.54038766e-01 2.99637655e-01 5.22581607e-03 8.13194398e+01] [ 2.99632677e-01 9.54053074e-01 -1.72928513e-03 -7.14249105e+01] [-5.50386483e-03 -8.39797918e-05 -9.99984850e-01 2.26609685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.82999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.33, Y:-71.40, Z:2.27 [[-9.73537453e-01 2.28494707e-01 3.87255530e-03 8.13278465e+01] [ 2.28492616e-01 9.73545153e-01 -9.79919060e-04 -7.13987926e+01] [-3.99401376e-03 -6.91376125e-05 -9.99992022e-01 2.26528378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.85999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.34, Y:-71.37, Z:2.27 [[-9.87482800e-01 1.57684008e-01 3.67074480e-03 8.13351833e+01] [ 1.57682661e-01 9.87489620e-01 -6.55361952e-04 -7.13719417e+01] [-3.72816249e-03 -6.83458486e-05 -9.99993048e-01 2.26518795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.34, Y:-71.35, Z:2.26 [[-9.96275667e-01 8.61765493e-02 2.89798228e-03 8.13355838e+01] [ 8.61760267e-02 9.96279880e-01 -3.04975095e-04 -7.13466210e+01] [-2.91348313e-03 -5.41026680e-05 -9.99995754e-01 2.26472283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.92 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.32, Y:-71.32, Z:2.26 [[-9.99896075e-01 1.41903117e-02 2.54427189e-03 8.13176401e+01] [ 1.41901422e-02 9.99899311e-01 -8.46466797e-05 -7.13179698e+01] [-2.54521688e-03 -4.85343029e-05 -9.99996760e-01 2.26472193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.95 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.34, Y:-71.29, Z:2.27 [[-9.98319145e-01 -5.79051335e-02 2.42494625e-03 8.13382543e+01] [-5.79050793e-02 9.98322089e-01 9.25913612e-05 -7.12908349e+01] [-2.42623892e-03 -4.79809764e-05 -9.99997056e-01 2.26523410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.98 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.33, Y:-71.27, Z:2.27 [[-9.91484208e-01 -1.30191236e-01 3.05093014e-03 8.13302380e+01] [-1.30190831e-01 9.91488899e-01 3.32103046e-04 -7.12655547e+01] [-3.06820027e-03 -6.79282038e-05 -9.99995291e-01 2.26657745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.01 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.32, Y:-71.24, Z:2.27 [[-9.79658062e-01 -2.00644765e-01 3.42918134e-03 8.13243720e+01] [-2.00643817e-01 9.79664061e-01 6.21817488e-04 -7.12399351e+01] [-3.48421014e-03 -7.88755180e-05 -9.99993927e-01 2.26702448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.04 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.19, Y:-70.50, Z:1.41 [[-9.96558981e-01 8.27914739e-02 3.97108002e-03 8.11863855e+01] [-8.27903113e-02 -9.96566885e-01 4.56537439e-04 -7.05025392e+01] [ 3.99524425e-03 1.26199534e-04 9.99992011e-01 1.41316886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.19, Y:-71.27, Z:2.27 [[-9.78626126e-01 -2.05602095e-01 4.32250359e-03 8.11912509e+01] [-2.05600523e-01 9.78635667e-01 8.09662254e-04 -7.12683953e+01] [-4.39662444e-03 -9.63523639e-05 -9.99990330e-01 2.26708119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.1 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.18, Y:-71.25, Z:2.27 [[-9.61378693e-01 -2.75198439e-01 4.10221881e-03 8.11777761e+01] [-2.75196327e-01 9.61387441e-01 1.08171882e-03 -7.12459164e+01] [-4.24150897e-03 -8.89741230e-05 -9.99991001e-01 2.26746170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.13 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.13, Y:-71.23, Z:2.27 [[-9.39322928e-01 -3.43006725e-01 4.33861803e-03 8.11339235e+01] [-3.43003510e-01 9.39332943e-01 1.48795192e-03 -7.12340564e+01] [-4.58578436e-03 -9.04938631e-05 -9.99989481e-01 2.26838676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.16 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.08, Y:-71.23, Z:2.27 [[-9.12073387e-01 -4.10000229e-01 4.68496873e-03 8.10819885e+01] [-4.09995345e-01 9.12085415e-01 2.00324675e-03 -7.12274964e+01] [-5.09442327e-03 -9.37073248e-05 -9.99987019e-01 2.26927194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.19 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.01, Y:-71.24, Z:2.27 [[-8.81443124e-01 -4.72262753e-01 5.09027737e-03 8.10080354e+01] [-4.72255397e-01 8.81457818e-01 2.63718692e-03 -7.12397575e+01] [-5.73230994e-03 -7.93806794e-05 -9.99983567e-01 2.27079924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.22 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.94, Y:-71.25, Z:2.27 [[-8.44807767e-01 -5.35050294e-01 4.58471807e-03 8.09411875e+01] [-5.35042803e-01 8.44820205e-01 2.83198230e-03 -7.12519084e+01] [-5.38851542e-03 -6.05397687e-05 -9.99985480e-01 2.27061236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.25 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.86, Y:-71.28, Z:2.27 [[-8.03804746e-01 -5.94877028e-01 4.38769387e-03 8.08592619e+01] [-5.94868477e-01 8.03816720e-01 3.18990420e-03 -7.12784784e+01] [-5.42450243e-03 -4.60406335e-05 -9.99985286e-01 2.27134380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.28 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.78, Y:-71.32, Z:2.27 [[-7.59571537e-01 -6.50408303e-01 4.48563579e-03 8.07819404e+01] [-6.50397129e-01 7.59584781e-01 3.81241229e-03 -7.13170293e+01] [-5.88684529e-03 -2.16447774e-05 -9.99982672e-01 2.27087776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.31 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.70, Y:-71.36, Z:2.27 [[-7.09341984e-01 -7.04852568e-01 4.09964135e-03 8.06950532e+01] [-7.04840866e-01 7.09353831e-01 4.06161677e-03 -7.13649993e+01] [-5.77093731e-03 -8.51946497e-06 -9.99983348e-01 2.27022011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.34 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.61, Y:-71.42, Z:2.27 [[-6.55018699e-01 -7.55604740e-01 3.46142449e-03 8.06079125e+01] [-7.55594154e-01 6.55027844e-01 3.99977393e-03 -7.14230867e+01] [-5.28957756e-03 4.49460465e-06 -9.99986010e-01 2.26999334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.37 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.53, Y:-71.48, Z:2.27 [[-5.96042630e-01 -8.02946725e-01 3.12092870e-03 8.05272433e+01] [-8.02935625e-01 5.96050800e-01 4.22196192e-03 -7.14835681e+01] [-5.25024254e-03 1.05644513e-05 -9.99986217e-01 2.26962602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.4 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.44, Y:-71.56, Z:2.27 [[-5.31648862e-01 -8.46962398e-01 2.04530101e-03 8.04420774e+01] [-8.46956083e-01 5.31652796e-01 3.27085286e-03 -7.15581588e+01] [-3.85767938e-03 6.66506975e-06 -9.99992559e-01 2.26933662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.43 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.36, Y:-71.64, Z:2.27 [[-4.63605632e-01 -8.86040029e-01 1.69826570e-03 8.03628266e+01] [-8.86034070e-01 4.63608743e-01 3.24966188e-03 -7.16389805e+01] [-3.66666134e-03 1.84028608e-06 -9.99993278e-01 2.26893246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.46 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.29, Y:-71.73, Z:2.27 [[-3.92144500e-01 -9.19902607e-01 1.37286276e-03 8.02883553e+01] [-9.19897008e-01 3.92146903e-01 3.20964374e-03 -7.17286878e+01] [-3.49092353e-03 -4.24819958e-06 -9.99993907e-01 2.26894193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.48999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.22, Y:-71.83, Z:2.27 [[-3.17447865e-01 -9.48274407e-01 1.58183291e-03 8.02187395e+01] [-9.48262998e-01 3.17451805e-01 4.65160757e-03 -7.18261968e+01] [-4.91315612e-03 -2.33507238e-05 -9.99987930e-01 2.27033861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.51999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.16, Y:-71.93, Z:2.27 [[-2.41819034e-01 -9.70320423e-01 1.35326607e-03 8.01582486e+01] [-9.70306022e-01 2.41822818e-01 5.28665058e-03 -7.19293950e+01] [-5.45699564e-03 -3.46694861e-05 -9.99985110e-01 2.27080231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.54999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.11, Y:-72.04, Z:2.27 [[-1.65035536e-01 -9.86287138e-01 9.76680658e-04 8.01065521e+01] [-9.86271341e-01 1.65038421e-01 5.58217525e-03 -7.20391060e+01] [-5.66681748e-03 -4.20148563e-05 -9.99983943e-01 2.27047903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.57999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.06, Y:-72.16, Z:2.27 [[-8.65589582e-02 -9.96246598e-01 5.12163491e-04 8.00602687e+01] [-9.96232273e-01 8.65604602e-02 5.34272767e-03 -7.21563072e+01] [-5.36700738e-03 -4.77728573e-05 -9.99985596e-01 2.27178532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.60999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.03, Y:-72.26, Z:2.27 [[-8.71200600e-03 -9.99962046e-01 9.18159814e-05 8.00257799e+01] [-9.99949326e-01 8.71235830e-03 5.04376454e-03 -7.22622048e+01] [-5.04437304e-03 -4.78700218e-05 -9.99987276e-01 2.27149008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.64 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.00, Y:-72.38, Z:2.27 [[ 6.94949812e-02 -9.97582272e-01 -2.40431855e-04 7.99989154e+01] [-9.97574241e-01 -6.94953866e-02 4.00309836e-03 -7.23829804e+01] [-4.01012886e-03 -3.83466198e-05 -9.99991959e-01 2.27155982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.67 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.98, Y:-72.51, Z:2.27 [[ 1.47524028e-01 -9.89058324e-01 -5.41492445e-04 7.99825689e+01] [-9.89050593e-01 -1.47525016e-01 3.91085966e-03 -7.25085359e+01] [-3.94795198e-03 -4.13823475e-05 -9.99992206e-01 2.27138668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.7 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.98, Y:-72.62, Z:2.27 [[ 2.24457423e-01 -9.74483589e-01 -7.74757910e-04 7.99753361e+01] [-9.74477156e-01 -2.24458757e-01 3.54106128e-03 -7.26224830e+01] [-3.62460730e-03 -3.98336060e-05 -9.99993430e-01 2.27114229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.73 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.98, Y:-72.74, Z:2.27 [[ 3.01227362e-01 -9.53551625e-01 -1.17239974e-03 7.99760432e+01] [-9.53543682e-01 -3.01229638e-01 3.89252606e-03 -7.27414173e+01] [-4.06488610e-03 -5.46009917e-05 -9.99991737e-01 2.27127883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.76 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.99, Y:-72.88, Z:2.27 [[ 3.75049092e-01 -9.27003576e-01 -1.59619459e-03 7.99924871e+01] [-9.26994430e-01 -3.75052483e-01 4.11850338e-03 -7.28768001e+01] [-4.41652411e-03 -6.49774617e-05 -9.99990245e-01 2.27196317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.79 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.01, Y:-72.98, Z:2.27 [[ 4.46255257e-01 -8.94903451e-01 -2.01475791e-03 8.00067149e+01] [-8.94893583e-01 -4.46259799e-01 4.20312371e-03 -7.29803588e+01] [-4.66049537e-03 -7.26721293e-05 -9.99989137e-01 2.27263443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.82 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.04, Y:-73.09, Z:2.27 [[ 5.15024785e-01 -8.57172444e-01 -2.20728255e-03 8.00350041e+01] [-8.57163956e-01 -5.15029510e-01 3.81535851e-03 -7.30907832e+01] [-4.40723583e-03 -7.30011524e-05 -9.99990285e-01 2.27255816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.85 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.07, Y:-73.20, Z:2.27 [[ 5.79846022e-01 -8.14722530e-01 -2.40638029e-03 8.00741575e+01] [-8.14714999e-01 -5.79851011e-01 3.50361844e-03 -7.32046526e+01] [-4.24981892e-03 -7.10450948e-05 -9.99990967e-01 2.27248742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.88 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.12, Y:-73.31, Z:2.27 [[ 6.40812729e-01 -7.67692438e-01 -2.71425117e-03 8.01164127e+01] [-7.67685070e-01 -6.40818473e-01 3.36408544e-03 -7.33064074e+01] [-4.32192524e-03 -7.20586690e-05 -9.99990658e-01 2.27256915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.91 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.18, Y:-73.42, Z:2.27 [[ 6.97709896e-01 -7.16373516e-01 -3.14423243e-03 8.01761008e+01] [-7.16365749e-01 -6.97716977e-01 3.33676853e-03 -7.34157847e+01] [-4.58415695e-03 -7.56760019e-05 -9.99989490e-01 2.27297997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.94 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.23, Y:-73.50, Z:2.27 [[ 7.50411263e-01 -6.60956874e-01 -4.35272822e-03 8.02256457e+01] [-6.60944990e-01 -7.50423881e-01 3.96486991e-03 -7.35030999e+01] [-5.88699922e-03 -9.83691307e-05 -9.99982667e-01 2.27433778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.97 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.22, Y:-73.51, Z:2.27 [[ 7.99695241e-01 -6.00386384e-01 -4.86942039e-03 8.02220026e+01] [-6.00374464e-01 -7.99710060e-01 3.78460379e-03 -7.35096463e+01] [-6.16634906e-03 -1.03053984e-04 -9.99980983e-01 2.27454733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.0 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.22, Y:-73.52, Z:2.27 [[ 8.44065666e-01 -5.36218596e-01 -4.77161698e-03 8.02177377e+01] [-5.36209398e-01 -8.44079148e-01 3.14227190e-03 -7.35163385e+01] [-5.71256703e-03 -9.36979562e-05 -9.99983679e-01 2.27401910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.03 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.21, Y:-73.52, Z:2.27 [[ 8.83180388e-01 -4.69009184e-01 -4.77368454e-03 8.02119508e+01] [-4.69001800e-01 -8.83193285e-01 2.63314640e-03 -7.35220662e+01] [-5.45105598e-03 -8.66766139e-05 -9.99985139e-01 2.27427289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.06 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.21, Y:-73.53, Z:2.27 [[ 9.17031403e-01 -3.98782802e-01 -5.06776844e-03 8.02075254e+01] [-3.98776185e-01 -9.17045402e-01 2.29883262e-03 -7.35272958e+01] [-5.56410866e-03 -8.71963355e-05 -9.99984516e-01 2.27354759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.09 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.20, Y:-73.53, Z:2.27 [[ 9.45324508e-01 -3.26092646e-01 -5.01611366e-03 8.02019716e+01] [-3.26087593e-01 -9.45337812e-01 1.81722223e-03 -7.35329246e+01] [-5.33450472e-03 -8.21722775e-05 -9.99985768e-01 2.27383005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.12 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.20, Y:-73.54, Z:2.27 [[ 9.67931655e-01 -2.51159168e-01 -5.23296539e-03 8.01983974e+01] [-2.51155027e-01 -9.67945797e-01 1.44470896e-03 -7.35390514e+01] [-5.42807875e-03 -8.40939739e-05 -9.99985264e-01 2.27441811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.15 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.19, Y:-73.55, Z:2.28 [[ 9.84753654e-01 -1.73835392e-01 -6.44191906e-03 8.01943869e+01] [-1.73830943e-01 -9.84774718e-01 1.24860108e-03 -7.35460884e+01] [-6.56089009e-03 -1.09759613e-04 -9.99978471e-01 2.27547409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.18 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.19, Y:-73.55, Z:2.28 [[ 9.95404184e-01 -9.54670254e-02 -7.52048244e-03 8.01873441e+01] [-9.54632851e-02 -9.95432584e-01 8.55588481e-04 -7.35530173e+01] [-7.56781376e-03 -1.33726394e-04 -9.99971355e-01 2.27650818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.21 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.18, Y:-73.56, Z:2.28 [[ 9.99819907e-01 -1.66604256e-02 -9.08757635e-03 8.01816467e+01] [-1.66582082e-02 -9.99861191e-01 3.19645893e-04 -7.35607534e+01] [-9.09164035e-03 -1.68205588e-04 -9.99958656e-01 2.27776725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.23999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.18, Y:-73.57, Z:2.28 [[ 9.97972196e-01 6.27660549e-02 -1.05791889e-02 8.01750549e+01] [ 6.27647490e-02 -9.98028245e-01 -4.55730195e-04 -7.35698493e+01] [-1.05869337e-02 -2.09194074e-04 -9.99943935e-01 2.27964058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.26999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.17, Y:-73.58, Z:2.28 [[ 9.89678104e-01 1.42644384e-01 -1.37778689e-02 8.01709018e+01] [ 1.42634850e-01 -9.89773957e-01 -1.67718175e-03 -7.35769214e+01] [-1.38762164e-02 -3.05334212e-04 -9.99903674e-01 2.28253846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.29999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.17, Y:-73.58, Z:2.28 [[ 9.75270996e-01 2.20534805e-01 -1.45218436e-02 8.01672475e+01] [ 2.20515533e-01 -9.75379046e-01 -2.93523092e-03 -7.35832995e+01] [-1.48116225e-02 -3.39646492e-04 -9.99890244e-01 2.28348072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.32999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.16, Y:-73.59, Z:2.28 [[ 9.54920127e-01 2.96484602e-01 -1.49810724e-02 8.01637381e+01] [ 2.96454042e-01 -9.55037565e-01 -4.27211213e-03 -7.35906536e+01] [-1.55741024e-02 -3.61673611e-04 -9.99878651e-01 2.28316713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.35999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.16, Y:-73.60, Z:2.28 [[ 9.28804887e-01 3.70279454e-01 -1.46495053e-02 8.01602578e+01] [ 3.70239514e-01 -9.28920338e-01 -5.45045443e-03 -7.36006958e+01] [-1.56264147e-02 -3.61417002e-04 -9.99877835e-01 2.28367036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.39 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.16, Y:-73.61, Z:2.28 [[ 8.97518272e-01 4.40789485e-01 -1.28678701e-02 8.01567863e+01] [ 4.40749108e-01 -8.97610458e-01 -5.97407151e-03 -7.36054151e+01] [-1.41836427e-02 -3.09663944e-04 -9.99899359e-01 2.28094366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.42 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.16, Y:-73.61, Z:2.28 [[ 8.60856762e-01 5.08713608e-01 -1.16662323e-02 8.01554202e+01] [ 5.08671221e-01 -8.60935763e-01 -6.57268578e-03 -7.36134305e+01] [-1.33874913e-02 -2.76135653e-04 -9.99910345e-01 2.27964246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.45 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.15, Y:-73.62, Z:2.28 [[ 8.19332648e-01 5.73223853e-01 -1.04127563e-02 8.01533847e+01] [ 5.73181235e-01 -8.19398778e-01 -6.99385442e-03 -7.36218937e+01] [-1.25412440e-02 -2.38103278e-04 -9.99921327e-01 2.27958273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.48 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.15, Y:-73.63, Z:2.28 [[ 7.73222218e-01 6.34078475e-01 -8.47875016e-03 8.01510048e+01] [ 6.34042928e-01 -7.73268682e-01 -6.71650877e-03 -7.36282174e+01] [-1.08151456e-02 -1.82537762e-04 -9.99941498e-01 2.27786360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.51 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.15, Y:-73.63, Z:2.27 [[ 7.24120622e-01 6.89650581e-01 -5.60366359e-03 8.01481804e+01] [ 6.89630933e-01 -7.24142298e-01 -5.20658939e-03 -7.36332333e+01] [-7.64857723e-03 -9.42610011e-05 -9.99970745e-01 2.27457446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.54 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.15, Y:-73.64, Z:2.27 [[ 6.67900253e-01 7.44232779e-01 -5.17908877e-03 8.01487017e+01] [ 7.44211492e-01 -6.67920326e-01 -5.62964790e-03 -7.36432233e+01] [-7.64898716e-03 -9.42941339e-05 -9.99970742e-01 2.27457812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.15, Y:-73.65, Z:2.27 [[ 6.09201633e-01 7.93007192e-01 -3.60051569e-03 8.01480913e+01] [ 7.92993894e-01 -6.09212270e-01 -4.59271827e-03 -7.36516366e+01] [-5.83553696e-03 -5.72954872e-05 -9.99982971e-01 2.27293608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.6 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.15, Y:-73.66, Z:2.27 [[ 5.47042614e-01 8.37100960e-01 -2.52192031e-03 8.01475106e+01] [ 8.37092339e-01 -5.47048427e-01 -3.79934393e-03 -7.36608739e+01] [-4.56004699e-03 -3.26771312e-05 -9.99989602e-01 2.27088554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.63 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.15, Y:-73.67, Z:2.27 [[ 4.81203695e-01 8.76606674e-01 -1.93473961e-03 8.01480119e+01] [ 8.76599761e-01 -4.81207584e-01 -3.48131777e-03 -7.36691464e+01] [-3.98275777e-03 -2.07693032e-05 -9.99992069e-01 2.26982742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.66 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.15, Y:-73.68, Z:2.27 [[ 4.13631235e-01 9.10442560e-01 -1.88325502e-03 8.01493728e+01] [ 9.10433258e-01 -4.13635522e-01 -4.11563484e-03 -7.36781184e+01] [-4.52603029e-03 -1.22228825e-05 -9.99989757e-01 2.27012482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.69 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.15, Y:-73.69, Z:2.27 [[ 3.42185203e-01 9.39631213e-01 -1.57183168e-03 8.01536307e+01] [ 9.39621395e-01 -3.42188813e-01 -4.29533961e-03 -7.36879631e+01] [-4.57389838e-03 -7.12502581e-06 -9.99989540e-01 2.27085739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.72 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.16, Y:-73.70, Z:2.27 [[ 2.68524096e-01 9.63272144e-01 -1.25966236e-03 8.01570911e+01] [ 9.63261590e-01 -2.68527051e-01 -4.50920262e-03 -7.36984887e+01] [-4.68184270e-03 -2.55480737e-06 -9.99989040e-01 2.27117434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.16, Y:-73.71, Z:2.27 [[ 1.93147874e-01 9.81169169e-01 -9.79759469e-04 8.01607252e+01] [ 9.81156514e-01 -1.93150359e-01 -4.98333216e-03 -7.37086956e+01] [-5.07873277e-03 1.22262590e-06 -9.99987103e-01 2.27164377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.78 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.17, Y:-73.72, Z:2.27 [[ 1.17938801e-01 9.93020530e-01 -8.16020077e-04 8.01656628e+01] [ 9.92995972e-01 -1.17941623e-01 -6.98380573e-03 -7.37178889e+01] [-7.03130520e-03 1.33570241e-05 -9.99975280e-01 2.27290776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.81 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.17, Y:-73.73, Z:2.27 [[ 4.14197711e-02 9.99141783e-01 -3.15198899e-04 8.01724970e+01] [ 9.99107594e-01 -4.14209613e-02 -8.26560002e-03 -7.37259742e+01] [-8.27156218e-03 2.74416474e-05 -9.99965790e-01 2.27396085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.84 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.18, Y:-73.73, Z:2.28 [[-3.48500762e-02 9.99392479e-01 3.80653863e-04 8.01796403e+01] [ 9.99347560e-01 3.48521189e-02 -9.47546505e-03 -7.37335506e+01] [-9.48297510e-03 5.01848296e-05 -9.99955034e-01 2.27518751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.87 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.19, Y:-73.74, Z:2.28 [[-1.07774057e-01 9.94174674e-01 1.21267763e-03 8.01855759e+01] [ 9.94122510e-01 1.07780825e-01 -1.01847805e-02 -7.37409045e+01] [-1.02561543e-02 1.07895016e-04 -9.99947398e-01 2.27557354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.9 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.19, Y:-73.75, Z:2.27 [[-1.82226071e-01 9.83254808e-01 1.90825121e-03 8.01944314e+01] [ 9.83208305e-01 1.82236013e-01 -9.56372978e-03 -7.37481844e+01] [-9.75133538e-03 1.33447531e-04 -9.99952446e-01 2.27470611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.93 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.20, Y:-73.76, Z:2.27 [[-2.55684857e-01 9.66757425e-01 2.30970581e-03 8.02028325e+01] [ 9.66722909e-01 2.55695248e-01 -8.17046512e-03 -7.37563741e+01] [-8.48943862e-03 1.43781321e-04 -9.99963954e-01 2.27394619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.96 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.21, Y:-73.76, Z:2.27 [[-3.24620649e-01 9.45842124e-01 2.02755853e-03 8.02092569e+01] [ 9.45826264e-01 3.24626951e-01 -5.47920150e-03 -7.37638593e+01] [-5.84065972e-03 1.39056169e-04 -9.99982934e-01 2.27147602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.98999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.22, Y:-73.77, Z:2.27 [[-3.95372318e-01 9.18518708e-01 2.02825804e-03 8.02204405e+01] [ 9.18508248e-01 3.95377499e-01 -4.38543495e-03 -7.37693310e+01] [-4.83003163e-03 1.29092155e-04 -9.99988327e-01 2.27019522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.01999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.23, Y:-73.77, Z:2.27 [[-4.64479507e-01 8.85581976e-01 1.83070019e-03 8.02322129e+01] [ 8.85575998e-01 4.64483102e-01 -3.25588797e-03 -7.37736047e+01] [-3.73368501e-03 1.08930913e-04 -9.99993024e-01 2.26927639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.04999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.25, Y:-73.78, Z:2.27 [[-5.31673205e-01 8.46946865e-01 2.14736021e-03 8.02453094e+01] [ 8.46940816e-01 5.31677529e-01 -3.20318632e-03 -7.37769991e+01] [-3.85463178e-03 1.15638671e-04 -9.99992564e-01 2.26968069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.07999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.26, Y:-73.78, Z:2.27 [[-5.97391110e-01 8.01946228e-01 2.47172784e-03 8.02572810e+01] [ 8.01940140e-01 5.97396213e-01 -3.12682640e-03 -7.37805126e+01] [-3.98414749e-03 1.14239480e-04 -9.99992057e-01 2.27018969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.10999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.27, Y:-73.78, Z:2.27 [[-6.59874821e-01 7.51369546e-01 3.00441248e-03 8.02735748e+01] [ 7.51362552e-01 6.59881650e-01 -3.24397868e-03 -7.37776874e+01] [-4.41998345e-03 1.16783178e-04 -9.99990225e-01 2.27007997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.14 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.29, Y:-73.78, Z:2.27 [[-7.18725292e-01 6.95285115e-01 3.54463619e-03 8.02885137e+01] [ 6.95277423e-01 7.18734023e-01 -3.27237952e-03 -7.37755339e+01] [-4.82288741e-03 1.12563592e-04 -9.99988363e-01 2.27065522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.17 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.31, Y:-73.75, Z:2.27 [[-7.70495416e-01 6.37429908e-01 4.46393443e-03 8.03142666e+01] [ 6.37419893e-01 7.70508342e-01 -3.57428136e-03 -7.37510209e+01] [-5.71785256e-03 9.14332052e-05 -9.99983649e-01 2.27124930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.2 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.34, Y:-73.73, Z:2.27 [[-8.15609249e-01 5.78582096e-01 4.93056185e-03 8.03381366e+01] [ 5.78572077e-01 8.15624149e-01 -3.40575727e-03 -7.37299646e+01] [-5.99199549e-03 7.49182839e-05 -9.99982045e-01 2.27207205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.23 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.35, Y:-73.70, Z:2.27 [[-8.57691465e-01 5.14132005e-01 5.79928701e-03 8.03528977e+01] [ 5.14120573e-01 8.57711070e-01 -3.42876757e-03 -7.36991621e+01] [-6.73695181e-03 4.07080759e-05 -9.99977306e-01 2.27345899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.26 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.38, Y:-73.68, Z:2.27 [[-8.93109543e-01 4.49795428e-01 6.27833883e-03 8.03776287e+01] [ 4.49784503e-01 8.93131610e-01 -3.13516575e-03 -7.36784476e+01] [-7.01756608e-03 2.38530580e-05 -9.99975376e-01 2.27361143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.29 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.39, Y:-73.65, Z:2.27 [[-9.23569906e-01 3.83372199e-01 6.66225915e-03 8.03930644e+01] [ 3.83362288e-01 9.23593935e-01 -2.75670019e-03 -7.36531569e+01] [-7.21006436e-03 8.05357680e-06 -9.99974007e-01 2.27395301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.32 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.41, Y:-73.63, Z:2.27 [[-9.48966866e-01 3.15296703e-01 7.06224826e-03 8.04067425e+01] [ 3.15287931e-01 9.48993145e-01 -2.35195381e-03 -7.36275835e+01] [-7.44358847e-03 -5.28459749e-06 -9.99972296e-01 2.27412211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.35 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.42, Y:-73.60, Z:2.27 [[-9.69350613e-01 2.45570129e-01 7.39596772e-03 8.04187650e+01] [ 2.45562834e-01 9.69378828e-01 -1.89286380e-03 -7.36016730e+01] [-7.63432533e-03 -1.86738935e-05 -9.99970858e-01 2.27391164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.38 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.62, Y:-72.83, Z:1.41 [[-9.47861800e-01 -3.18591701e-01 7.57206656e-03 8.06232923e+01] [ 3.18581887e-01 -9.47892044e-01 -2.50099034e-03 -7.28286348e+01] [ 7.97429641e-03 4.17300460e-05 9.99968204e-01 1.40806870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.41 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.37, Y:-73.59, Z:2.27 [[-9.71309328e-01 2.37697987e-01 7.60636016e-03 8.03698853e+01] [ 2.37690273e-01 9.71339109e-01 -1.91562971e-03 -7.35882084e+01] [-7.84369642e-03 -5.27111821e-05 -9.99969236e-01 2.27326381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.44 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.38, Y:-73.56, Z:2.27 [[-9.85968786e-01 1.66743206e-01 7.89021680e-03 8.03783118e+01] [ 1.66737329e-01 9.86000354e-01 -1.40151635e-03 -7.35616533e+01] [-8.01344989e-03 -6.62576995e-05 -9.99967890e-01 2.27311623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.47 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.37, Y:-73.53, Z:2.27 [[-9.95429759e-01 9.51703567e-02 7.88659974e-03 8.03730256e+01] [ 9.51667697e-02 9.95460998e-01 -8.29713072e-04 -7.35338256e+01] [-7.92976653e-03 -7.53788626e-05 -9.99968556e-01 2.27275074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.39, Y:-73.51, Z:2.27 [[-9.99709373e-01 2.27827427e-02 7.88142997e-03 8.03885316e+01] [ 2.27813536e-02 9.99740436e-01 -2.65992363e-04 -7.35056453e+01] [-7.88544427e-03 -8.63654148e-05 -9.99968906e-01 2.27388186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.53 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.42, Y:-72.71, Z:1.41 [[-9.93051616e-01 -1.17420633e-01 7.80274901e-03 8.04184164e+01] [ 1.17417667e-01 -9.93082266e-01 -8.38719372e-04 -7.27139589e+01] [ 7.84725463e-03 8.32889577e-05 9.99969206e-01 1.40819152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.31, Y:-73.50, Z:2.27 [[-9.99892447e-01 1.25862524e-02 7.52866479e-03 8.03069490e+01] [ 1.25849916e-02 9.99920783e-01 -2.14809476e-04 -7.35029557e+01] [-7.53077204e-03 -1.20038189e-04 -9.99971636e-01 2.27294984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.59 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.30, Y:-73.48, Z:2.27 [[-9.98156370e-01 -6.01934253e-02 7.78535596e-03 8.03004325e+01] [-6.01926716e-02 9.98186722e-01 3.31290199e-04 -7.34754927e+01] [-7.79118044e-03 -1.37941953e-04 -9.99969639e-01 2.27322091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.62 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.28, Y:-72.68, Z:1.41 [[-9.98881262e-01 -4.65167353e-02 8.50980931e-03 8.02836413e+01] [ 4.65167565e-02 -9.98917491e-01 -1.95545802e-04 -7.26824383e+01] [ 8.50969352e-03 2.00521690e-04 9.99963772e-01 1.40844003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.65 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.21, Y:-73.48, Z:2.28 [[-9.97525552e-01 -6.97302846e-02 8.96998164e-03 8.02109107e+01] [-6.97291804e-02 9.97565863e-01 4.36162686e-04 -7.34784278e+01] [-8.97856123e-03 -1.90386044e-04 -9.99959674e-01 2.27520168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.68 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.21, Y:-73.45, Z:2.28 [[-9.90188599e-01 -1.39405719e-01 9.62209467e-03 8.02087155e+01] [-1.39401070e-01 9.90235329e-01 1.15547797e-03 -7.34534545e+01] [-9.68921832e-03 -1.97189182e-04 -9.99953039e-01 2.27529276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.71 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.20, Y:-73.43, Z:2.28 [[-9.77967481e-01 -2.08508294e-01 1.01930189e-02 8.01982200e+01] [-2.08499071e-01 9.78020579e-01 1.97103002e-03 -7.34291875e+01] [-1.03799583e-02 -1.97631704e-04 -9.99946107e-01 2.27576816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.73999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.17, Y:-73.41, Z:2.28 [[-9.61187002e-01 -2.75680181e-01 1.09538076e-02 8.01723491e+01] [-2.75664445e-01 9.61249398e-01 2.95118717e-03 -7.34109526e+01] [-1.13429248e-02 -1.82932552e-04 -9.99935650e-01 2.27646154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.76999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.12, Y:-73.40, Z:2.28 [[-9.38961950e-01 -3.43829043e-01 1.14911276e-02 8.01209444e+01] [-3.43805559e-01 9.39032246e-01 4.02221814e-03 -7.34016269e+01] [-1.21734947e-02 -1.74003746e-04 -9.99925885e-01 2.27649429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.79999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.06, Y:-73.40, Z:2.28 [[-9.11822119e-01 -4.10432847e-01 1.11937965e-02 8.00628381e+01] [-4.10403898e-01 9.11890814e-01 4.87685522e-03 -7.33961492e+01] [-1.22091418e-02 -1.47153260e-04 -9.99925455e-01 2.27815668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.82999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.99, Y:-73.41, Z:2.28 [[-8.79608183e-01 -4.75588941e-01 1.02275945e-02 7.99912777e+01] [-4.75558333e-01 8.79667634e-01 5.39683715e-03 -7.34051101e+01] [-1.15635599e-02 -1.16715669e-04 -9.99933133e-01 2.27576322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.85999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.91, Y:-73.42, Z:2.27 [[-8.43412130e-01 -5.37191406e-01 9.02065147e-03 7.99129546e+01] [-5.37161535e-01 8.43460366e-01 5.66538015e-03 -7.34247198e+01] [-1.06519555e-02 -6.72966523e-05 -9.99943264e-01 2.27431916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.83, Y:-73.45, Z:2.27 [[-8.01463231e-01 -5.97987412e-01 8.23074813e-03 7.98307726e+01] [-5.97956476e-01 8.01505492e-01 6.08272833e-03 -7.34503829e+01] [-1.02343848e-02 -4.65460515e-05 -9.99947626e-01 2.27332590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.92 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.74, Y:-73.49, Z:2.27 [[-7.54757614e-01 -6.55964580e-01 7.17034994e-03 7.97428024e+01] [-6.55935334e-01 7.54791673e-01 6.19424188e-03 -7.34878279e+01] [-9.47532370e-03 -2.81346543e-05 -9.99955108e-01 2.27302978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.95 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.65, Y:-73.54, Z:2.27 [[-7.03454352e-01 -7.10713050e-01 6.23979364e-03 7.96490871e+01] [-7.10685281e-01 7.03482026e-01 6.28253988e-03 -7.35396812e+01] [-8.85466575e-03 -1.50494687e-05 -9.99960797e-01 2.27380474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.98 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.57, Y:-73.59, Z:2.27 [[-6.47900119e-01 -7.61706554e-01 5.34437014e-03 7.95657371e+01] [-7.61680681e-01 6.47922161e-01 6.27802457e-03 -7.35922873e+01] [-8.24474830e-03 -3.17062413e-06 -9.99966011e-01 2.27147253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.01 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.48, Y:-73.65, Z:2.27 [[-5.88606971e-01 -8.08409915e-01 3.90425614e-03 7.94848482e+01] [-8.08392037e-01 5.88619919e-01 5.37644120e-03 -7.36523579e+01] [-6.64449131e-03 8.44119130e-06 -9.99977925e-01 2.27017016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.04 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.40, Y:-73.73, Z:2.27 [[-5.25149776e-01 -8.51003612e-01 3.25047406e-03 7.94001130e+01] [-8.50987171e-01 5.25159835e-01 5.28993403e-03 -7.37292813e+01] [-6.20877138e-03 1.18959483e-05 -9.99980725e-01 2.26979777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.32, Y:-73.81, Z:2.27 [[-4.58066173e-01 -8.88914620e-01 2.48587182e-03 7.93205632e+01] [-8.88901391e-01 4.58072918e-01 4.84969682e-03 -7.38134598e+01] [-5.44967697e-03 1.17871428e-05 -9.99985150e-01 2.26968579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.1 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.25, Y:-73.90, Z:2.27 [[-3.87782541e-01 -9.21748181e-01 2.23417182e-03 7.92480542e+01] [-9.21732732e-01 3.87788977e-01 5.33663627e-03 -7.39026738e+01] [-5.78542198e-03 1.01450754e-05 -9.99983264e-01 2.26951107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.13 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.18, Y:-74.00, Z:2.27 [[-3.14318062e-01 -9.49315937e-01 1.84604234e-03 7.91807672e+01] [-9.49299495e-01 3.14323483e-01 5.58714152e-03 -7.39976131e+01] [-5.88421695e-03 3.69243621e-06 -9.99982688e-01 2.27028718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.16 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.12, Y:-74.10, Z:2.27 [[-2.38864725e-01 -9.71051837e-01 1.40484377e-03 7.91198168e+01] [-9.71035108e-01 2.38868857e-01 5.69986229e-03 -7.41035698e+01] [-5.87043517e-03 -2.65658395e-06 -9.99982769e-01 2.27058883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.19 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.07, Y:-74.21, Z:2.27 [[-1.61820231e-01 -9.86819820e-01 9.25106777e-04 7.90679891e+01] [-9.86804009e-01 1.61822875e-01 5.58608997e-03 -7.42095610e+01] [-5.66216774e-03 -8.95670719e-06 -9.99983970e-01 2.27100919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.22 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.02, Y:-74.33, Z:2.27 [[-8.34720921e-02 -9.96510012e-01 4.54720652e-04 7.90226660e+01] [-9.96496211e-01 8.34733292e-02 5.24451984e-03 -7.43319940e+01] [-5.26417357e-03 -1.53563634e-05 -9.99986144e-01 2.27102782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.25 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.99, Y:-74.44, Z:2.27 [[-4.09006156e-03 -9.99991635e-01 4.69586116e-05 7.89877558e+01] [-9.99977669e-01 4.09025262e-03 5.28501167e-03 -7.44440474e+01] [-5.28515953e-03 -2.53415399e-05 -9.99986033e-01 2.27064123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.28 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.96, Y:-74.56, Z:2.27 [[ 7.71337964e-02 -9.97020707e-01 -2.94621676e-04 7.89594368e+01] [-9.97011604e-01 -7.71343512e-02 4.26070435e-03 -7.45630036e+01] [-4.27073591e-03 -3.49030719e-05 -9.99990880e-01 2.27011447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.31 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.94, Y:-74.69, Z:2.27 [[ 1.56115212e-01 -9.87738657e-01 -6.21268868e-04 7.89422823e+01] [-9.87729682e-01 -1.56116442e-01 4.21084518e-03 -7.46863233e+01] [-4.25620484e-03 -4.37312847e-05 -9.99990941e-01 2.26980119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.34 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.94, Y:-74.81, Z:2.27 [[ 2.33992166e-01 -9.72238170e-01 -7.78997564e-04 7.89360089e+01] [-9.72232185e-01 -2.33993459e-01 3.41161065e-03 -7.48101068e+01] [-3.49917843e-03 -4.09236612e-05 -9.99993877e-01 2.26932504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.37 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.94, Y:-74.93, Z:2.27 [[ 3.10250576e-01 -9.50654305e-01 -9.85860398e-04 7.89351841e+01] [-9.50649045e-01 -3.10252140e-01 3.16281883e-03 -7.49251175e+01] [-3.31261263e-03 -4.40591176e-05 -9.99994512e-01 2.26971756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.4 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.95, Y:-75.05, Z:2.27 [[ 3.85872632e-01 -9.22551289e-01 -1.19615934e-03 7.89474615e+01] [-9.22546419e-01 -3.85874482e-01 2.99821754e-03 -7.50523752e+01] [-3.22757682e-03 -5.34175763e-05 -9.99994790e-01 2.27034715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.43 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.97, Y:-75.17, Z:2.27 [[ 4.56013965e-01 -8.89971480e-01 -1.42440982e-03 7.89687936e+01] [-8.89966766e-01 -4.56016187e-01 2.89712994e-03 -7.51680126e+01] [-3.22791696e-03 -5.34543162e-05 -9.99994789e-01 2.27036398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.46 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.99, Y:-75.28, Z:2.27 [[ 5.24583292e-01 -8.51356894e-01 -1.95153109e-03 7.89949506e+01] [-8.51350493e-01 -5.24586917e-01 3.30218254e-03 -7.52818722e+01] [-3.83508355e-03 -7.08328364e-05 -9.99992644e-01 2.27104137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.48999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.03, Y:-75.39, Z:2.27 [[ 5.89662085e-01 -8.07647195e-01 -2.15248146e-03 7.90345590e+01] [-8.07641351e-01 -5.89666009e-01 3.07328686e-03 -7.53923404e+01] [-3.75137666e-03 -7.37676995e-05 -9.99992961e-01 2.27136369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.51999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.08, Y:-75.49, Z:2.27 [[ 6.50604491e-01 -7.59411387e-01 -2.85335408e-03 7.90770361e+01] [-7.59403448e-01 -6.50610741e-01 3.47372076e-03 -7.54945893e+01] [-4.49440591e-03 -9.31713988e-05 -9.99989896e-01 2.27150673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.54999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.13, Y:-75.60, Z:2.27 [[ 7.07044934e-01 -7.07160311e-01 -3.42862991e-03 7.91278702e+01] [-7.07151278e-01 -7.07053239e-01 3.57590092e-03 -7.55955376e+01] [-4.95295909e-03 -1.03762605e-04 -9.99987729e-01 2.27280848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.57999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.18, Y:-75.69, Z:2.27 [[ 7.58805161e-01 -6.51307585e-01 -3.62732469e-03 7.91812939e+01] [-6.51299513e-01 -7.58813824e-01 3.24417153e-03 -7.56857552e+01] [-4.86541764e-03 -9.92192948e-05 -9.99988159e-01 2.27317492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.60999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.18, Y:-75.69, Z:2.27 [[ 8.07195104e-01 -5.90270083e-01 -4.15837545e-03 7.91779197e+01] [-5.90261574e-01 -8.07205809e-01 3.17119077e-03 -7.56906686e+01] [-5.22852386e-03 -1.05240423e-04 -9.99986326e-01 2.27318793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.64 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.17, Y:-75.70, Z:2.27 [[ 8.50698232e-01 -5.25635548e-01 -4.44847467e-03 7.91747079e+01] [-5.25627710e-01 -8.50709857e-01 2.87233817e-03 -7.56955604e+01] [-5.29416430e-03 -1.05251447e-04 -9.99985980e-01 2.27341814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.67 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.17, Y:-75.70, Z:2.27 [[ 8.89150908e-01 -4.57588574e-01 -4.83323581e-03 7.91713093e+01] [-4.57581144e-01 -8.89164037e-01 2.60998262e-03 -7.57011801e+01] [-5.49183769e-03 -1.09070844e-04 -9.99984914e-01 2.27348271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.7 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.17, Y:-75.71, Z:2.27 [[ 9.22139672e-01 -3.86824775e-01 -5.00196827e-03 7.91675182e+01] [-3.86818447e-01 -9.22153231e-01 2.21519642e-03 -7.57075519e+01] [-5.46947406e-03 -1.07866904e-04 -9.99985037e-01 2.27360282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.73 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.16, Y:-75.71, Z:2.27 [[ 9.49503982e-01 -3.13711934e-01 -5.19725671e-03 7.91644784e+01] [-3.13706611e-01 -9.49518199e-01 1.83059512e-03 -7.57136867e+01] [-5.50916936e-03 -1.07743567e-04 -9.99984819e-01 2.27380347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.76 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.16, Y:-75.72, Z:2.27 [[ 9.71000879e-01 -2.39009414e-01 -5.63857590e-03 7.91625612e+01] [-2.39004714e-01 -9.71017244e-01 1.50296387e-03 -7.57196332e+01] [-5.83437694e-03 -1.11733015e-04 -9.99982974e-01 2.27464047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.79 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.16, Y:-75.73, Z:2.27 [[ 9.86601570e-01 -1.63028513e-01 -6.24873981e-03 7.91604559e+01] [-1.63024484e-01 -9.86621351e-01 1.15226241e-03 -7.57257331e+01] [-6.35299174e-03 -1.18126316e-04 -9.99979813e-01 2.27457766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.82 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.16, Y:-75.73, Z:2.28 [[ 9.96273040e-01 -8.59841649e-02 -6.83756868e-03 7.91556107e+01] [-8.59812871e-02 -9.96296496e-01 7.14272643e-04 -7.57319490e+01] [-6.87366185e-03 -1.23707622e-04 -9.99976368e-01 2.27539919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.85 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.15, Y:-75.74, Z:2.28 [[ 9.99931478e-01 -8.63021959e-03 -7.90936244e-03 7.91510245e+01] [-8.62886961e-03 -9.99962750e-01 2.04790886e-04 -7.57386981e+01] [-7.91083521e-03 -1.36527996e-04 -9.99968700e-01 2.27646931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.88 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.15, Y:-75.75, Z:2.28 [[ 9.97560662e-01 6.92654883e-02 -8.66122755e-03 7.91456891e+01] [ 6.92641557e-02 -9.97598251e-01 -4.54075881e-04 -7.57461426e+01] [-8.67187725e-03 -1.46944377e-04 -9.99962388e-01 2.27710503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.91 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.14, Y:-75.75, Z:2.28 [[ 9.89119776e-01 1.46837394e-01 -8.99155080e-03 7.91420472e+01] [ 1.46832717e-01 -9.89160632e-01 -1.18176389e-03 -7.57518091e+01] [-9.06761521e-03 -1.51347799e-04 -9.99958877e-01 2.27748205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.94 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.14, Y:-75.76, Z:2.28 [[ 9.74764805e-01 2.23051040e-01 -9.04481553e-03 7.91386086e+01] [ 2.23042835e-01 -9.74806756e-01 -1.91886641e-03 -7.57589616e+01] [-9.24495243e-03 -1.46937849e-04 -9.99957254e-01 2.27769201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.97 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.13, Y:-75.76, Z:2.28 [[ 9.55294860e-01 2.95507076e-01 -9.34335167e-03 7.91348446e+01] [ 2.95494197e-01 -9.55340543e-01 -2.76164405e-03 -7.57632944e+01] [-9.74216801e-03 -1.22721825e-04 -9.99952536e-01 2.27857529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.0 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.13, Y:-75.77, Z:2.28 [[ 9.30736334e-01 3.65574147e-01 -9.24225930e-03 7.91294414e+01] [ 3.65557022e-01 -9.30782217e-01 -3.53949177e-03 -7.57664566e+01] [-9.89647729e-03 -8.42391889e-05 -9.99951025e-01 2.27819948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.03 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.13, Y:-75.77, Z:2.28 [[ 9.00043234e-01 4.35719822e-01 -8.39124624e-03 7.91264723e+01] [ 4.35701531e-01 -9.00082348e-01 -3.99288588e-03 -7.57721921e+01] [-9.29259214e-03 -6.23089108e-05 -9.99956821e-01 2.27678521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.06 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.12, Y:-75.78, Z:2.28 [[ 8.63852151e-01 5.03690196e-01 -7.45972174e-03 7.91233483e+01] [ 5.03671875e-01 -8.63884358e-01 -4.29630098e-03 -7.57798852e+01] [-8.60834160e-03 -4.58831935e-05 -9.99962946e-01 2.27590353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.09 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.12, Y:-75.79, Z:2.27 [[ 8.22303538e-01 5.69010966e-01 -6.58876887e-03 7.91229717e+01] [ 5.68993035e-01 -8.22329933e-01 -4.51741484e-03 -7.57892840e+01] [-7.98860045e-03 -3.42773894e-05 -9.99968090e-01 2.27459135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.12 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.12, Y:-75.80, Z:2.27 [[ 7.75831266e-01 6.30916555e-01 -5.49064679e-03 7.91222936e+01] [ 6.30900963e-01 -7.75850695e-01 -4.43562973e-03 -7.57995767e+01] [-7.05843435e-03 -2.27541141e-05 -9.99975089e-01 2.27467877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.15 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.12, Y:-75.81, Z:2.27 [[ 7.24054993e-01 6.89723194e-01 -5.12676974e-03 7.91202165e+01] [ 6.89706127e-01 -7.24073143e-01 -4.85209589e-03 -7.58070493e+01] [-7.05875935e-03 -2.27802492e-05 -9.99975086e-01 2.27468166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.18 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.12, Y:-75.81, Z:2.27 [[ 6.67692362e-01 7.44424165e-01 -4.42401980e-03 7.91190839e+01] [ 7.44408042e-01 -6.67707018e-01 -4.89954403e-03 -7.58140062e+01] [-6.60128805e-03 -2.18877893e-05 -9.99978211e-01 2.27425667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.21 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.12, Y:-75.82, Z:2.27 [[ 6.07146698e-01 7.94580695e-01 -3.79563659e-03 7.91178716e+01] [ 7.94565391e-01 -6.07158562e-01 -4.93153146e-03 -7.58214476e+01] [-6.22305295e-03 -2.17184330e-05 -9.99980636e-01 2.27414532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.23999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.12, Y:-75.83, Z:2.27 [[ 5.42833175e-01 8.39833380e-01 -3.46947935e-03 7.91193184e+01] [ 8.39816512e-01 -5.42844262e-01 -5.32293624e-03 -7.58299584e+01] [-6.35376649e-03 -2.42596649e-05 -9.99979814e-01 2.27387392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.26999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.12, Y:-75.84, Z:2.27 [[ 4.74757680e-01 8.80111811e-01 -2.88901839e-03 7.91230709e+01] [ 8.80095861e-01 -4.74766469e-01 -5.29859096e-03 -7.58391324e+01] [-6.03496155e-03 -2.70663798e-05 -9.99981789e-01 2.27373329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.29999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.13, Y:-75.85, Z:2.27 [[ 4.04298993e-01 9.14624036e-01 -2.27992913e-03 7.91261784e+01] [ 9.14609839e-01 -4.04305420e-01 -5.09608577e-03 -7.58473979e+01] [-5.58279023e-03 -2.49032694e-05 -9.99984416e-01 2.27308847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.32999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.13, Y:-75.86, Z:2.27 [[ 3.31525262e-01 9.43444914e-01 -1.64183297e-03 7.91296993e+01] [ 9.43433644e-01 -3.31529327e-01 -4.61134989e-03 -7.58555400e+01] [-4.89487038e-03 -2.01814785e-05 -9.99988020e-01 2.27233549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.35999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.13, Y:-75.86, Z:2.27 [[ 2.57798074e-01 9.66198330e-01 -9.69516137e-04 7.91325726e+01] [ 9.66191624e-01 -2.57799897e-01 -3.59973338e-03 -7.58643198e+01] [-3.72799754e-03 -8.73403738e-06 -9.99993051e-01 2.27140207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.39 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.14, Y:-75.87, Z:2.27 [[ 1.82173182e-01 9.83266236e-01 -6.64697289e-04 7.91369609e+01] [ 9.83259795e-01 -1.82174395e-01 -3.55897356e-03 -7.58719843e+01] [-3.62050936e-03 -5.22058150e-06 -9.99993446e-01 2.27135835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.42 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.14, Y:-75.88, Z:2.27 [[ 1.05642740e-01 9.94404083e-01 -3.60910269e-04 7.91418028e+01] [ 9.94398311e-01 -1.05643357e-01 -3.38835008e-03 -7.58803673e+01] [-3.40751692e-03 -9.33974997e-07 -9.99994194e-01 2.27246365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.45 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.15, Y:-75.89, Z:2.27 [[ 2.88702612e-02 9.99583162e-01 -1.02300687e-04 7.91452343e+01] [ 9.99576433e-01 -2.88704422e-02 -3.66762130e-03 -7.58880901e+01] [-3.66904597e-03 3.62782946e-06 -9.99993269e-01 2.27220543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.48 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.15, Y:-75.90, Z:2.27 [[-4.79579734e-02 9.98849338e-01 1.82390231e-04 7.91522361e+01] [ 9.98842824e-01 4.79583193e-02 -3.60740318e-03 -7.58953858e+01] [-3.61199941e-03 9.17542736e-06 -9.99993477e-01 2.27219666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.51 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.16, Y:-75.90, Z:2.27 [[-1.22982901e-01 9.92408668e-01 4.90747847e-04 7.91588920e+01] [ 9.92401439e-01 1.22983878e-01 -3.78820667e-03 -7.59016733e+01] [-3.81980321e-03 2.11342227e-05 -9.99992704e-01 2.27248398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.54 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.17, Y:-75.91, Z:2.27 [[-1.99029936e-01 9.79993046e-01 8.45717667e-04 7.91666261e+01] [ 9.79984781e-01 1.99031731e-01 -4.02471657e-03 -7.59079804e+01] [-4.11251890e-03 2.77513602e-05 -9.99991543e-01 2.27257724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.18, Y:-75.91, Z:2.27 [[-2.73840906e-01 9.61774218e-01 1.22991971e-03 7.91770455e+01] [ 9.61765085e-01 2.73843666e-01 -4.19138142e-03 -7.59128603e+01] [-4.36796831e-03 3.51221538e-05 -9.99990460e-01 2.27305865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.6 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.19, Y:-75.92, Z:2.27 [[-3.46530920e-01 9.38036806e-01 1.80899464e-03 7.91865221e+01] [ 9.38024756e-01 3.46535638e-01 -4.75488149e-03 -7.59190891e+01] [-5.08713495e-03 4.91682953e-05 -9.99987059e-01 2.27413816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.63 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.20, Y:-75.92, Z:2.27 [[-4.18518280e-01 9.08205302e-01 2.36187883e-03 7.91974565e+01] [ 9.08191579e-01 4.18524941e-01 -4.99296767e-03 -7.59225307e+01] [-5.52314491e-03 5.53902261e-05 -9.99984746e-01 2.27369365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.66 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.21, Y:-75.93, Z:2.27 [[-4.88438862e-01 8.72592925e-01 3.01082506e-03 7.92086393e+01] [ 8.72577090e-01 4.88448138e-01 -5.25714829e-03 -7.59261707e+01] [-6.05798229e-03 5.93814385e-05 -9.99981648e-01 2.27407325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.69 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.22, Y:-75.93, Z:2.27 [[-5.55715906e-01 8.31363829e-01 3.74362634e-03 7.92196289e+01] [ 8.31345699e-01 5.55728512e-01 -5.49084740e-03 -7.59276231e+01] [-6.64533181e-03 6.08964185e-05 -9.99977918e-01 2.27427132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.72 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.23, Y:-75.93, Z:2.27 [[-6.19840928e-01 7.84715553e-01 4.32722111e-03 7.92320961e+01] [ 7.84697065e-01 6.19856030e-01 -5.38692823e-03 -7.59270499e+01] [-6.90946046e-03 5.65191106e-05 -9.99976128e-01 2.27438259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.25, Y:-75.93, Z:2.28 [[-6.81455817e-01 7.31829894e-01 6.55561876e-03 7.92459248e+01] [ 7.31796713e-01 6.81487347e-01 -6.96895780e-03 -7.59260921e+01] [-9.56766288e-03 4.83434293e-05 -9.99954228e-01 2.27661371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.78 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.26, Y:-75.92, Z:2.28 [[-7.37964650e-01 6.74798543e-01 7.42302383e-03 7.92575185e+01] [ 6.74764830e-01 7.38001982e-01 -6.74532689e-03 -7.59231073e+01] [-1.00299431e-02 3.09826129e-05 -9.99949698e-01 2.27751705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.81 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.28, Y:-75.91, Z:2.28 [[-7.84591387e-01 6.19963020e-01 7.88725475e-03 7.92835794e+01] [ 6.19931887e-01 7.84631030e-01 -6.21306159e-03 -7.59073454e+01] [-1.00404533e-02 1.48461101e-05 -9.99949593e-01 2.27839567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.84 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.31, Y:-75.89, Z:2.28 [[-8.28394108e-01 5.60092856e-01 7.69378300e-03 7.93052146e+01] [ 5.60068499e-01 8.28429836e-01 -5.22338144e-03 -7.58861644e+01] [-9.29933802e-03 -1.79729072e-05 -9.99956760e-01 2.27718291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.87 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.32, Y:-75.86, Z:2.28 [[-8.66720912e-01 4.98728688e-01 8.03471711e-03 7.93210759e+01] [ 4.98706917e-01 8.66758152e-01 -4.66003232e-03 -7.58625845e+01] [-9.28824836e-03 -3.19784591e-05 -9.99956863e-01 2.27664335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.9 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.34, Y:-75.84, Z:2.28 [[-8.99859330e-01 4.36100392e-01 8.34474551e-03 7.93392371e+01] [ 4.36081312e-01 8.99898020e-01 -4.07950776e-03 -7.58413092e+01] [-9.28849490e-03 -3.19955507e-05 -9.99956860e-01 2.27664580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.93 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.35, Y:-75.82, Z:2.28 [[-9.29328672e-01 3.69138258e-01 9.22854400e-03 7.93542116e+01] [ 3.69119438e-01 9.29374490e-01 -3.72797618e-03 -7.58158523e+01] [-9.95291201e-03 -5.80801836e-05 -9.99950467e-01 2.27770402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.96 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.67, Y:-75.07, Z:1.41 [[-8.96205588e-01 -4.43554191e-01 8.67311522e-03 7.96709829e+01] [ 4.43533829e-01 -8.96247554e-01 -4.25017673e-03 -7.50716091e+01] [ 9.65844200e-03 3.77878625e-05 9.99953355e-01 1.40543350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.98999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.32, Y:-75.80, Z:2.28 [[-9.31445238e-01 3.63787166e-01 8.28657947e-03 7.93170888e+01] [ 3.63772104e-01 9.31482095e-01 -3.31102820e-03 -7.58003817e+01] [-8.92330996e-03 -6.96149981e-05 -9.99960184e-01 2.27692173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.01999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.33, Y:-75.78, Z:2.27 [[-9.55360238e-01 2.95363025e-01 6.89196800e-03 7.93300142e+01] [ 2.95354837e-01 9.55385095e-01 -2.20035209e-03 -7.57759153e+01] [-7.23438615e-03 -6.65528147e-05 -9.99973829e-01 2.27468943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.04999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.58, Y:-75.01, Z:1.41 [[-9.25718561e-01 -3.78147069e-01 7.06685393e-03 7.95843053e+01] [ 3.78136814e-01 -9.25745530e-01 -2.78649503e-03 -7.50103172e+01] [ 7.59581336e-03 9.27274617e-05 9.99971147e-01 1.40903585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.07999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.29, Y:-75.76, Z:2.27 [[-9.56553624e-01 2.91475196e-01 6.88291190e-03 7.92869994e+01] [ 2.91467136e-01 9.56578384e-01 -2.16877449e-03 -7.57621909e+01] [-7.21618872e-03 -6.84064770e-05 -9.99973961e-01 2.27423866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.10999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.29, Y:-75.74, Z:2.27 [[-9.74681677e-01 2.23489265e-01 6.94101411e-03 7.92912592e+01] [ 2.23483133e-01 9.74706389e-01 -1.65684154e-03 -7.57361279e+01] [-7.13573710e-03 -6.36935106e-05 -9.99974538e-01 2.27365484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.14 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.31, Y:-75.71, Z:2.27 [[-9.87822048e-01 1.55422587e-01 7.17087121e-03 7.93073080e+01] [ 1.55418101e-01 9.87848074e-01 -1.18195496e-03 -7.57138565e+01] [-7.26743381e-03 -5.30779817e-05 -9.99973590e-01 2.27366103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.17 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.44, Y:-74.91, Z:1.41 [[-9.71568402e-01 -2.36635972e-01 7.63263530e-03 7.94437744e+01] [ 2.36629422e-01 -9.71598378e-01 -1.76312402e-03 -7.49122907e+01] [ 7.83307464e-03 9.31104895e-05 9.99969317e-01 1.40912852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.2 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.25, Y:-75.71, Z:2.27 [[-9.88197882e-01 1.52966592e-01 8.13434672e-03 7.92530267e+01] [ 1.52961034e-01 9.88231359e-01 -1.30467962e-03 -7.57077091e+01] [-8.23818891e-03 -4.50435463e-05 -9.99966065e-01 2.27416384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.23 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.25, Y:-75.68, Z:2.27 [[-9.96452900e-01 8.37491738e-02 8.22769294e-03 7.92483158e+01] [ 8.37460344e-02 9.96486866e-01 -7.25954491e-04 -7.56810184e+01] [-8.25958604e-03 -3.43428015e-05 -9.99965888e-01 2.27437577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.26 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.34, Y:-74.86, Z:1.41 [[-9.87401393e-01 -1.58026581e-01 8.12947600e-03 7.93400250e+01] [ 1.58021493e-01 -9.87434858e-01 -1.26841685e-03 -7.48643813e+01] [ 8.22777156e-03 3.21953666e-05 9.99966151e-01 1.40888641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.29 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.19, Y:-75.68, Z:2.27 [[-9.96539421e-01 8.27314174e-02 8.04335787e-03 7.91914543e+01] [ 8.27287068e-02 9.96571880e-01 -6.69694979e-04 -7.56800007e+01] [-8.07118909e-03 -1.96085122e-06 -9.99967427e-01 2.27425155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.32 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.20, Y:-75.65, Z:2.27 [[-9.99882700e-01 1.27759788e-02 8.44747166e-03 7.91961508e+01] [ 1.27755771e-02 9.99918384e-01 -1.01520966e-04 -7.56532888e+01] [-8.44807924e-03 6.41226738e-06 -9.99964314e-01 2.27472965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.35 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.20, Y:-75.63, Z:2.27 [[-9.98260635e-01 -5.83487697e-02 8.43355149e-03 7.91965586e+01] [-5.83466334e-02 9.98296259e-01 4.99338056e-04 -7.56258518e+01] [-8.44831866e-03 6.40018839e-06 -9.99964312e-01 2.27473254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.38 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.19, Y:-75.60, Z:2.28 [[-9.91649535e-01 -1.28609518e-01 9.52850630e-03 7.91896968e+01] [-1.28603448e-01 9.91695312e-01 1.24962118e-03 -7.55996151e+01] [-9.61008820e-03 1.37874965e-05 -9.99953822e-01 2.27589555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.41 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.08, Y:-74.78, Z:1.41 [[-9.97991242e-01 6.24816098e-02 1.04656061e-02 7.90788663e+01] [-6.24777069e-02 -9.98046114e-01 6.99770044e-04 -7.47784856e+01] [ 1.04888803e-02 4.44973045e-05 9.99944989e-01 1.40787716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.44 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.06, Y:-75.61, Z:2.28 [[-9.90631301e-01 -1.36159414e-01 1.04994908e-02 7.90615261e+01] [-1.36151696e-01 9.90686940e-01 1.44979098e-03 -7.56146996e+01] [-1.05991111e-02 6.68484238e-06 -9.99943828e-01 2.27545423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.47 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.04, Y:-75.59, Z:2.28 [[-9.77848487e-01 -2.09049259e-01 1.05234745e-02 7.90430203e+01] [-2.09037323e-01 9.77905112e-01 2.23385556e-03 -7.55886875e+01] [-1.07579454e-02 -1.54266758e-05 -9.99942132e-01 2.27531573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.01, Y:-75.57, Z:2.27 [[-9.59728111e-01 -2.80747602e-01 1.01358986e-02 7.90051109e+01] [-2.80732257e-01 9.59781633e-01 2.93537554e-03 -7.55688881e+01] [-1.05523490e-02 -2.83112804e-05 -9.99944322e-01 2.27477432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.53 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.95, Y:-75.56, Z:2.27 [[-9.36476262e-01 -3.50591422e-01 9.89270734e-03 7.89500436e+01] [-3.50572181e-01 9.36528512e-01 3.67319699e-03 -7.55580797e+01] [-1.05525938e-02 -2.82462036e-05 -9.99944319e-01 2.27478164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.88, Y:-75.55, Z:2.27 [[-9.06982823e-01 -4.21082828e-01 8.45051608e-03 7.88811021e+01] [-4.21065026e-01 9.07022188e-01 3.87222472e-03 -7.55536855e+01] [-9.29533292e-03 -4.61754593e-05 -9.99956796e-01 2.27367073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.59 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.81, Y:-75.56, Z:2.27 [[-8.72221108e-01 -4.89059821e-01 7.12957438e-03 7.88072287e+01] [-4.89043977e-01 8.72250244e-01 3.93703053e-03 -7.55582179e+01] [-8.14421644e-03 -5.27142777e-05 -9.99966834e-01 2.27312273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.62 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.72, Y:-75.58, Z:2.27 [[-8.32349911e-01 -5.54216310e-01 6.15686883e-03 7.87197559e+01] [-5.54201658e-01 8.32372680e-01 4.03026711e-03 -7.55771002e+01] [-7.35844917e-03 -5.75544427e-05 -9.99972925e-01 2.27198372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.65 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.64, Y:-75.60, Z:2.27 [[-7.86295826e-01 -6.17830935e-01 4.87959704e-03 7.86394351e+01] [-6.17819550e-01 7.86310964e-01 3.75125569e-03 -7.55982848e+01] [-6.15452246e-03 -6.51137580e-05 -9.99981059e-01 2.26980648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.68 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.55, Y:-75.63, Z:2.27 [[-7.36249135e-01 -6.76696013e-01 4.44048194e-03 7.85515903e+01] [-6.76684286e-01 7.36262522e-01 3.98437249e-03 -7.56332775e+01] [-5.96556941e-03 -7.13135506e-05 -9.99982203e-01 2.26967793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.71 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.46, Y:-75.68, Z:2.27 [[-6.81547969e-01 -7.31762275e-01 4.04206953e-03 7.84628995e+01] [-7.31750084e-01 6.81559951e-01 4.22468314e-03 -7.56797423e+01] [-5.84637646e-03 -7.84605014e-05 -9.99982907e-01 2.26924568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.73999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.37, Y:-75.74, Z:2.27 [[-6.21873781e-01 -7.83107296e-01 3.99535568e-03 7.83737454e+01] [-7.83092160e-01 6.21886607e-01 4.87002859e-03 -7.57353608e+01] [-6.29841311e-03 -1.00188617e-04 -9.99980160e-01 2.26915960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.76999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.29, Y:-75.80, Z:2.27 [[-5.59378316e-01 -8.28903537e-01 3.85040034e-03 7.82880071e+01] [-8.28885276e-01 5.59391556e-01 5.50333175e-03 -7.58009696e+01] [-6.71561259e-03 -1.13095699e-04 -9.99977444e-01 2.26929747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.79999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.20, Y:-75.89, Z:2.27 [[-4.93677730e-01 -8.69637535e-01 3.58557597e-03 7.81986580e+01] [-8.69616391e-01 4.93690735e-01 6.06550641e-03 -7.58866521e+01] [-7.04495768e-03 -1.23670194e-04 -9.99975176e-01 2.26983893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.82999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.13, Y:-75.96, Z:2.27 [[-4.25113554e-01 -9.05132987e-01 3.56958650e-03 7.81276159e+01] [-9.05103881e-01 4.25128516e-01 7.26009636e-03 -7.59603219e+01] [-8.08888572e-03 -1.44481230e-04 -9.99967274e-01 2.27043525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.85999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.06, Y:-76.05, Z:2.27 [[-3.55223568e-01 -9.34775028e-01 3.44450005e-03 7.80599779e+01] [-9.34735243e-01 3.55240234e-01 8.62567034e-03 -7.60480903e+01] [-9.28668623e-03 -1.55654194e-04 -9.99956866e-01 2.27132170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.00, Y:-76.15, Z:2.27 [[-2.83509390e-01 -9.58964918e-01 2.95151647e-03 7.79951753e+01] [-9.58918413e-01 2.83524712e-01 9.44535157e-03 -7.61522915e+01] [-9.89458865e-03 -1.52417630e-04 -9.99951036e-01 2.27169848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.92 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.94, Y:-76.25, Z:2.27 [[-2.10643907e-01 -9.77560189e-01 2.28502638e-03 7.79411743e+01] [-9.77509459e-01 2.10656257e-01 9.95990544e-03 -7.62528029e+01] [-1.02177621e-02 -1.35641505e-04 -9.99947788e-01 2.27206360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.95 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.90, Y:-76.35, Z:2.27 [[-1.36620265e-01 -9.90622392e-01 1.47655835e-03 7.78968325e+01] [-9.90572881e-01 1.36628200e-01 9.90465763e-03 -7.63520798e+01] [-1.00135151e-02 -1.09461712e-04 -9.99949858e-01 2.27115105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.98 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.86, Y:-76.46, Z:2.27 [[-6.50564177e-02 -9.97881338e-01 7.05320982e-04 7.78611328e+01] [-9.97831686e-01 6.50602168e-02 9.95459367e-03 -7.64609039e+01] [-9.97939159e-03 -5.61814208e-05 -9.99950203e-01 2.27057205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.01 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.83, Y:-76.58, Z:2.27 [[ 9.14820885e-03 -9.99958152e-01 -6.47566720e-05 7.78317455e+01] [-9.99913251e-01 -9.14841174e-03 9.47609853e-03 -7.65831910e+01] [-9.47629440e-03 -2.19382740e-05 -9.99955099e-01 2.27013081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.04 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.81, Y:-76.69, Z:2.27 [[ 8.31933769e-02 -9.96533162e-01 -7.21104183e-04 7.78115022e+01] [-9.96496791e-01 -8.31965014e-02 8.51396780e-03 -7.66910853e+01] [-8.54444459e-03 1.02722720e-05 -9.99963496e-01 2.26944709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.80, Y:-76.81, Z:2.27 [[ 1.56923154e-01 -9.87609946e-01 -1.31070319e-03 7.78014630e+01] [-9.87577434e-01 -1.56928623e-01 8.01369015e-03 -7.68123975e+01] [-8.12008695e-03 3.68873540e-05 -9.99967031e-01 2.26925101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.1 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.80, Y:-76.93, Z:2.27 [[ 2.26443421e-01 -9.74022666e-01 -1.79537646e-03 7.78010576e+01] [-9.73994987e-01 -2.26450522e-01 7.34343028e-03 -7.69282750e+01] [-7.55923148e-03 8.58162010e-05 -9.99971425e-01 2.26837531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.13 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.81, Y:-77.05, Z:2.27 [[ 2.98394346e-01 -9.54440130e-01 -2.20270132e-03 7.78073594e+01] [-9.54416566e-01 -2.98402459e-01 6.70753611e-03 -7.70475416e+01] [-7.05923313e-03 1.00803780e-04 -9.99975078e-01 2.26820802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.16 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.82, Y:-77.17, Z:2.27 [[ 3.68815637e-01 -9.29499234e-01 -2.48989885e-03 7.78229557e+01] [-9.29480037e-01 -3.68824025e-01 5.97486026e-03 -7.71665248e+01] [-6.47196255e-03 1.10689382e-04 -9.99979051e-01 2.26822126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.19 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.85, Y:-77.28, Z:2.27 [[ 4.37622039e-01 -8.99154088e-01 -2.97947139e-03 7.78493153e+01] [-8.99135176e-01 -4.37632163e-01 5.83309810e-03 -7.72830033e+01] [-6.54876652e-03 1.26255248e-04 -9.99978549e-01 2.26891292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.22 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.88, Y:-77.39, Z:2.27 [[ 5.02608537e-01 -8.64506002e-01 -3.74579497e-03 7.78789015e+01] [-8.64484376e-01 -5.02622468e-01 6.11703094e-03 -7.73936937e+01] [-7.17093068e-03 1.63709258e-04 -9.99974275e-01 2.26906164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.25 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.92, Y:-77.50, Z:2.27 [[ 5.66962674e-01 -8.23730034e-01 -4.70707260e-03 7.79195899e+01] [-8.23704381e-01 -5.66982182e-01 6.50369776e-03 -7.75041546e+01] [-8.02611747e-03 1.89882445e-04 -9.99967772e-01 2.26975264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.28 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.96, Y:-77.61, Z:2.27 [[ 6.29009902e-01 -7.77372763e-01 -6.17506528e-03 7.79623732e+01] [-7.77338688e-01 -6.29040173e-01 7.28182576e-03 -7.76097209e+01] [-9.54505714e-03 2.19776637e-04 -9.99954421e-01 2.27075231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.31 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.01, Y:-77.71, Z:2.27 [[ 6.87352466e-01 -7.26287041e-01 -7.32952227e-03 7.80139728e+01] [-7.26249295e-01 -6.87391505e-01 7.40815325e-03 -7.77092542e+01] [-1.04186970e-02 2.31047976e-04 -9.99945697e-01 2.27122542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.34 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.08, Y:-77.81, Z:2.27 [[ 7.41758470e-01 -6.70616169e-01 -8.26592296e-03 7.80763686e+01] [-6.70577928e-01 -7.41804490e-01 7.16527382e-03 -7.78063100e+01] [-1.09368473e-02 2.28042940e-04 -9.99940165e-01 2.27210209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.37 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.07, Y:-77.81, Z:2.27 [[ 7.92805155e-01 -6.09404564e-01 -9.27703437e-03 7.80701627e+01] [-6.09366105e-01 -7.92859400e-01 6.84998711e-03 -7.78134365e+01] [-1.15297973e-02 2.22405206e-04 -9.99933505e-01 2.27213945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.4 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.06, Y:-77.82, Z:2.27 [[ 8.39126032e-01 -5.43846321e-01 -9.93387638e-03 7.80627136e+01] [-5.43811046e-01 -8.39184806e-01 6.19743801e-03 -7.78209830e+01] [-1.17068120e-02 2.01720141e-04 -9.99931453e-01 2.27188570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.43 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.05, Y:-77.83, Z:2.27 [[ 8.81310224e-01 -4.72449062e-01 -9.17460118e-03 7.80544885e+01] [-4.72424995e-01 -8.81357967e-01 4.77049041e-03 -7.78300744e+01] [-1.03399216e-02 1.30028945e-04 -9.99946533e-01 2.27121964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.46 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.05, Y:-77.84, Z:2.27 [[ 9.16668172e-01 -3.99550499e-01 -8.88040837e-03 7.80488538e+01] [-3.99532749e-01 -9.16711181e-01 3.76732155e-03 -7.78392467e+01] [-9.64600485e-03 9.46302090e-05 -9.99953472e-01 2.27061343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.48999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.04, Y:-77.85, Z:2.27 [[ 9.46065873e-01 -3.23874817e-01 -8.02918367e-03 7.80439278e+01] [-3.23863681e-01 -9.46099942e-01 2.68641323e-03 -7.78500736e+01] [-8.46647179e-03 5.88371012e-05 -9.99964157e-01 2.26953883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.51999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.04, Y:-77.86, Z:2.27 [[ 9.69186762e-01 -2.46238436e-01 -6.60710587e-03 7.80401022e+01] [-2.46232922e-01 -9.69209282e-01 1.64822213e-03 -7.78609864e+01] [-6.80952397e-03 2.94519110e-05 -9.99976814e-01 2.26884615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.54999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.03, Y:-77.87, Z:2.27 [[ 9.85995496e-01 -1.66688409e-01 -5.27789304e-03 7.80337331e+01] [-1.66686069e-01 -9.86009622e-01 8.83292605e-04 -7.78715249e+01] [-5.35128796e-03 8.82871103e-06 -9.99985682e-01 2.26756007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.57999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.03, Y:-77.89, Z:2.27 [[ 9.96456164e-01 -8.40411266e-02 -3.49327455e-03 7.80277103e+01] [-8.40405771e-02 -9.96462287e-01 3.04056932e-04 -7.78852875e+01] [-3.50646963e-03 -9.40259526e-06 -9.99993852e-01 2.26577659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.60999999999999 meters Centerline goodness [0,1] 0.9999780999518199 Centerline is valid? [True, True] Translation: X:78.02, Y:-77.90, Z:2.27 [[ 9.99988166e-01 -3.55299715e-03 -3.32312017e-03 7.80239022e+01] [-3.55292473e-03 -9.99993688e-01 2.76975390e-05 -7.78967296e+01] [-3.32319760e-03 -1.58904154e-05 -9.99994478e-01 2.26528216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.64 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.02, Y:-77.91, Z:2.27 [[ 9.97017050e-01 7.71228534e-02 -3.01138396e-03 7.80205047e+01] [ 7.71225652e-02 -9.97021597e-01 -2.11881485e-04 -7.79098343e+01] [-3.01875575e-03 -2.09962032e-05 -9.99995443e-01 2.26561476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.67 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.02, Y:-77.92, Z:2.27 [[ 9.87862075e-01 1.55299109e-01 -3.27233183e-03 7.80187246e+01] [ 1.55298341e-01 -9.87867494e-01 -4.89229611e-04 -7.79192153e+01] [-3.30860717e-03 -2.48963248e-05 -9.99994526e-01 2.26648809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.7 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.02, Y:-77.93, Z:2.27 [[ 9.72765817e-01 2.31758230e-01 -3.84556081e-03 7.80175420e+01] [ 2.31756538e-01 -9.72773418e-01 -8.86197738e-04 -7.79305706e+01] [-3.94624295e-03 -2.91709935e-05 -9.99992213e-01 2.26742763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.73 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.02, Y:-77.94, Z:2.27 [[ 9.51990135e-01 3.06098006e-01 -4.33523221e-03 7.80167014e+01] [ 3.06094972e-01 -9.52000005e-01 -1.36317812e-03 -7.79411206e+01] [-4.54440720e-03 -2.92606578e-05 -9.99989674e-01 2.26875643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.76 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.02, Y:-77.95, Z:2.27 [[ 9.25712581e-01 3.78200659e-01 -4.52537566e-03 7.80162466e+01] [ 3.78196268e-01 -9.25723642e-01 -1.82261664e-03 -7.79483570e+01] [-4.87856205e-03 -2.42610351e-05 -9.99988099e-01 2.26978981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.79 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.02, Y:-77.96, Z:2.27 [[ 8.94945930e-01 4.46139854e-01 -5.56892751e-03 7.80161658e+01] [ 4.46131283e-01 -8.94963257e-01 -2.76548386e-03 -7.79554158e+01] [-6.21777807e-03 -9.51425171e-06 -9.99980669e-01 2.27095684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.82 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.02, Y:-77.96, Z:2.27 [[ 8.58377218e-01 5.12985426e-01 -5.87403984e-03 7.80167306e+01] [ 5.12973386e-01 -8.58397316e-01 -3.51465474e-03 -7.79621808e+01] [-6.84522670e-03 3.67345696e-06 -9.99976571e-01 2.27132528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.85 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.02, Y:-77.97, Z:2.27 [[ 8.16668450e-01 5.77077203e-01 -5.87743700e-03 7.80161651e+01] [ 5.77062110e-01 -8.16689599e-01 -4.17378712e-03 -7.79688513e+01] [-7.20863907e-03 1.69540577e-05 -9.99974017e-01 2.27189075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.88 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.02, Y:-77.98, Z:2.27 [[ 7.70180205e-01 6.37801396e-01 -5.64192471e-03 7.80183288e+01] [ 6.37783989e-01 -7.70200869e-01 -4.71214363e-03 -7.79774431e+01] [-7.35082710e-03 3.08705030e-05 -9.99972982e-01 2.27130793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.91 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.02, Y:-77.99, Z:2.27 [[ 7.19680556e-01 6.94285119e-01 -5.29813406e-03 7.80214953e+01] [ 6.94265790e-01 -7.19700056e-01 -5.18094524e-03 -7.79857254e+01] [-7.41012056e-03 5.03123288e-05 -9.99972543e-01 2.27152611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.94 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.02, Y:-77.99, Z:2.27 [[ 6.63843952e-01 7.47856989e-01 -4.59699951e-03 7.80232724e+01] [ 7.47838485e-01 -6.63859866e-01 -5.26112020e-03 -7.79943260e+01] [-6.98632899e-03 5.47496748e-05 -9.99975594e-01 2.27149333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.97 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.03, Y:-78.00, Z:2.27 [[ 6.03728006e-01 7.97180784e-01 -3.91047072e-03 7.80275837e+01] [ 7.97163462e-01 -6.03740668e-01 -5.25549232e-03 -7.80028238e+01] [-6.55048769e-03 5.56035202e-05 -9.99978544e-01 2.27085834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.0 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.03, Y:-78.01, Z:2.27 [[ 5.39856048e-01 8.41750463e-01 -3.40671836e-03 7.80314721e+01] [ 8.41733025e-01 -5.39866794e-01 -5.41839894e-03 -7.80106011e+01] [-6.40011394e-03 5.76080863e-05 -9.99979517e-01 2.26991635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.03 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.04, Y:-78.02, Z:2.27 [[ 4.72456237e-01 8.81348954e-01 -3.02094474e-03 7.80362875e+01] [ 8.81330121e-01 -4.72465891e-01 -5.76191052e-03 -7.80177229e+01] [-6.50554716e-03 5.98009716e-05 -9.99978837e-01 2.26988208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.06 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.04, Y:-78.03, Z:2.27 [[ 4.02016499e-01 9.15628458e-01 -2.69463351e-03 7.80413755e+01] [ 9.15606828e-01 -4.02025524e-01 -6.29394939e-03 -7.80251704e+01] [-6.84623063e-03 6.30466519e-05 -9.99976562e-01 2.26995762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.09 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.05, Y:-78.03, Z:2.27 [[ 3.29047101e-01 9.44310718e-01 -2.29638244e-03 7.80473050e+01] [ 9.44286319e-01 -3.29055107e-01 -6.78855389e-03 -7.80317825e+01] [-7.16614057e-03 6.53114523e-05 -9.99974321e-01 2.27053222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.12 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.06, Y:-78.04, Z:2.27 [[ 2.54421709e-01 9.67090737e-01 -2.25837047e-03 7.80567806e+01] [ 9.67049601e-01 -2.54431717e-01 -8.92018282e-03 -7.80389011e+01] [-9.20122725e-03 8.55318929e-05 -9.99957664e-01 2.27211823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.15 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.06, Y:-78.04, Z:2.27 [[ 1.78276806e-01 9.83978807e-01 -1.75700428e-03 7.80647071e+01] [ 9.83925324e-01 -1.78285436e-01 -1.02595912e-02 -7.80442428e+01] [-1.04084686e-02 1.00286142e-04 -9.99945825e-01 2.27321592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.18 meters Centerline goodness [0,1] 0.9999781549686524 Centerline is valid? [True, True] Translation: X:78.07, Y:-78.05, Z:2.27 [[ 1.01179096e-01 9.94867712e-01 -1.01324357e-03 7.80749531e+01] [ 9.94806102e-01 -1.01184107e-01 -1.10723313e-02 -7.80492888e+01] [-1.11180291e-02 1.12307591e-04 -9.99938187e-01 2.27307078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.21 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.08, Y:-78.05, Z:2.27 [[ 2.40516346e-02 9.99710704e-01 -1.62053143e-04 7.80835608e+01] [ 9.99631483e-01 -2.40517689e-02 -1.25861637e-02 -7.80547711e+01] [-1.25864203e-02 1.40724388e-04 -9.99920778e-01 2.27292373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.23999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.09, Y:-78.06, Z:2.27 [[-5.42881108e-02 9.98524973e-01 8.23866481e-04 7.80925532e+01] [ 9.98445981e-01 5.42941796e-02 -1.25604499e-02 -7.80592340e+01] [-1.25866540e-02 1.40703082e-04 -9.99920775e-01 2.27292575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.26999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.10, Y:-78.06, Z:2.27 [[-1.31733941e-01 9.91283430e-01 1.82504790e-03 7.81013425e+01] [ 9.91203406e-01 1.31746497e-01 -1.25963388e-02 -7.80627791e+01] [-1.27269856e-02 1.49628350e-04 -9.99918997e-01 2.27252017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.29999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.11, Y:-78.07, Z:2.27 [[-2.08195386e-01 9.78083545e-01 2.69432628e-03 7.81092758e+01] [ 9.78010917e-01 2.08212763e-01 -1.19202396e-02 -7.80666237e+01] [-1.22199833e-02 1.53341636e-04 -9.99925321e-01 2.27323582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.32999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.12, Y:-78.07, Z:2.27 [[-2.83744722e-01 9.58894307e-01 3.26189757e-03 7.81202227e+01] [ 9.58836652e-01 2.83763434e-01 -1.05160621e-02 -7.80682690e+01] [-1.10093993e-02 1.43749826e-04 -9.99939384e-01 2.27176703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.35999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.13, Y:-78.07, Z:2.27 [[-3.57538380e-01 9.33891309e-01 3.65109982e-03 7.81286425e+01] [ 9.33846382e-01 3.57556997e-01 -9.16124677e-03 -7.80714283e+01] [-9.86108502e-03 1.34069032e-04 -9.99951369e-01 2.27238674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.39 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.14, Y:-78.07, Z:2.27 [[-4.29514633e-01 9.03051408e-01 3.91585257e-03 7.81409343e+01] [ 9.03016431e-01 4.29532465e-01 -7.94895284e-03 -7.80705561e+01] [-8.86029886e-03 1.21887649e-04 -9.99960739e-01 2.27005523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.42 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.15, Y:-78.07, Z:2.27 [[-4.99515510e-01 8.66298965e-01 3.21843637e-03 7.81511709e+01] [ 8.66282059e-01 4.99525871e-01 -5.41280665e-03 -7.80700981e+01] [-6.29680103e-03 8.42928133e-05 -9.99980171e-01 2.26792219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.45 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.16, Y:-78.07, Z:2.27 [[-5.66745099e-01 8.23884989e-01 3.67662178e-03 7.81618292e+01] [ 8.23868541e-01 5.66757020e-01 -5.20651423e-03 -7.80676373e+01] [-6.37332012e-03 7.82865971e-05 -9.99979687e-01 2.26694473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.48 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.17, Y:-78.06, Z:2.27 [[-6.30561948e-01 7.76130156e-01 3.68931879e-03 7.81726295e+01] [ 7.76117460e-01 6.30572737e-01 -4.43978885e-03 -7.80637484e+01] [-5.77223786e-03 6.37828242e-05 -9.99983338e-01 2.26664100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.51 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.19, Y:-78.06, Z:2.27 [[-6.92309925e-01 7.21590086e-01 3.83605140e-03 7.81850376e+01] [ 7.21579321e-01 6.92320551e-01 -3.94182075e-03 -7.80592020e+01] [-5.50015599e-03 3.90537385e-05 -9.99984873e-01 2.26751855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.54 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.19, Y:-78.06, Z:2.27 [[-7.48252479e-01 6.63400127e-01 4.30106905e-03 7.81948437e+01] [ 6.63389375e-01 7.48264840e-01 -3.77700992e-03 -7.80552482e+01] [-5.72400761e-03 2.71264729e-05 -9.99983617e-01 2.26822839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.22, Y:-78.04, Z:2.27 [[-7.94526437e-01 6.07211177e-01 4.72524590e-03 7.82171585e+01] [ 6.07200553e-01 7.94540488e-01 -3.59188364e-03 -7.80356300e+01] [-5.93543108e-03 1.53254130e-05 -9.99982385e-01 2.26833275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.6 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.24, Y:-78.01, Z:2.27 [[-8.36775731e-01 5.47518195e-01 5.49573209e-03 7.82354699e+01] [ 5.47506393e-01 8.36793778e-01 -3.59486855e-03 -7.80133705e+01] [-6.56705035e-03 8.49701768e-07 -9.99978437e-01 2.26888187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.63 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.25, Y:-77.99, Z:2.27 [[-8.74478074e-01 4.85020489e-01 6.57443782e-03 7.82534106e+01] [ 4.85006638e-01 8.74502788e-01 -3.66545852e-03 -7.79903355e+01] [-7.52718668e-03 -1.67171242e-05 -9.99971670e-01 2.26915425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.66 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.27, Y:-77.96, Z:2.27 [[-9.08379831e-01 4.18058984e-01 8.53050471e-03 7.82653430e+01] [ 4.18039913e-01 9.08419882e-01 -3.99357024e-03 -7.79618641e+01] [-9.41882800e-03 -6.15872107e-05 -9.99955640e-01 2.27065060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.69 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.28, Y:-77.94, Z:2.27 [[-9.36222255e-01 3.51279244e-01 9.52799595e-03 7.82779108e+01] [ 3.51260157e-01 9.36270733e-01 -3.66285552e-03 -7.79362680e+01] [-1.02074689e-02 -8.24415019e-05 -9.99947899e-01 2.27076644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.72 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.54, Y:-77.27, Z:1.41 [[-9.02561768e-01 -4.30451432e-01 9.68610140e-03 7.85392775e+01] [ 4.30428023e-01 -9.02613733e-01 -4.49063290e-03 -7.72659655e+01] [ 1.06758075e-02 1.16095906e-04 9.99943005e-01 1.41283315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.24, Y:-77.92, Z:2.27 [[-9.38018968e-01 3.46455476e-01 9.43499578e-03 7.82359373e+01] [ 3.46436925e-01 9.38066413e-01 -3.58645907e-03 -7.79188890e+01] [-1.00932010e-02 -9.55357102e-05 -9.99949058e-01 2.27138481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.78 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.25, Y:-77.89, Z:2.27 [[-9.60050239e-01 2.79664199e-01 9.56424334e-03 7.82488049e+01] [ 2.79649397e-01 9.60097874e-01 -2.87866297e-03 -7.78946794e+01] [-9.98766868e-03 -8.90261875e-05 -9.99950118e-01 2.27122722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.81 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.46, Y:-77.21, Z:1.41 [[-9.32736587e-01 -3.60441901e-01 9.17031706e-03 7.84601299e+01] [ 3.60425279e-01 -9.32781663e-01 -3.46227246e-03 -7.72072921e+01] [ 9.80185166e-03 7.58258933e-05 9.99951958e-01 1.41432215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.84 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.20, Y:-77.89, Z:2.27 [[-9.60134883e-01 2.79400923e-01 8.72532970e-03 7.82019553e+01] [ 2.79388923e-01 9.60174527e-01 -2.58998426e-03 -7.78857982e+01] [-9.10148331e-03 -4.89737687e-05 -9.99958579e-01 2.26931160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.87 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.21, Y:-77.86, Z:2.27 [[-9.77068045e-01 2.12734364e-01 9.06233293e-03 7.82140948e+01] [ 2.12724933e-01 9.77110070e-01 -2.00336053e-03 -7.78627319e+01] [-9.28108040e-03 -2.96353943e-05 -9.99956929e-01 2.27029124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.9 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.21, Y:-77.84, Z:2.27 [[-9.89571100e-01 1.43782208e-01 8.70138703e-03 7.82136417e+01] [ 1.43776474e-01 9.89609355e-01 -1.28424658e-03 -7.78360250e+01] [-8.79562582e-03 -1.97985610e-05 -9.99961318e-01 2.27044985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.93 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.33, Y:-77.11, Z:1.41 [[-9.76600222e-01 -2.14882003e-01 8.81656331e-03 7.83308224e+01] [ 2.14873567e-01 -9.76640017e-01 -1.90433637e-03 -7.71121403e+01] [ 9.01981616e-03 3.46710879e-05 9.99959320e-01 1.41410547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.96 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.16, Y:-77.83, Z:2.27 [[-9.90008335e-01 1.40757568e-01 8.41445871e-03 7.81632233e+01] [ 1.40752407e-01 9.90044093e-01 -1.20540929e-03 -7.78318953e+01] [-8.50035563e-03 -9.00992186e-06 -9.99963871e-01 2.26981209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.98999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.27, Y:-77.10, Z:1.41 [[-9.77636730e-01 -2.10118618e-01 8.75160952e-03 7.82730291e+01] [ 2.10110548e-01 -9.77675900e-01 -1.84194222e-03 -7.71015758e+01] [ 8.94326406e-03 3.80551046e-05 9.99960007e-01 1.41467794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.01999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.10, Y:-77.83, Z:2.27 [[-9.90543816e-01 1.36844827e-01 9.82050440e-03 7.81022179e+01] [ 1.36838014e-01 9.90592496e-01 -1.36550330e-03 -7.78256611e+01] [-9.91498003e-03 -8.77253422e-06 -9.99950845e-01 2.27010493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.04999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.22, Y:-77.09, Z:1.41 [[-9.78386446e-01 -2.06406025e-01 1.25106105e-02 7.82198454e+01] [ 2.06391719e-01 -9.78466409e-01 -2.43805898e-03 -7.70912821e+01] [ 1.27444422e-02 1.96722549e-04 9.99918767e-01 1.41307131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.07999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.05, Y:-77.82, Z:2.27 [[-9.91181040e-01 1.31845611e-01 1.32996825e-02 7.80526769e+01] [ 1.31833406e-01 9.91270263e-01 -1.79410451e-03 -7.78226484e+01] [-1.34201245e-02 -2.49399317e-05 -9.99909946e-01 2.27204470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.10999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.16, Y:-77.08, Z:1.41 [[-9.79126916e-01 -2.02782970e-01 1.37676756e-02 7.81574721e+01] [ 2.02763883e-01 -9.79223704e-01 -2.78299354e-03 -7.70808734e+01] [ 1.40459780e-02 6.66834723e-05 9.99901348e-01 1.41176442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.14 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.99, Y:-77.82, Z:2.27 [[-9.91758429e-01 1.27364433e-01 1.39111141e-02 7.79898262e+01] [ 1.27351487e-01 9.91855988e-01 -1.81613709e-03 -7.78167103e+01] [-1.40291331e-02 -2.95681999e-05 -9.99901586e-01 2.27234533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.17 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.00, Y:-77.79, Z:2.27 [[-9.98235307e-01 5.79261449e-02 1.30703491e-02 7.79974263e+01] [ 5.79210545e-02 9.98320871e-01 -7.67979150e-04 -7.77935244e+01] [-1.30928884e-02 -9.57549668e-06 -9.99914284e-01 2.27187806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.2 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.00, Y:-77.77, Z:2.27 [[-9.99850268e-01 -1.22542803e-02 1.22177590e-02 7.79960287e+01] [-1.22533361e-02 9.99924914e-01 1.52138740e-04 -7.77686504e+01] [-1.22187060e-02 2.40765166e-06 -9.99925349e-01 2.27099756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.23 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.99, Y:-77.74, Z:2.27 [[-9.96559889e-01 -8.20958065e-02 1.13431180e-02 7.79932484e+01] [-8.20902897e-02 9.96624442e-01 9.51887130e-04 -7.77440335e+01] [-1.13829746e-02 1.74526912e-05 -9.99935212e-01 2.26977529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.26 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.99, Y:-77.72, Z:2.27 [[-9.88496039e-01 -1.50947281e-01 9.51310318e-03 7.79874733e+01] [-1.50939937e-01 9.88541813e-01 1.48944890e-03 -7.77217740e+01] [-9.62892853e-03 3.64071461e-05 -9.99953640e-01 2.26807581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.29 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.97, Y:-77.70, Z:2.27 [[-9.75249296e-01 -2.20919806e-01 9.12410203e-03 7.79690841e+01] [-2.20909727e-01 9.75291976e-01 2.11069567e-03 -7.76993582e+01] [-9.36495797e-03 4.28515805e-05 -9.99956147e-01 2.26821069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.32 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.92, Y:-77.68, Z:2.27 [[-9.56660066e-01 -2.91073969e-01 8.80125559e-03 7.79240907e+01] [-2.91061206e-01 9.56700550e-01 2.72610416e-03 -7.76846835e+01] [-9.21366402e-03 4.62509200e-05 -9.99957552e-01 2.26794518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.35 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.86, Y:-77.68, Z:2.27 [[-9.32790080e-01 -3.60316712e-01 8.63330789e-03 7.78647256e+01] [-3.60300782e-01 9.32830030e-01 3.38846795e-03 -7.76775726e+01] [-9.27433049e-03 5.01417041e-05 -9.99956991e-01 2.26790668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.38 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.80, Y:-77.68, Z:2.27 [[-9.03348837e-01 -4.28813839e-01 8.92024439e-03 7.77970382e+01] [-4.28792375e-01 9.03392876e-01 4.29075349e-03 -7.76794121e+01] [-9.89841971e-03 5.11143960e-05 -9.99951008e-01 2.26929870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.41 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.72, Y:-77.69, Z:2.27 [[-8.68260420e-01 -4.96019551e-01 9.40473524e-03 7.77192718e+01] [-4.95989905e-01 8.68311352e-01 5.42316484e-03 -7.76900336e+01] [-1.08562342e-02 4.40656381e-05 -9.99941068e-01 2.27010562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.44 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.64, Y:-77.71, Z:2.27 [[-8.27749051e-01 -5.61008538e-01 1.00463759e-02 7.76367673e+01] [-5.60966743e-01 8.27810014e-01 6.84788332e-03 -7.77099778e+01] [-1.21582116e-02 3.26461374e-05 -9.99926086e-01 2.27114674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.47 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.55, Y:-77.74, Z:2.27 [[-7.81853341e-01 -6.23377532e-01 1.02862552e-02 7.75472683e+01] [-6.23323395e-01 7.81921002e-01 8.21538055e-03 -7.77419390e+01] [-1.31643226e-02 1.15592324e-05 -9.99913346e-01 2.27066416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.45, Y:-77.79, Z:2.27 [[-7.29996893e-01 -6.83376127e-01 1.00799340e-02 7.74481546e+01] [-6.83311679e-01 7.30066482e-01 9.38520745e-03 -7.77921709e+01] [-1.37726487e-02 -3.65643717e-05 -9.99905152e-01 2.27171867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.53 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.37, Y:-77.84, Z:2.27 [[-6.74643670e-01 -7.38078288e-01 9.81628215e-03 7.73676319e+01] [-7.38001458e-01 6.74715079e-01 1.06494533e-02 -7.78352281e+01] [-1.44833239e-02 -5.98442563e-05 -9.99895109e-01 2.27225541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.28, Y:-77.90, Z:2.27 [[-6.14656721e-01 -7.88744147e-01 8.93232959e-03 7.72820773e+01] [-7.88662993e-01 6.14721614e-01 1.13145767e-02 -7.78967970e+01] [-1.44152022e-02 -9.00171916e-05 -9.99896092e-01 2.27265172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.59 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.20, Y:-77.96, Z:2.27 [[-5.51746074e-01 -8.33975578e-01 7.81059017e-03 7.72009958e+01] [-8.33894514e-01 5.51801347e-01 1.16281171e-02 -7.79645000e+01] [-1.40074599e-02 -9.74403305e-05 -9.99901886e-01 2.27185001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.62 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.12, Y:-78.04, Z:2.27 [[-4.85759446e-01 -8.74068395e-01 6.49623124e-03 7.71212207e+01] [-8.73992866e-01 4.85802873e-01 1.14908006e-02 -7.80449368e+01] [-1.31996334e-02 -9.58948299e-05 -9.99912876e-01 2.27092269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.65 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.05, Y:-78.13, Z:2.27 [[-4.16571595e-01 -9.09086461e-01 5.46920468e-03 7.70466091e+01] [-9.09011241e-01 4.16607484e-01 1.16947755e-02 -7.81340945e+01] [-1.29100736e-02 -9.98572577e-05 -9.99916657e-01 2.27045936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.68 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.98, Y:-78.23, Z:2.27 [[-3.45179928e-01 -9.38525200e-01 4.61161162e-03 7.69818490e+01] [-9.38445327e-01 3.45210717e-01 1.22445536e-02 -7.82269563e+01] [-1.30837998e-02 -1.01171260e-04 -9.99914398e-01 2.27072301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.71 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.92, Y:-78.33, Z:2.27 [[-2.71596670e-01 -9.62404003e-01 3.71278098e-03 7.69211889e+01] [-9.62319208e-01 2.71622026e-01 1.27756491e-02 -7.83276764e+01] [-1.33038090e-02 -1.03056689e-04 -9.99911495e-01 2.27061010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.73999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.87, Y:-78.44, Z:2.27 [[-1.96286784e-01 -9.80542932e-01 2.65641832e-03 7.68673304e+01] [-9.80459985e-01 1.96304733e-01 1.27541707e-02 -7.84397369e+01] [-1.30274794e-02 -1.01036718e-04 -9.99915134e-01 2.27003115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.76999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.82, Y:-78.56, Z:2.27 [[-1.19875503e-01 -9.92787662e-01 1.58797286e-03 7.68218569e+01] [-9.92710737e-01 1.19885982e-01 1.23589455e-02 -7.85585896e+01] [-1.24601843e-02 -9.48629077e-05 -9.99922364e-01 2.26953554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.79999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.79, Y:-78.66, Z:2.27 [[-4.30150607e-02 -9.99074262e-01 5.68205490e-04 7.67883741e+01] [-9.99009866e-01 4.30187396e-02 1.13435726e-02 -7.86616729e+01] [-1.13575149e-02 -7.96984275e-05 -9.99935498e-01 2.26835725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.82999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.76, Y:-78.78, Z:2.27 [[ 3.35041299e-02 -9.99438530e-01 -3.13099457e-04 7.67606620e+01] [-9.99373945e-01 -3.35055243e-02 1.13621139e-02 -7.87781039e+01] [-1.13662250e-02 -6.77742993e-05 -9.99935400e-01 2.26877991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.85999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.74, Y:-78.90, Z:2.27 [[ 1.10246001e-01 -9.93903591e-01 -1.21257796e-03 7.67418614e+01] [-9.93837174e-01 -1.10252652e-01 1.14901804e-02 -7.89002833e+01] [-1.15538215e-02 -6.16413903e-05 -9.99933250e-01 2.26891152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.73, Y:-79.02, Z:2.27 [[ 1.87019039e-01 -9.82354009e-01 -2.11640834e-03 7.67306107e+01] [-9.82287294e-01 -1.87031004e-01 1.14487989e-02 -7.90170560e+01] [-1.16426074e-02 -6.22223455e-05 -9.99932221e-01 2.26831656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.92 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.73, Y:-79.15, Z:2.27 [[ 2.63257061e-01 -9.64721011e-01 -3.01509891e-03 7.67304374e+01] [-9.64654636e-01 -2.63274317e-01 1.13166713e-02 -7.91481830e+01] [-1.17112287e-02 -7.06644910e-05 -9.99931419e-01 2.26895982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.95 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.74, Y:-79.27, Z:2.27 [[ 3.38326124e-01 -9.41020291e-01 -4.03063846e-03 7.67368128e+01] [-9.40950373e-01 -3.38350121e-01 1.14713074e-02 -7.92653630e+01] [-1.21585000e-02 -8.84121907e-05 -9.99926079e-01 2.26873666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.98 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.75, Y:-79.39, Z:2.27 [[ 4.11074766e-01 -9.11586884e-01 -5.18562831e-03 7.67543095e+01] [-9.11511058e-01 -4.11107459e-01 1.17578975e-02 -7.93881228e+01] [-1.28501956e-02 -1.06617401e-04 -9.99917427e-01 2.26936294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.01 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.78, Y:-79.50, Z:2.27 [[ 4.81268633e-01 -8.76548030e-01 -6.63734244e-03 7.67753003e+01] [-8.76460868e-01 -4.81314381e-01 1.23617280e-02 -7.94978096e+01] [-1.40302967e-02 -1.31941024e-04 -9.99901562e-01 2.27108193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.04 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.81, Y:-79.61, Z:2.27 [[ 5.47677593e-01 -8.36648389e-01 -8.29020362e-03 7.68092502e+01] [-8.36548385e-01 -5.47740313e-01 1.29363410e-02 -7.96114474e+01] [-1.53640476e-02 -1.49787647e-04 -9.99881955e-01 2.27161761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.85, Y:-79.72, Z:2.27 [[ 6.09835584e-01 -7.92468412e-01 -9.71478159e-03 7.68507610e+01] [-7.92364065e-01 -6.09912941e-01 1.28605545e-02 -7.97187719e+01] [-1.61167542e-02 -1.45179914e-04 -9.99870106e-01 2.27259239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.1 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.90, Y:-79.82, Z:2.27 [[ 6.67853071e-01 -7.44217370e-01 -1.06199171e-02 7.68970067e+01] [-7.44120423e-01 -6.67937491e-01 1.20126769e-02 -7.98178485e+01] [-1.60334835e-02 -1.20205946e-04 -9.99871448e-01 2.27417728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.13 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.95, Y:-79.90, Z:2.27 [[ 7.18964408e-01 -6.94955563e-01 -1.12669991e-02 7.69490809e+01] [-6.94869685e-01 -7.19052686e-01 1.09250477e-02 -7.99043269e+01] [-1.56939887e-02 -2.56243578e-05 -9.99876841e-01 2.27137056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.16 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.94, Y:-79.91, Z:2.27 [[ 7.71009546e-01 -6.36708897e-01 -1.20855395e-02 7.69434379e+01] [-6.36630170e-01 -7.71104260e-01 1.00123164e-02 -7.99116718e+01] [-1.56941419e-02 -2.55724120e-05 -9.99876839e-01 2.27137230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.19 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.94, Y:-79.91, Z:2.27 [[ 8.16238145e-01 -5.77586730e-01 -1.22008249e-02 7.69389564e+01] [-5.77522790e-01 -8.16329326e-01 8.59407347e-03 -7.99149565e+01] [-1.49237140e-02 3.14438590e-05 -9.99888635e-01 2.27069278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.22 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.93, Y:-79.92, Z:2.27 [[ 8.56693260e-01 -5.15689034e-01 -1.18944837e-02 7.69340059e+01] [-5.15640771e-01 -8.56775824e-01 7.05568726e-03 -7.99181674e+01] [-1.38294466e-02 8.87210353e-05 -9.99904365e-01 2.26941844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.25 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.93, Y:-79.92, Z:2.27 [[ 8.90810459e-01 -4.54259674e-01 -1.02408283e-02 7.69295862e+01] [-4.54231786e-01 -8.90869307e-01 5.03619689e-03 -7.99182670e+01] [-1.14109808e-02 1.65412857e-04 -9.99934879e-01 2.26789451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.28 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.92, Y:-79.92, Z:2.27 [[ 9.22269555e-01 -3.86433369e-01 -9.38722606e-03 7.69236725e+01] [-3.86415354e-01 -9.22317309e-01 3.73576186e-03 -7.99207687e+01] [-1.01016241e-02 1.81988853e-04 -9.99948961e-01 2.26711081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.31 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.92, Y:-79.93, Z:2.27 [[ 9.48919625e-01 -3.15403722e-01 -8.48746234e-03 7.69175806e+01] [-3.15392813e-01 -9.48957564e-01 2.62957450e-03 -7.99259880e+01] [-8.88361918e-03 1.81629771e-04 -9.99960523e-01 2.26622862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.34 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.91, Y:-79.93, Z:2.27 [[ 9.70416374e-01 -2.41314622e-01 -7.70163927e-03 7.69096504e+01] [-2.41308425e-01 -9.70446920e-01 1.73789378e-03 -7.99306473e+01] [-7.89341128e-03 1.71989860e-04 -9.99968832e-01 2.26585951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.37 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.90, Y:-79.94, Z:2.27 [[ 9.86330738e-01 -1.64605505e-01 -7.53016307e-03 7.69004872e+01] [-1.64601992e-01 -9.86359468e-01 1.08826473e-03 -7.99359266e+01] [-7.60658200e-03 1.66090882e-04 -9.99971056e-01 2.26529512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.4 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.89, Y:-79.94, Z:2.27 [[ 9.96264668e-01 -8.60318155e-02 -7.43218422e-03 7.68918627e+01] [-8.60305910e-02 -9.96292378e-01 4.84886680e-04 -7.99398198e+01] [-7.44634417e-03 1.56319733e-04 -9.99972263e-01 2.26576131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.43 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.88, Y:-79.95, Z:2.27 [[ 9.99955249e-01 -6.34542316e-03 -7.01685423e-03 7.68846771e+01] [-6.34623150e-03 -9.99979858e-01 -9.29389608e-05 -7.99467382e+01] [-7.01612316e-03 1.37465383e-04 -9.99975377e-01 2.26565499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.46 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.88, Y:-79.96, Z:2.27 [[ 9.97069527e-01 7.61503936e-02 -7.31273140e-03 7.68789373e+01] [ 7.61475141e-02 -9.97096337e-01 -6.71795718e-04 -7.99611144e+01] [-7.34265520e-03 1.12980721e-04 -9.99973036e-01 2.26600689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.48999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.87, Y:-79.97, Z:2.27 [[ 9.87629724e-01 1.56626966e-01 -7.45135721e-03 7.68739607e+01] [ 1.56621774e-01 -9.87657828e-01 -1.27889598e-03 -7.99741066e+01] [-7.55970087e-03 9.60308977e-05 -9.99971420e-01 2.26639254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.51999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.87, Y:-79.99, Z:2.27 [[ 9.71651068e-01 2.36300165e-01 -7.51223871e-03 7.68686936e+01] [ 2.36292498e-01 -9.71680105e-01 -1.90496610e-03 -7.99862155e+01] [-7.74963670e-03 7.58766901e-05 -9.99969968e-01 2.26720168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.54999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.87, Y:-80.00, Z:2.27 [[ 9.49194623e-01 3.14595538e-01 -7.69509988e-03 7.68662279e+01] [ 3.14584738e-01 -9.49225813e-01 -2.60723941e-03 -7.99987693e+01] [-8.12461333e-03 5.40166463e-05 -9.99966993e-01 2.26768477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.57999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.86, Y:-80.01, Z:2.27 [[ 9.19456790e-01 3.93098123e-01 -8.54852456e-03 7.68648615e+01] [ 3.93081042e-01 -9.19496528e-01 -3.66454234e-03 -8.00124469e+01] [-9.30086337e-03 9.12539529e-06 -9.99956746e-01 2.26959914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.60999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.86, Y:-80.02, Z:2.27 [[ 8.84586506e-01 4.66289011e-01 -9.01505349e-03 7.68644019e+01] [ 4.66265007e-01 -8.84632442e-01 -4.73130612e-03 -8.00239261e+01] [-1.01811648e-02 -1.81544221e-05 -9.99948170e-01 2.26939301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.64 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.86, Y:-80.04, Z:2.27 [[ 8.43949305e-01 5.36344280e-01 -9.18602898e-03 7.68639149e+01] [ 5.36313128e-01 -8.43999295e-01 -5.78085025e-03 -8.00353147e+01] [-1.08535280e-02 -4.78433810e-05 -9.99941098e-01 2.27066552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.67 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.87, Y:-80.05, Z:2.27 [[ 7.97182133e-01 6.03665987e-01 -9.38207515e-03 7.68660392e+01] [ 6.03625577e-01 -7.97237334e-01 -6.98541931e-03 -8.00475608e+01] [-1.16966006e-02 -9.46090560e-05 -9.99931588e-01 2.27109276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.7 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.87, Y:-80.06, Z:2.27 [[ 7.46911767e-01 6.64868971e-01 -8.48903388e-03 7.68673831e+01] [ 6.64827560e-01 -7.46960000e-01 -7.42120490e-03 -8.00583946e+01] [-1.12750976e-02 -1.00758412e-04 -9.99936429e-01 2.27178460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.73 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.87, Y:-80.07, Z:2.27 [[ 6.92066670e-01 7.21792981e-01 -7.65615069e-03 7.68705223e+01] [ 7.21750485e-01 -6.92109009e-01 -7.83306652e-03 -8.00685277e+01] [-1.09527433e-02 -1.04826206e-04 -9.99940011e-01 2.26986489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.76 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.87, Y:-80.08, Z:2.27 [[ 6.33421369e-01 7.73780277e-01 -6.43838880e-03 7.68741676e+01] [ 7.73741843e-01 -6.33454082e-01 -7.71274638e-03 -8.00797432e+01] [-1.00463947e-02 -9.62324421e-05 -9.99949529e-01 2.26924211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.79 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.87, Y:-80.09, Z:2.27 [[ 5.72025018e-01 8.20224261e-01 -4.42043228e-03 7.68744325e+01] [ 8.20200599e-01 -5.72042094e-01 -6.23051517e-03 -8.00879139e+01] [-7.63909304e-03 -6.16306535e-05 -9.99970820e-01 2.26706025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.82 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.87, Y:-80.10, Z:2.27 [[ 5.07357624e-01 8.61728177e-01 -3.57633465e-03 7.68748193e+01] [ 8.61707396e-01 -5.07370226e-01 -5.98478824e-03 -8.00962023e+01] [-6.97178638e-03 -4.53260740e-05 -9.99975696e-01 2.26673193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.85 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.88, Y:-80.10, Z:2.27 [[ 4.40299019e-01 8.97846761e-01 -2.82260479e-03 7.68760115e+01] [ 8.97828704e-01 -4.40308066e-01 -5.69432592e-03 -8.01039563e+01] [-6.35544774e-03 -2.70094797e-05 -9.99979804e-01 2.26552315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.88 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.88, Y:-80.11, Z:2.26 [[ 3.70592351e-01 9.28792265e-01 -2.49751272e-03 7.68788901e+01] [ 9.28771436e-01 -3.70600766e-01 -6.22029619e-03 -8.01124988e+01] [-6.70294312e-03 -1.44242844e-05 -9.99977535e-01 2.26487438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.91 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.88, Y:-80.12, Z:2.27 [[ 3.01416879e-01 9.53490770e-01 -1.79348581e-03 7.68790707e+01] [ 9.53473555e-01 -3.01422214e-01 -5.72967138e-03 -8.01214614e+01] [-6.00378524e-03 1.69783786e-05 -9.99981977e-01 2.26563410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.94 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.88, Y:-80.13, Z:2.27 [[ 2.27827955e-01 9.73700582e-01 -1.26474696e-03 7.68812213e+01] [ 9.73684888e-01 -2.27831463e-01 -5.52832272e-03 -8.01302255e+01] [-5.67108020e-03 2.80414513e-05 -9.99983919e-01 2.26586047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.97 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.88, Y:-80.14, Z:2.27 [[ 1.54470010e-01 9.87997029e-01 -9.41925553e-04 7.68833166e+01] [ 9.87976419e-01 -1.54472872e-01 -6.38181190e-03 -8.01385790e+01] [-6.45071314e-03 5.51983122e-05 -9.99979192e-01 2.26650935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.0 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.89, Y:-80.15, Z:2.27 [[ 7.74900967e-02 9.96992998e-01 -4.96331388e-04 7.68876523e+01] [ 9.96966518e-01 -7.74916562e-02 -7.26673306e-03 -8.01486716e+01] [-7.28334352e-03 6.82740724e-05 -9.99973474e-01 2.26748454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.03 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.89, Y:-80.16, Z:2.27 [[-2.70383952e-04 9.99999960e-01 7.98474780e-05 7.68927609e+01] [ 9.99969085e-01 2.71003087e-04 -7.85853172e-03 -8.01571883e+01] [-7.85855305e-03 7.77201886e-05 -9.99969118e-01 2.26825042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.06 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.90, Y:-80.17, Z:2.27 [[-8.04370126e-02 9.96759352e-01 8.25581359e-04 7.69039985e+01] [ 9.96715940e-01 8.04412147e-02 -9.30301888e-03 -8.01653343e+01] [-9.33928184e-03 7.45630529e-05 -9.99956385e-01 2.26821005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.09 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.92, Y:-80.17, Z:2.27 [[-1.59859877e-01 9.87138369e-01 1.63115332e-03 7.69153374e+01] [ 9.87090899e-01 1.59868186e-01 -9.68094944e-03 -8.01727614e+01] [-9.81720617e-03 6.25012169e-05 -9.99951808e-01 2.26893258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.12 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.93, Y:-80.18, Z:2.27 [[-2.38448538e-01 9.71151792e-01 2.54808629e-03 7.69258623e+01] [ 9.71098458e-01 2.38462147e-01 -1.01778864e-02 -8.01796887e+01] [-1.04918948e-02 4.75405318e-05 -9.99944957e-01 2.26964533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.15 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.94, Y:-80.19, Z:2.27 [[-3.15039203e-01 9.49071291e-01 3.73980741e-03 7.69373257e+01] [ 9.49005827e-01 3.15061397e-01 -1.11470598e-02 -8.01851438e+01] [-1.17576234e-02 3.73381832e-05 -9.99930876e-01 2.26977573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.18 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.95, Y:-80.19, Z:2.27 [[-3.89561483e-01 9.20986794e-01 5.01755493e-03 7.69483591e+01] [ 9.20911221e-01 3.89593794e-01 -1.17982642e-02 -8.01894228e+01] [-1.28208537e-02 2.45733613e-05 -9.99917809e-01 2.27078588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.21 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.96, Y:-80.19, Z:2.27 [[-4.62340582e-01 8.86676615e-01 6.76507105e-03 7.69602454e+01] [ 8.86581634e-01 4.62390073e-01 -1.29779241e-02 -8.01931993e+01] [-1.46353235e-02 -2.43321765e-06 -9.99892898e-01 2.27176940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.23999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.97, Y:-80.19, Z:2.27 [[-5.30828715e-01 8.47445099e-01 7.59469491e-03 7.69720766e+01] [ 8.47358123e-01 5.30883042e-01 -1.21411358e-02 -8.01949714e+01] [-1.43208408e-02 -9.43709696e-06 -9.99897451e-01 2.27129421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.26999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.98, Y:-80.20, Z:2.27 [[-5.95615705e-01 8.03232029e-01 7.76141201e-03 7.69846462e+01] [ 8.03163650e-01 5.95666272e-01 -1.04806509e-02 -8.01957834e+01] [-1.30416058e-02 -8.75625422e-06 -9.99914955e-01 2.26967100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.29999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.00, Y:-80.20, Z:2.27 [[-6.56063112e-01 7.54661745e-01 8.17574292e-03 7.69965503e+01] [ 7.54603189e-01 6.56114053e-01 -9.40089988e-03 -8.01962220e+01] [-1.24587193e-02 1.85805169e-06 -9.99922387e-01 2.26918417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.32999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.01, Y:-80.20, Z:2.27 [[-7.12336195e-01 7.01787720e-01 8.43452124e-03 7.70084457e+01] [ 7.01738788e-01 7.12386128e-01 -8.28716889e-03 -8.01966824e+01] [-1.18244693e-02 1.55803588e-05 -9.99930088e-01 2.26867335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.35999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.03, Y:-80.18, Z:2.27 [[-7.58426654e-01 6.51720910e-01 6.99047185e-03 7.70326402e+01] [ 6.51693679e-01 7.58458868e-01 -5.95768815e-03 -8.01831257e+01] [-9.18473531e-03 3.71768354e-05 -9.99957819e-01 2.26662490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.39 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.05, Y:-80.17, Z:2.27 [[-8.01748277e-01 5.97625414e-01 6.60040784e-03 7.70548139e+01] [ 5.97605625e-01 8.01775444e-01 -4.86358995e-03 -8.01671933e+01] [-8.19864988e-03 4.50659931e-05 -9.99966389e-01 2.26562868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.42 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.08, Y:-80.15, Z:2.27 [[-8.41124934e-01 5.40799582e-01 6.68265610e-03 7.70761721e+01] [ 5.40783046e-01 8.41151478e-01 -4.22936164e-03 -8.01505446e+01] [-7.90836306e-03 5.64455866e-05 -9.99968727e-01 2.26505973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.45 meters Centerline goodness [0,1] 0.9999323669319385 Centerline is valid? [True, True] Translation: X:77.09, Y:-80.13, Z:2.26 [[-8.76365052e-01 4.81595191e-01 7.09697973e-03 7.70933665e+01] [ 4.81580071e-01 8.76393785e-01 -3.81691482e-03 -8.01310979e+01] [-8.05795675e-03 7.27532461e-05 -9.99967531e-01 2.26396283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.48 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.11, Y:-80.11, Z:2.26 [[-9.08015231e-01 4.18871638e-01 7.40879950e-03 7.71114590e+01] [ 4.18858395e-01 9.08045453e-01 -3.33176318e-03 -8.01101531e+01] [-8.12310780e-03 7.79461555e-05 -9.99967004e-01 2.26420327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.51 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.13, Y:-80.09, Z:2.26 [[-9.35459520e-01 3.53339367e-01 8.17182147e-03 7.71330053e+01] [ 3.53326644e-01 9.35495209e-01 -2.99953364e-03 -8.00888576e+01] [-8.70455315e-03 8.13799648e-05 -9.99962111e-01 2.26455201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.54 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.15, Y:-80.06, Z:2.27 [[-9.58271089e-01 2.85730818e-01 8.62668291e-03 7.71459736e+01] [ 2.85719989e-01 9.58309915e-01 -2.48885206e-03 -8.00638168e+01] [-8.97817750e-03 7.98207753e-05 -9.99959692e-01 2.26612335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.16, Y:-80.04, Z:2.27 [[-9.76305823e-01 2.16191540e-01 9.38927983e-03 7.71577444e+01] [ 2.16182297e-01 9.76350968e-01 -2.00056397e-03 -8.00359098e+01] [-9.59973745e-03 7.66338279e-05 -9.99953919e-01 2.26588990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.6 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.16, Y:-80.01, Z:2.27 [[-9.89368869e-01 1.45071278e-01 1.01767192e-02 7.71644688e+01] [ 1.45064314e-01 9.89421204e-01 -1.42310996e-03 -8.00075930e+01] [-1.02755142e-02 6.82980983e-05 -9.99947203e-01 2.26615899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.63 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.17, Y:-79.98, Z:2.27 [[-9.97379577e-01 7.16666643e-02 9.89283235e-03 7.71735113e+01] [ 7.16635171e-02 9.97428638e-01 -6.72702489e-04 -7.99790121e+01] [-9.91560464e-03 3.80154369e-05 -9.99950838e-01 2.26625952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.66 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.23, Y:-79.14, Z:1.42 [[-9.91017221e-01 -1.33379209e-01 9.73933452e-03 7.72295097e+01] [ 1.33372340e-01 -9.91065076e-01 -1.35433211e-03 -7.91376707e+01] [ 9.83295405e-03 -4.32086165e-05 9.99951654e-01 1.41886553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.69 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.09, Y:-79.97, Z:2.27 [[-9.97972807e-01 6.29310889e-02 9.48440110e-03 7.70893799e+01] [ 6.29283200e-02 9.98017875e-01 -5.90379316e-04 -7.99708830e+01] [-9.50275504e-03 7.65492398e-06 -9.99954848e-01 2.26520619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.72 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.15, Y:-79.14, Z:1.42 [[-9.91206250e-01 -1.31972782e-01 9.66200432e-03 7.71482840e+01] [ 1.31966598e-01 -9.91253340e-01 -1.27754902e-03 -7.91357239e+01] [ 9.74609575e-03 8.74726904e-06 9.99952506e-01 1.41881404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.01, Y:-79.96, Z:2.27 [[-9.98519184e-01 5.34768253e-02 9.98342469e-03 7.70105681e+01] [ 5.34738061e-02 9.98569090e-01 -5.69299079e-04 -7.99623300e+01] [-9.99958362e-03 -3.46043355e-05 -9.99950002e-01 2.26583518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.78 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.00, Y:-79.93, Z:2.27 [[-9.99777928e-01 -1.87349353e-02 9.64866036e-03 7.70028904e+01] [-1.87344881e-02 9.99824485e-01 1.36741873e-04 -7.99341015e+01] [-9.64952873e-03 -4.40512060e-05 -9.99953441e-01 2.26560908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.81 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.02, Y:-79.91, Z:2.27 [[-9.95837922e-01 -9.06696787e-02 9.26515179e-03 7.70160937e+01] [-9.06662461e-02 9.95881020e-01 7.90702820e-04 -7.99052405e+01] [-9.29868159e-03 -5.26246797e-05 -9.99956765e-01 2.26547199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.84 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.95, Y:-79.08, Z:1.42 [[-9.99903221e-01 1.04229863e-02 9.21465616e-03 7.69493608e+01] [-1.04221152e-02 -9.99945678e-01 1.42553621e-04 -7.90790605e+01] [ 9.21564144e-03 4.65036173e-05 9.99957534e-01 1.41964267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.87 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.91, Y:-79.91, Z:2.27 [[-9.95065181e-01 -9.88837410e-02 8.20318830e-03 7.69080711e+01] [-9.88808709e-02 9.95098991e-01 7.55714451e-04 -7.99115015e+01] [-8.23771228e-03 -5.91532670e-05 -9.99966068e-01 2.26510258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.9 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.90, Y:-79.89, Z:2.26 [[-9.85452138e-01 -1.69762268e-01 8.05335235e-03 7.69004135e+01] [-1.69757090e-01 9.85485042e-01 1.32725324e-03 -7.98852855e+01] [-8.16177581e-03 -5.91691146e-05 -9.99966690e-01 2.26475629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.93 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.88, Y:-79.86, Z:2.26 [[-9.70735502e-01 -2.40026263e-01 7.74452918e-03 7.68833069e+01] [-2.40019084e-01 9.70766393e-01 1.85719489e-03 -7.98610094e+01] [-7.96390420e-03 -5.59897909e-05 -9.99968286e-01 2.26486987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.96 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.84, Y:-79.85, Z:2.27 [[-9.51050671e-01 -3.08933066e-01 7.93612019e-03 7.68360051e+01] [-3.08922712e-01 9.51083781e-01 2.52976031e-03 -7.98477944e+01] [-8.32944181e-03 -4.57175299e-05 -9.99965309e-01 2.26521944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.98999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.78, Y:-79.84, Z:2.27 [[-9.26166445e-01 -3.77040143e-01 7.51305811e-03 7.67776772e+01] [-3.77028030e-01 9.26196917e-01 3.02252626e-03 -7.98414005e+01] [-8.09818499e-03 -3.32710928e-05 -9.99967209e-01 2.26500381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.01999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.71, Y:-79.84, Z:2.27 [[-8.96154928e-01 -4.43678423e-01 7.47004217e-03 7.67074919e+01] [-4.43663221e-01 8.96186061e-01 3.67278800e-03 -7.98442095e+01] [-8.32408446e-03 -2.27959096e-05 -9.99965354e-01 2.26508869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.04999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.63, Y:-79.86, Z:2.27 [[-8.60370618e-01 -5.09618422e-01 7.17376738e-03 7.66290255e+01] [-5.09600929e-01 8.60400525e-01 4.22257397e-03 -7.98552447e+01] [-8.32421470e-03 -2.27799456e-05 -9.99965353e-01 2.26509367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.07999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.55, Y:-79.88, Z:2.26 [[-8.20996138e-01 -5.70892888e-01 6.83020780e-03 7.65482068e+01] [-5.70873131e-01 8.21024549e-01 4.74950456e-03 -7.98783962e+01] [-8.31922666e-03 1.42785635e-07 -9.99965395e-01 2.26422198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.10999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.46, Y:-79.91, Z:2.26 [[-7.75987442e-01 -6.30714515e-01 6.53381028e-03 7.64598993e+01] [-6.30692067e-01 7.76014948e-01 5.32128385e-03 -7.99125359e+01] [-8.42654541e-03 8.42712922e-06 -9.99964496e-01 2.26345709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.14 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.37, Y:-79.96, Z:2.26 [[-7.26450235e-01 -6.87187122e-01 6.62688068e-03 7.63698779e+01] [-6.87158288e-01 7.26480460e-01 6.29512262e-03 -7.99567939e+01] [-9.14022652e-03 1.93773257e-05 -9.99958227e-01 2.26357094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.17 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.28, Y:-80.01, Z:2.26 [[-6.72408116e-01 -7.40152086e-01 6.49733988e-03 7.62797467e+01] [-7.40117128e-01 6.72439506e-01 7.19357156e-03 -8.00113429e+01] [-9.69340502e-03 2.82233661e-05 -9.99953017e-01 2.26403694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.2 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.19, Y:-80.07, Z:2.27 [[-6.14311379e-01 -7.89040366e-01 6.06883020e-03 7.61928257e+01] [-7.89001276e-01 6.14341354e-01 7.85413193e-03 -8.00742935e+01] [-9.92556050e-03 3.65678488e-05 -9.99950740e-01 2.26502913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.23 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.11, Y:-80.14, Z:2.26 [[-5.51837700e-01 -8.33934095e-01 5.39231946e-03 7.61110588e+01] [-8.33893643e-01 5.51864044e-01 8.21398974e-03 -8.01417775e+01] [-9.82575333e-03 3.61682908e-05 -9.99951725e-01 2.26480380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.26 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.03, Y:-80.22, Z:2.26 [[-4.85601637e-01 -8.74168927e-01 4.44268450e-03 7.60311287e+01] [-8.74131771e-01 4.85621958e-01 8.05978723e-03 -8.02213327e+01] [-9.20308070e-03 3.03542010e-05 -9.99957650e-01 2.26390826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.29 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.95, Y:-80.31, Z:2.26 [[-4.16002720e-01 -9.09356095e-01 3.63723876e-03 7.59549597e+01] [-9.09320878e-01 4.16018620e-01 8.00308595e-03 -8.03114168e+01] [-8.79081404e-03 2.18883804e-05 -9.99961360e-01 2.26334270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.32 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.88, Y:-80.41, Z:2.26 [[-3.43704721e-01 -9.39073190e-01 2.93394485e-03 7.58844335e+01] [-9.39038627e-01 3.43717243e-01 8.05695667e-03 -8.04091807e+01] [-8.57451944e-03 1.41264960e-05 -9.99963238e-01 2.26270562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.35 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.82, Y:-80.51, Z:2.26 [[-2.68864170e-01 -9.63175175e-01 2.37510551e-03 7.58225042e+01] [-9.63137468e-01 2.68874660e-01 8.52254903e-03 -8.05081050e+01] [-8.84731333e-03 3.85496569e-06 -9.99960862e-01 2.26318446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.38 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.77, Y:-80.61, Z:2.26 [[-1.91173003e-01 -9.81554618e-01 1.84802522e-03 7.57665267e+01] [-9.81509689e-01 1.91181934e-01 9.39137254e-03 -8.06144225e+01] [-9.57145412e-03 -1.84777673e-05 -9.99954192e-01 2.26343481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.41 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.72, Y:-80.73, Z:2.26 [[-1.13648905e-01 -9.93520364e-01 1.10168768e-03 7.57201353e+01] [-9.93475917e-01 1.13654241e-01 9.39760502e-03 -8.07282885e+01] [-9.46192344e-03 -2.64726651e-05 -9.99955235e-01 2.26352958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.44 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.68, Y:-80.84, Z:2.26 [[-3.57210892e-02 -9.99361729e-01 3.71833678e-04 7.56831733e+01] [-9.99316546e-01 3.57230100e-02 9.50298096e-03 -8.08429625e+01] [-9.51019850e-03 -3.21227167e-05 -9.99954777e-01 2.26324529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.47 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.66, Y:-80.96, Z:2.26 [[ 4.22241433e-02 -9.99108102e-01 -3.49042297e-04 7.56555312e+01] [-9.99067148e-01 -4.22255729e-02 9.04629736e-03 -8.09627679e+01] [-9.05296750e-03 -3.32554641e-05 -9.99959021e-01 2.26192047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.64, Y:-81.08, Z:2.26 [[ 1.19468261e-01 -9.92837586e-01 -9.28807203e-04 7.56368361e+01] [-9.92805706e-01 -1.19471868e-01 7.95635928e-03 -8.10830219e+01] [-8.01033887e-03 -2.84073136e-05 -9.99967916e-01 2.26089558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.53 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.63, Y:-81.21, Z:2.26 [[ 1.95798138e-01 -9.80643122e-01 -1.46856966e-03 7.56280017e+01] [-9.80614599e-01 -1.95803644e-01 7.47937121e-03 -8.12079461e+01] [-7.62214522e-03 -2.43461067e-05 -9.99970951e-01 2.26060997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.63, Y:-81.33, Z:2.26 [[ 2.70806717e-01 -9.62631846e-01 -1.91061168e-03 7.56277446e+01] [-9.62607381e-01 -2.70813456e-01 6.86306343e-03 -8.13269108e+01] [-7.12402277e-03 -1.93947720e-05 -9.99974624e-01 2.26036511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.59 meters Centerline goodness [0,1] 0.9999774759555826 Centerline is valid? [True, True] Translation: X:75.64, Y:-81.44, Z:2.26 [[ 3.43095715e-01 -9.39298114e-01 -2.09374911e-03 7.56369033e+01] [-9.39280508e-01 -3.43102104e-01 5.75104479e-03 -8.14439403e+01] [-6.12031525e-03 -6.54110492e-06 -9.99981271e-01 2.25953213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.62 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.66, Y:-81.56, Z:2.26 [[ 4.14061591e-01 -9.10245265e-01 -2.56049601e-03 7.56565923e+01] [-9.10227832e-01 -4.14069508e-01 5.63344854e-03 -8.15634540e+01] [-6.18804319e-03 -1.95993774e-06 -9.99980854e-01 2.25889009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.65 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.68, Y:-81.68, Z:2.26 [[ 4.82356516e-01 -8.75969382e-01 -3.13592582e-03 7.56841879e+01] [-8.75950925e-01 -4.82366710e-01 5.68638454e-03 -8.16782525e+01] [-6.49376496e-03 4.05248481e-06 -9.99978915e-01 2.25882755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.68 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.72, Y:-81.79, Z:2.26 [[ 5.47577399e-01 -8.36746070e-01 -3.87383521e-03 7.57200050e+01] [-8.36725297e-01 -5.47591101e-01 5.89612108e-03 -8.17895448e+01] [-7.05483383e-03 1.27532743e-05 -9.99975114e-01 2.25906456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.71 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.76, Y:-81.89, Z:2.26 [[ 6.08406264e-01 -7.93607521e-01 -5.37785718e-03 7.57621989e+01] [-7.93577067e-01 -6.08430030e-01 6.95252889e-03 -8.18931505e+01] [-8.78962902e-03 3.77820003e-05 -9.99961370e-01 2.25926928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.73999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.81, Y:-82.00, Z:2.26 [[ 6.66652901e-01 -7.45339228e-01 -6.58374285e-03 7.58125108e+01] [-7.45303701e-01 -6.66685407e-01 7.27741773e-03 -8.19953858e+01] [-9.81343020e-03 5.53762718e-05 -9.99951846e-01 2.25926616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.76999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.87, Y:-82.09, Z:2.26 [[ 7.21116636e-01 -6.92773037e-01 -7.50447047e-03 7.58695855e+01] [-6.92736536e-01 -7.21155680e-01 7.11177786e-03 -8.20920981e+01] [-1.03387395e-02 7.01995551e-05 -9.99946551e-01 2.26048319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.79999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.86, Y:-82.10, Z:2.26 [[ 7.72331625e-01 -6.35160385e-01 -8.66868931e-03 7.58648131e+01] [-6.35121639e-01 -7.72380267e-01 7.01615968e-03 -8.20982814e+01] [-1.11519113e-02 8.68701552e-05 -9.99937812e-01 2.26084234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.82999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.86, Y:-82.10, Z:2.26 [[ 8.19032268e-01 -5.73656571e-01 -1.02118276e-02 7.58587466e+01] [-5.73613624e-01 -8.19095920e-01 7.02026745e-03 -8.21026072e+01] [-1.23916889e-02 1.07817875e-04 -9.99923214e-01 2.26123792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.85999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.85, Y:-82.11, Z:2.26 [[ 8.60732457e-01 -5.08920246e-01 -1.18245777e-02 7.58530950e+01] [-5.08874371e-01 -8.60813664e-01 6.83446312e-03 -8.21065831e+01] [-1.36569548e-02 1.34580332e-04 -9.99906730e-01 2.26125126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.85, Y:-82.11, Z:2.26 [[ 8.97709018e-01 -4.40412458e-01 -1.24653725e-02 7.58461871e+01] [-4.40372185e-01 -8.97795548e-01 5.95750014e-03 -8.21146440e+01] [-1.38151133e-02 1.41301748e-04 -9.99904557e-01 2.26028667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.92 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.84, Y:-82.12, Z:2.26 [[ 9.29292485e-01 -3.69121742e-01 -1.28302894e-02 7.58394943e+01] [-3.69088704e-01 -9.29381041e-01 4.94063808e-03 -8.21229531e+01] [-1.37479246e-02 1.44217028e-04 -9.99905482e-01 2.25995238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.95 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.83, Y:-82.13, Z:2.26 [[ 9.55499011e-01 -2.94681158e-01 -1.35887729e-02 7.58321182e+01] [-2.94653426e-01 -9.55595623e-01 4.04510179e-03 -8.21315235e+01] [-1.41773872e-02 1.38887722e-04 -9.99899486e-01 2.25961807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.98 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.82, Y:-82.14, Z:2.26 [[ 9.75827017e-01 -2.18108850e-01 -1.37899501e-02 7.58231234e+01] [-2.18088902e-01 -9.75924441e-01 2.95248712e-03 -8.21389045e+01] [-1.41019129e-02 1.26318366e-04 -9.99900555e-01 2.25992107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.01 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.81, Y:-82.15, Z:2.26 [[ 9.90226403e-01 -1.38788746e-01 -1.37606173e-02 7.58145353e+01] [-1.38776642e-01 -9.90322006e-01 1.83530867e-03 -8.21468529e+01] [-1.38821623e-02 9.22811571e-05 -9.99903634e-01 2.26064205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.04 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.81, Y:-82.16, Z:2.26 [[ 9.98153342e-01 -5.91471930e-02 -1.38389284e-02 7.58073710e+01] [-5.91424576e-02 -9.98249270e-01 7.51538659e-04 -8.21560936e+01] [-1.38591516e-02 6.83174109e-05 -9.99903955e-01 2.25875442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.80, Y:-82.17, Z:2.26 [[ 9.99689354e-01 2.09493516e-02 -1.35026329e-02 7.58010372e+01] [ 2.09468686e-02 -9.99780537e-01 -3.25310629e-04 -8.21658494e+01] [-1.35064846e-02 4.23716958e-05 -9.99908782e-01 2.25797629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.1 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.80, Y:-82.18, Z:2.26 [[ 9.94819382e-01 1.00816128e-01 -1.30577770e-02 7.57960940e+01] [ 1.00807190e-01 -9.94905075e-01 -1.34255335e-03 -8.21760460e+01] [-1.31265996e-02 1.92802867e-05 -9.99913842e-01 2.25755288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.13 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.79, Y:-82.19, Z:2.26 [[ 9.83139381e-01 1.82420640e-01 -1.26360000e-02 7.57910243e+01] [ 1.82406016e-01 -9.83220580e-01 -2.31003145e-03 -8.21879862e+01] [-1.28453727e-02 -3.37995295e-05 -9.99917494e-01 2.25691726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.16 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.79, Y:-82.20, Z:2.26 [[ 9.65341855e-01 2.60679514e-01 -1.27001786e-02 7.57880295e+01] [ 2.60657775e-01 -9.65425392e-01 -3.36703348e-03 -8.21985432e+01] [-1.31387916e-02 -6.00619548e-05 -9.99913681e-01 2.25635461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.19 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.79, Y:-82.21, Z:2.26 [[ 9.41260693e-01 3.37452003e-01 -1.24278905e-02 7.57860660e+01] [ 3.37423831e-01 -9.41342731e-01 -4.36131108e-03 -8.22096673e+01] [-1.31706376e-02 -8.83357344e-05 -9.99913259e-01 2.25650426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.22 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.79, Y:-82.22, Z:2.26 [[ 9.11055925e-01 4.12107875e-01 -1.20083457e-02 7.57853614e+01] [ 4.12073763e-01 -9.11135053e-01 -5.30360402e-03 -8.22211405e+01] [-1.31268816e-02 -1.16444322e-04 -9.99913832e-01 2.25629407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.25 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.79, Y:-82.23, Z:2.26 [[ 8.75037161e-01 4.83925304e-01 -1.12368423e-02 7.57853664e+01] [ 4.83887429e-01 -8.75109297e-01 -6.05599716e-03 -8.22324200e+01] [-1.27641154e-02 -1.38144176e-04 -9.99918526e-01 2.25634146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.28 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.79, Y:-82.24, Z:2.26 [[ 8.33354894e-01 5.52638895e-01 -1.04820039e-02 7.57852258e+01] [ 5.52597589e-01 -8.33420798e-01 -6.75862058e-03 -8.22431724e+01] [-1.24709967e-02 -1.60000572e-04 -9.99922221e-01 2.25625532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.31 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.79, Y:-82.25, Z:2.26 [[ 7.85699889e-01 6.18532984e-01 -9.62459299e-03 7.57865701e+01] [ 6.18489546e-01 -7.85758813e-01 -7.33278209e-03 -8.22542357e+01] [-1.20981763e-02 -1.91344076e-04 -9.99926796e-01 2.25623972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.34 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.79, Y:-82.26, Z:2.26 [[ 7.34286344e-01 6.78780931e-01 -8.94492998e-03 7.57876393e+01] [ 6.78733866e-01 -7.34340798e-01 -7.99576945e-03 -8.22624777e+01] [-1.19960028e-02 -2.00042582e-04 -9.99928025e-01 2.25604719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.37 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.79, Y:-82.27, Z:2.26 [[ 6.78151918e-01 7.34873647e-01 -8.40827893e-03 7.57886739e+01] [ 7.34821059e-01 -6.78204009e-01 -8.79395282e-03 -8.22717911e+01] [-1.21649727e-02 -2.14944458e-04 -9.99925981e-01 2.25681803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.4 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.79, Y:-82.28, Z:2.26 [[ 6.18231014e-01 7.85956875e-01 -7.88691705e-03 7.57882711e+01] [ 7.85897531e-01 -6.18281278e-01 -9.66079848e-03 -8.22786918e+01] [-1.24693041e-02 -2.25703397e-04 -9.99922230e-01 2.25739689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.43 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.79, Y:-82.28, Z:2.26 [[ 5.54646257e-01 8.32054077e-01 -7.31721365e-03 7.57879804e+01] [ 8.31987184e-01 -5.54694472e-01 -1.05530922e-02 -8.22843825e+01] [-1.28395613e-02 -2.34594914e-04 -9.99917542e-01 2.25719561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.46 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.79, Y:-82.29, Z:2.26 [[ 4.87691564e-01 8.72991012e-01 -6.60535563e-03 7.57884498e+01] [ 8.72917542e-01 -4.87736234e-01 -1.13283030e-02 -8.22907864e+01] [-1.31111780e-02 -2.41212980e-04 -9.99914016e-01 2.25762150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.48999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.79, Y:-82.30, Z:2.26 [[ 4.17579431e-01 9.08620867e-01 -5.96140387e-03 7.57885704e+01] [ 9.08536860e-01 -4.17621903e-01 -1.23580074e-02 -8.22977301e+01] [-1.37183562e-02 -2.55705462e-04 -9.99905866e-01 2.25861572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.51999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.79, Y:-82.30, Z:2.26 [[ 3.46101819e-01 9.38181820e-01 -5.32940448e-03 7.57888215e+01] [ 9.38081886e-01 -3.46142752e-01 -1.36956082e-02 -8.23039185e+01] [-1.46937054e-02 -2.59342876e-04 -9.99892008e-01 2.26061929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.54999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.79, Y:-82.31, Z:2.26 [[ 2.72690542e-01 9.62092194e-01 -4.29865612e-03 7.57869683e+01] [ 9.61986449e-01 -2.72724312e-01 -1.42660837e-02 -8.23087905e+01] [-1.48976358e-02 -2.45022824e-04 -9.99888994e-01 2.26119372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.57999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.79, Y:-82.31, Z:2.26 [[ 1.98298111e-01 9.80136444e-01 -3.22660644e-03 7.57891192e+01] [ 9.80024328e-01 -1.98324236e-01 -1.48261043e-02 -8.23143297e+01] [-1.51715194e-02 -2.22164333e-04 -9.99884881e-01 2.25901753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.60999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.79, Y:-82.32, Z:2.26 [[ 1.23184048e-01 9.92381788e-01 -2.01943521e-03 7.57937305e+01] [ 9.92271878e-01 -1.23200462e-01 -1.47704457e-02 -8.23211709e+01] [-1.49067167e-02 -1.84345478e-04 -9.99888872e-01 2.26058968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.64 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.80, Y:-82.33, Z:2.26 [[ 5.04412020e-02 9.98726689e-01 -8.27791382e-04 7.57953271e+01] [ 9.98623117e-01 -5.04478926e-02 -1.43833097e-02 -8.23270259e+01] [-1.44067556e-02 -1.01140180e-04 -9.99896212e-01 2.25639383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.67 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.80, Y:-82.33, Z:2.26 [[-2.47793089e-02 9.99692902e-01 2.97526476e-04 7.58008880e+01] [ 9.99591785e-01 2.47810342e-02 -1.42184130e-02 -8.23334589e+01] [-1.42214196e-02 -5.49174269e-05 -9.99898869e-01 2.25627442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.7 meters Centerline goodness [0,1] 0.9999779866599159 Centerline is valid? [True, True] Translation: X:75.81, Y:-82.34, Z:2.26 [[-9.98150323e-02 9.95004990e-01 1.42469761e-03 7.58061521e+01] [ 9.94902345e-01 9.98251990e-02 -1.42917606e-02 -8.23399828e+01] [-1.43625938e-02 -9.09755245e-06 -9.99896853e-01 2.25625960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.73 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.81, Y:-82.35, Z:2.26 [[-1.70430182e-01 9.85366673e-01 2.46424542e-03 7.58097269e+01] [ 9.85271245e-01 1.70447972e-01 -1.37135751e-02 -8.23462696e+01] [-1.39329255e-02 9.07430459e-05 -9.99902928e-01 2.25594794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.76 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.82, Y:-82.35, Z:2.25 [[-2.43458650e-01 9.69905511e-01 3.34459013e-03 7.58179218e+01] [ 9.69821504e-01 2.43481585e-01 -1.27658778e-02 -8.23509707e+01] [-1.31960413e-02 1.35692074e-04 -9.99912919e-01 2.25443484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.79 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.83, Y:-82.36, Z:2.25 [[-3.14985322e-01 9.49088170e-01 3.98657923e-03 7.58262842e+01] [ 9.49018950e-01 3.15010502e-01 -1.14637038e-02 -8.23555551e+01] [-1.21358800e-02 1.72440781e-04 -9.99926343e-01 2.25343347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.82 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.83, Y:-82.36, Z:2.25 [[-3.84599594e-01 9.23071765e-01 4.65500774e-03 7.58337922e+01] [ 9.23010688e-01 3.84627706e-01 -1.06206126e-02 -8.23607861e+01] [-1.15940325e-02 2.11938612e-04 -9.99932764e-01 2.25324141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.85 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.84, Y:-82.37, Z:2.25 [[-4.51770807e-01 8.92116679e-01 5.56505427e-03 7.58395546e+01] [ 8.92056152e-01 4.51805002e-01 -1.03952877e-02 -8.23669658e+01] [-1.17881289e-02 2.68053410e-04 -9.99930482e-01 2.25355994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.88 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.84, Y:-82.37, Z:2.25 [[-5.16389189e-01 8.56331009e-01 6.27754246e-03 7.58445714e+01] [ 8.56275051e-01 5.16427247e-01 -9.79466645e-03 -8.23737678e+01] [-1.16293706e-02 3.17443124e-04 -9.99932326e-01 2.25391183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.91 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.85, Y:-82.38, Z:2.25 [[-5.74746878e-01 8.18306383e-01 6.37885142e-03 7.58515864e+01] [ 8.18263163e-01 5.74782149e-01 -8.41893134e-03 -8.23778549e+01] [-1.05557152e-02 3.80824635e-04 -9.99944214e-01 2.25330800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.94 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.86, Y:-82.38, Z:2.25 [[-6.34054859e-01 7.73259798e-01 6.61219090e-03 7.58626084e+01] [ 7.73224147e-01 6.34089210e-01 -7.43588531e-03 -8.23783916e+01] [-9.94259008e-03 3.97946459e-04 -9.99950492e-01 2.25280558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.97 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.87, Y:-82.38, Z:2.25 [[-6.92659024e-01 7.21229510e-01 7.17426791e-03 7.58746066e+01] [ 7.21196658e-01 6.92696063e-01 -6.89533661e-03 -8.23779327e+01] [-9.94270738e-03 3.97940910e-04 -9.99950491e-01 2.25280661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.0 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.90, Y:-82.36, Z:2.25 [[-7.39599219e-01 6.73005895e-01 7.48738024e-03 7.58986304e+01] [ 6.72977096e-01 7.39636997e-01 -6.24037974e-03 -8.23643977e+01] [-9.73775578e-03 4.23455426e-04 -9.99952497e-01 2.25221511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.03 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.92, Y:-82.35, Z:2.25 [[-7.81936774e-01 6.23306552e-01 7.98898507e-03 7.59236600e+01] [ 6.23280197e-01 7.81977436e-01 -5.75200808e-03 -8.23533201e+01] [-9.83247038e-03 4.81669547e-04 -9.99951544e-01 2.25202795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.06 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.95, Y:-82.33, Z:2.25 [[-8.23056278e-01 5.67893876e-01 8.65498809e-03 7.59494092e+01] [ 5.67868955e-01 8.23101622e-01 -5.34511755e-03 -8.23342602e+01] [-1.01593943e-02 5.15566484e-04 -9.99948259e-01 2.25207697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.09 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.97, Y:-82.31, Z:2.25 [[-8.60598472e-01 5.09196114e-01 9.46506674e-03 7.59653871e+01] [ 5.09172290e-01 8.60650342e-01 -4.95662389e-03 -8.23104827e+01] [-1.06700065e-02 5.53686754e-04 -9.99942921e-01 2.25244884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.12 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.99, Y:-82.29, Z:2.25 [[-8.93999485e-01 4.47963441e-01 9.67868398e-03 7.59897872e+01] [ 4.47943864e-01 8.94051701e-01 -4.22499355e-03 -8.22896591e+01] [-1.05458865e-02 5.58365037e-04 -9.99944235e-01 2.25286450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.15 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.01, Y:-82.26, Z:2.25 [[-9.23331867e-01 3.83883823e-01 9.56415227e-03 7.60058454e+01] [ 3.83869233e-01 9.23381242e-01 -3.39037967e-03 -8.22620637e+01] [-1.01328707e-02 5.40938200e-04 -9.99948515e-01 2.25336236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.18 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.30, Y:-81.47, Z:1.43 [[-9.37280692e-01 -3.48452140e-01 9.27417996e-03 7.62960086e+01] [ 3.48429311e-01 -9.37326418e-01 -4.02515689e-03 -8.14716546e+01] [ 1.00955084e-02 -5.41305698e-04 9.99948893e-01 1.43165529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.21 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.96, Y:-82.24, Z:2.25 [[-9.25523170e-01 3.78568992e-01 9.61143103e-03 7.59623267e+01] [ 3.78554391e-01 9.25572928e-01 -3.36575731e-03 -8.22416093e+01] [-1.01702517e-02 5.23363044e-04 -9.99948145e-01 2.25348697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.23999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.97, Y:-82.21, Z:2.25 [[-9.50646697e-01 3.10123934e-01 9.69554397e-03 7.59715126e+01] [ 3.10113092e-01 9.50696008e-01 -2.64032648e-03 -8.22128625e+01] [-1.00363434e-02 4.96697473e-04 -9.99949511e-01 2.25386165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.26999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.98, Y:-82.18, Z:2.25 [[-9.71505352e-01 2.36779570e-01 1.06200595e-02 7.59751399e+01] [ 2.36770768e-01 9.71563280e-01 -2.09671998e-03 -8.21793616e+01] [-1.08145203e-02 4.77544953e-04 -9.99941407e-01 2.25458587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.29999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.14, Y:-81.38, Z:1.43 [[-9.75347412e-01 -2.20406910e-01 1.08728550e-02 7.61441859e+01] [ 2.20387852e-01 -9.75407902e-01 -2.93580990e-03 -8.13835799e+01] [ 1.12525415e-02 -4.67189427e-04 9.99936579e-01 1.43045861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.32999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.92, Y:-82.16, Z:2.26 [[-9.74242118e-01 2.25210659e-01 1.15088647e-02 7.59232512e+01] [ 2.25200111e-01 9.74310000e-01 -2.22126168e-03 -8.21611333e+01] [-1.17134538e-02 4.27750930e-04 -9.99931304e-01 2.25512545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.35999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.93, Y:-82.13, Z:2.26 [[-9.88415385e-01 1.51311589e-01 1.18249438e-02 7.59269953e+01] [ 1.51305402e-01 9.88486042e-01 -1.42130523e-03 -8.21275771e+01] [-1.19038519e-02 3.84337913e-04 -9.99929073e-01 2.25536116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.39 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.02, Y:-81.35, Z:1.43 [[-9.87199568e-01 -1.59025072e-01 1.21671840e-02 7.60187839e+01] [ 1.59008407e-01 -9.87274477e-01 -2.33119191e-03 -8.13467401e+01] [ 1.23830682e-02 -3.66667105e-04 9.99923260e-01 1.42920178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.42 meters Centerline goodness [0,1] 0.9999347414674469 Centerline is valid? [True, True] Translation: X:75.86, Y:-82.11, Z:2.26 [[-9.90327792e-01 1.38169283e-01 1.26536129e-02 7.58571604e+01] [ 1.38161868e-01 9.90408582e-01 -1.46251429e-03 -8.21103517e+01] [-1.27343213e-02 2.99878235e-04 -9.99918870e-01 2.25565377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.45 meters Centerline goodness [0,1] 0.9993072543458965 Centerline is valid? [True, True] Translation: X:75.85, Y:-82.07, Z:2.25 [[-9.98121414e-01 5.98554199e-02 1.30755774e-02 7.58523423e+01] [ 5.98530093e-02 9.98207035e-01 -5.75957218e-04 -8.20749958e+01] [-1.30866075e-02 2.07737421e-04 -9.99914345e-01 2.25489255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.48 meters Centerline goodness [0,1] 0.9994356904110778 Centerline is valid? [True, True] Translation: X:75.85, Y:-82.04, Z:2.25 [[-9.99810238e-01 -1.44265911e-02 1.30905098e-02 7.58534101e+01] [-1.44231558e-02 9.99895917e-01 3.56806149e-04 -8.20435767e+01] [-1.30942948e-02 1.67931979e-04 -9.99914252e-01 2.25318541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.51 meters Centerline goodness [0,1] 0.999220475509939 Centerline is valid? [True, True] Translation: X:75.83, Y:-81.30, Z:1.43 [[-9.99467260e-01 -3.00077220e-02 1.28348647e-02 7.58305713e+01] [ 3.00029125e-02 -9.99549650e-01 -5.67151082e-04 -8.12968929e+01] [ 1.28461034e-02 -1.81765615e-04 9.99917469e-01 1.43382410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.54 meters Centerline goodness [0,1] 0.9992663242846662 Centerline is valid? [True, True] Translation: X:75.75, Y:-82.04, Z:2.25 [[-9.99611472e-01 -2.53574676e-02 1.15716822e-02 7.57516999e+01] [-2.53546796e-02 9.99678443e-01 3.87592588e-04 -8.20371117e+01] [-1.15777896e-02 9.40457019e-05 -9.99932971e-01 2.25029852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.57 meters Centerline goodness [0,1] 0.999378202791655 Centerline is valid? [True, True] Translation: X:75.73, Y:-81.31, Z:1.44 [[-9.99577784e-01 -2.70402993e-02 1.06336720e-02 7.57309436e+01] [ 2.70371787e-02 -9.99634333e-01 -4.37135595e-04 -8.13061521e+01] [ 1.06416039e-02 -1.49446540e-04 9.99943365e-01 1.43595995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.6 meters Centerline goodness [0,1] 0.9994206132915603 Centerline is valid? [True, True] Translation: X:75.65, Y:-82.04, Z:2.25 [[-9.99421405e-01 -3.24155899e-02 1.02997433e-02 7.56547739e+01] [-3.24131055e-02 9.99474474e-01 4.08087258e-04 -8.20358080e+01] [-1.03075589e-02 7.40044759e-05 -9.99946873e-01 2.24875344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.63 meters Centerline goodness [0,1] 0.9993774285652949 Centerline is valid? [True, True] Translation: X:75.63, Y:-81.31, Z:1.44 [[-9.99717774e-01 -2.14122322e-02 1.02902193e-02 7.56299022e+01] [ 2.14103279e-02 -9.99770729e-01 -2.95203340e-04 -8.13115605e+01] [ 1.02941810e-02 -7.48030578e-05 9.99947011e-01 1.43680895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.66 meters Centerline goodness [0,1] 0.9992966452107933 Centerline is valid? [True, True] Translation: X:75.56, Y:-82.04, Z:2.25 [[-9.99195561e-01 -3.87933704e-02 1.01638995e-02 7.55585042e+01] [-3.87906442e-02 9.99247251e-01 4.65300530e-04 -8.20361108e+01] [-1.01742992e-02 7.06620162e-05 -9.99948238e-01 2.24822079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.69 meters Centerline goodness [0,1] 0.9993172022361627 Centerline is valid? [True, True] Translation: X:75.53, Y:-81.32, Z:1.44 [[-9.99816123e-01 -1.53794218e-02 1.14539982e-02 7.55261142e+01] [ 1.53784803e-02 -9.99881730e-01 -1.70273915e-04 -8.13192389e+01] [ 1.14552623e-02 5.90248081e-06 9.99934386e-01 1.43591771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.72 meters Centerline goodness [0,1] 0.9994014408174609 Centerline is valid? [True, True] Translation: X:75.46, Y:-82.04, Z:2.25 [[-9.98927472e-01 -4.46436081e-02 1.22822371e-02 7.54590924e+01] [-4.46391459e-02 9.99002973e-01 6.37351447e-04 -8.20355630e+01] [-1.22984450e-02 8.83992970e-05 -9.99924367e-01 2.25039456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.75 meters Centerline goodness [0,1] 0.9993191489361702 Centerline is valid? [True, True] Translation: X:75.45, Y:-82.01, Z:2.25 [[-9.93242255e-01 -1.15346706e-01 1.28436738e-02 7.54512990e+01] [-1.15335793e-01 9.93325288e-01 1.58965085e-03 -8.20070875e+01] [-1.29413069e-02 9.75731015e-05 -9.99916253e-01 2.25017472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.78 meters Centerline goodness [0,1] 0.9993393431792511 Centerline is valid? [True, True] Translation: X:75.43, Y:-81.98, Z:2.25 [[-9.82467972e-01 -1.85990829e-01 1.28100002e-02 7.54338101e+01] [-1.85973683e-01 9.82551475e-01 2.52745257e-03 -8.19806776e+01] [-1.30565676e-02 1.00818281e-04 -9.99914754e-01 2.25033817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.81 meters Centerline goodness [0,1] 0.999447243659247 Centerline is valid? [True, True] Translation: X:75.40, Y:-81.96, Z:2.25 [[-9.66691929e-01 -2.55550606e-01 1.41633742e-02 7.54014419e+01] [-2.55521264e-01 9.66795672e-01 3.87453373e-03 -8.19585750e+01] [-1.46832283e-02 1.26437196e-04 -9.99892188e-01 2.25138354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.84 meters Centerline goodness [0,1] 0.9994898718302974 Centerline is valid? [True, True] Translation: X:75.35, Y:-81.95, Z:2.25 [[-9.45629095e-01 -3.24912781e-01 1.47410839e-02 7.53467980e+01] [-3.24870895e-01 9.45743974e-01 5.21901458e-03 -8.19462831e+01] [-1.56370158e-02 1.46302918e-04 -9.99877724e-01 2.25120100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.87 meters Centerline goodness [0,1] 0.9994687745691762 Centerline is valid? [True, True] Translation: X:75.28, Y:-81.94, Z:2.25 [[-9.19477794e-01 -3.92862719e-01 1.48145256e-02 7.52839195e+01] [-3.92808786e-01 9.19597116e-01 6.51172871e-03 -8.19416642e+01] [-1.61816104e-02 1.68114157e-04 -9.99869055e-01 2.25129417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.9 meters Centerline goodness [0,1] 0.9994042553191489 Centerline is valid? [True, True] Translation: X:75.21, Y:-81.95, Z:2.25 [[-8.88326528e-01 -4.58982796e-01 1.45179895e-02 7.52092497e+01] [-4.58917988e-01 8.88445134e-01 7.71515941e-03 -8.19474669e+01] [-1.64395625e-02 1.91014269e-04 -9.99864843e-01 2.25145378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.93 meters Centerline goodness [0,1] 0.9995746852670977 Centerline is valid? [True, True] Translation: X:75.13, Y:-81.96, Z:2.25 [[-8.53087850e-01 -5.21591082e-01 1.35596048e-02 7.51314545e+01] [-5.21520793e-01 8.53195574e-01 8.56591557e-03 -8.19630131e+01] [-1.60369000e-02 2.35862641e-04 -9.99871373e-01 2.25061493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.95999999999998 meters Centerline goodness [0,1] 0.9995100336585574 Centerline is valid? [True, True] Translation: X:75.05, Y:-81.99, Z:2.25 [[-8.12537608e-01 -5.82774891e-01 1.24924854e-02 7.50479503e+01] [-5.82701132e-01 8.12633595e-01 9.27528592e-03 -8.19894893e+01] [-1.55572171e-02 2.57133264e-04 -9.99878946e-01 2.25078888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.98999999999998 meters Centerline goodness [0,1] 0.9994675639988073 Centerline is valid? [True, True] Translation: X:74.96, Y:-82.02, Z:2.25 [[-7.67434538e-01 -6.41036883e-01 1.07677705e-02 7.49616431e+01] [-6.40968960e-01 7.67510030e-01 9.33523979e-03 -8.20217822e+01] [-1.42486049e-02 2.62378758e-04 -9.99898449e-01 2.24769310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.01999999999998 meters Centerline goodness [0,1] 0.9995748570456816 Centerline is valid? [True, True] Translation: X:74.87, Y:-82.07, Z:2.25 [[-7.18670868e-01 -6.95292438e-01 8.97821548e-03 7.48749668e+01] [-6.95233409e-01 7.18726896e-01 9.06396112e-03 -8.20679924e+01] [-1.27549886e-02 2.72049446e-04 -9.99918615e-01 2.24583801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.04999999999998 meters Centerline goodness [0,1] 0.9995526680157631 Centerline is valid? [True, True] Translation: X:74.79, Y:-82.12, Z:2.24 [[-6.64185088e-01 -7.47524712e-01 8.06068788e-03 7.47866797e+01] [-7.47464605e-01 6.64233943e-01 9.48336770e-03 -8.21216522e+01] [-1.24432342e-02 2.73632527e-04 -9.99922543e-01 2.24450255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.07999999999998 meters Centerline goodness [0,1] 0.9996171108889409 Centerline is valid? [True, True] Translation: X:74.70, Y:-82.19, Z:2.24 [[-6.05739882e-01 -7.95631518e-01 7.04863728e-03 7.47007242e+01] [-7.95572371e-01 6.05780831e-01 9.70507285e-03 -8.21866700e+01] [-1.19915912e-02 2.71048616e-04 -9.99928062e-01 2.24464430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.10999999999999 meters Centerline goodness [0,1] 0.9996175826977416 Centerline is valid? [True, True] Translation: X:74.62, Y:-82.26, Z:2.24 [[-5.43195478e-01 -8.39582755e-01 6.28248795e-03 7.46182944e+01] [-8.39520726e-01 5.43231740e-01 1.02091591e-02 -8.22594839e+01] [-1.19842808e-02 2.71290236e-04 -9.99928149e-01 2.24448945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.14 meters Centerline goodness [0,1] 0.9995751460435476 Centerline is valid? [True, True] Translation: X:74.54, Y:-82.34, Z:2.24 [[-4.77283411e-01 -8.78732386e-01 5.47171966e-03 7.45395664e+01] [-8.78668015e-01 4.77314698e-01 1.06394482e-02 -8.23413837e+01] [-1.19609599e-02 2.70207063e-04 -9.99928429e-01 2.24453047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.17 meters Centerline goodness [0,1] 0.9996387513546824 Centerline is valid? [True, True] Translation: X:74.46, Y:-82.43, Z:2.24 [[-4.07841658e-01 -9.13041065e-01 4.60398265e-03 7.44648157e+01] [-9.12975529e-01 4.07867561e-01 1.09423682e-02 -8.24302211e+01] [-1.18686467e-02 2.59430093e-04 -9.99929531e-01 2.24367459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.2 meters Centerline goodness [0,1] 0.9996815219006773 Centerline is valid? [True, True] Translation: X:74.40, Y:-82.53, Z:2.24 [[-3.35629741e-01 -9.41986905e-01 3.65330064e-03 7.43971729e+01] [-9.41923020e-01 3.35649537e-01 1.09732723e-02 -8.25283542e+01] [-1.15629075e-02 2.41828563e-04 -9.99933118e-01 2.24317819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.23 meters Centerline goodness [0,1] 0.9997027790161985 Centerline is valid? [True, True] Translation: X:74.34, Y:-82.63, Z:2.24 [[-2.61325051e-01 -9.65247239e-01 2.64310550e-03 7.43365772e+01] [-9.65189076e-01 2.61338326e-01 1.05984758e-02 -8.26339019e+01] [-1.09208942e-02 2.18550663e-04 -9.99940341e-01 2.24277875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.26 meters Centerline goodness [0,1] 0.999766191255553 Centerline is valid? [True, True] Translation: X:74.29, Y:-82.74, Z:2.24 [[-1.85745034e-01 -9.82596486e-01 1.71105224e-03 7.42856157e+01] [-9.82544298e-01 1.85752806e-01 1.01290029e-02 -8.27376245e+01] [-1.02705554e-02 2.00227360e-04 -9.99947236e-01 2.24266282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.29 meters Centerline goodness [0,1] 0.9997661813157616 Centerline is valid? [True, True] Translation: X:74.24, Y:-82.85, Z:2.24 [[-1.09021752e-01 -9.94038965e-01 8.90732523e-04 7.42416904e+01] [-9.93990363e-01 1.09025231e-01 9.83143482e-03 -8.28482854e+01] [-9.86994162e-03 1.86460707e-04 -9.99951274e-01 2.24178764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.32 meters Centerline goodness [0,1] 0.9997455902306649 Centerline is valid? [True, True] Translation: X:74.21, Y:-82.96, Z:2.24 [[-3.23911366e-02 -9.99475261e-01 1.30231531e-04 7.42084913e+01] [-9.99426728e-01 3.23908474e-02 9.85135552e-03 -8.29636762e+01] [-9.85040444e-03 1.88939730e-04 -9.99951466e-01 2.24203494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.35 meters Centerline goodness [0,1] 0.9997038165354997 Centerline is valid? [True, True] Translation: X:74.18, Y:-83.08, Z:2.24 [[ 4.37298881e-02 -9.99043210e-01 -6.01988989e-04 7.41845744e+01] [-9.98998897e-01 -4.37336194e-02 9.41137068e-03 -8.30829258e+01] [-9.42869312e-03 1.89828150e-04 -9.99955531e-01 2.24245051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.38 meters Centerline goodness [0,1] 0.9997659474871271 Centerline is valid? [True, True] Translation: X:74.17, Y:-83.20, Z:2.24 [[ 1.19575201e-01 -9.92824409e-01 -1.21005018e-03 7.41702296e+01] [-9.92787851e-01 -1.19581184e-01 8.52195601e-03 -8.32011925e+01] [-8.60550517e-03 1.82308515e-04 -9.99962955e-01 2.24250647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.41 meters Centerline goodness [0,1] 0.9998087263298833 Centerline is valid? [True, True] Translation: X:74.16, Y:-83.32, Z:2.24 [[ 1.91879033e-01 -9.81417289e-01 -1.59439890e-03 7.41648842e+01] [-9.81390957e-01 -1.91885569e-01 7.19152750e-03 -8.33186863e+01] [-7.36383156e-03 1.84825315e-04 -9.99972870e-01 2.24173520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.44 meters Centerline goodness [0,1] 0.9998304330316454 Centerline is valid? [True, True] Translation: X:74.17, Y:-83.44, Z:2.24 [[ 2.64598200e-01 -9.64356729e-01 -1.97261028e-03 7.41696857e+01] [-9.64334945e-01 -2.64605487e-01 6.48458558e-03 -8.34395182e+01] [-6.77541724e-03 1.86447356e-04 -9.99977029e-01 2.24156313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.47 meters Centerline goodness [0,1] 0.9997873290657366 Centerline is valid? [True, True] Translation: X:74.18, Y:-83.55, Z:2.24 [[ 3.35198253e-01 -9.42145541e-01 -1.97774713e-03 7.41806596e+01] [-9.42131959e-01 -3.35204046e-01 5.06152283e-03 -8.35527881e+01] [-5.43164001e-03 1.66685173e-04 -9.99985235e-01 2.24139063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.5 meters Centerline goodness [0,1] 0.9997869983811877 Centerline is valid? [True, True] Translation: X:74.20, Y:-83.67, Z:2.24 [[ 4.03749242e-01 -9.14867864e-01 -1.82791859e-03 7.42014186e+01] [-9.14860036e-01 -4.03753354e-01 3.78734196e-03 -8.36659577e+01] [-4.20294571e-03 1.43153217e-04 -9.99991157e-01 2.24136741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.53 meters Centerline goodness [0,1] 0.9998727870242765 Centerline is valid? [True, True] Translation: X:74.23, Y:-83.78, Z:2.24 [[ 4.70072484e-01 -8.82625796e-01 -1.88775769e-03 7.42307991e+01] [-8.82619834e-01 -4.70076254e-01 3.24725996e-03 -8.37792296e+01] [-3.75350547e-03 1.39724819e-04 -9.99992946e-01 2.24160416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.27, Y:-83.89, Z:2.24 [[ 5.33676107e-01 -8.45686572e-01 -2.00858907e-03 7.42662499e+01] [-8.45681561e-01 -5.33679868e-01 2.91471417e-03 -8.38850400e+01] [-3.53687818e-03 1.43113424e-04 -9.99993735e-01 2.24203116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.59 meters Centerline goodness [0,1] 0.9998936803606362 Centerline is valid? [True, True] Translation: X:74.31, Y:-83.99, Z:2.24 [[ 5.91526807e-01 -8.06284280e-01 -1.30229262e-03 7.43082320e+01] [-8.06282682e-01 -5.91528232e-01 1.60860996e-03 -8.39873931e+01] [-2.06733978e-03 9.84800759e-05 -9.99997858e-01 2.24239924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.62 meters Centerline goodness [0,1] 0.9998511999659886 Centerline is valid? [True, True] Translation: X:74.35, Y:-84.08, Z:2.24 [[ 6.48849998e-01 -7.60915981e-01 -7.42235701e-04 7.43517046e+01] [-7.60915579e-01 -6.48850420e-01 7.83638545e-04 -8.40814302e+01] [-1.07788304e-03 5.63148398e-05 -9.99999418e-01 2.24203380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.65 meters Centerline goodness [0,1] 0.9998515659789223 Centerline is valid? [True, True] Translation: X:74.40, Y:-84.17, Z:2.24 [[ 7.02569887e-01 -7.11614747e-01 -7.63147377e-05 7.44017422e+01] [-7.11614744e-01 -7.02569891e-01 6.55018142e-05 -8.41721906e+01] [-1.00228494e-04 8.28709031e-06 -9.99999995e-01 2.24170010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.68 meters Centerline goodness [0,1] 0.9999576495500264 Centerline is valid? [True, True] Translation: X:74.40, Y:-84.18, Z:2.24 [[ 7.52041162e-01 -6.59113578e-01 1.83925090e-03 7.43974347e+01] [-6.59112030e-01 -7.52043399e-01 -1.43440005e-03 -8.41809959e+01] [ 2.32862904e-03 -1.33544518e-04 -9.99997280e-01 2.24108617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.70999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.39, Y:-84.20, Z:2.24 [[ 7.99666384e-01 -6.00437997e-01 2.80829581e-03 7.43871387e+01] [-6.00435166e-01 -7.99671289e-01 -1.85485621e-03 -8.41991547e+01] [ 3.35943968e-03 -2.02933404e-04 -9.99994336e-01 2.24111060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.73999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.38, Y:-84.21, Z:2.24 [[ 8.42811964e-01 -5.38195330e-01 3.71210604e-03 7.43811967e+01] [-5.38191479e-01 -8.42820097e-01 -2.05342924e-03 -8.42114954e+01] [ 4.23378360e-03 -2.67169106e-04 -9.99991002e-01 2.24117646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.76999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.38, Y:-84.22, Z:2.24 [[ 8.81320024e-01 -4.72495949e-01 4.75335437e-03 7.43776724e+01] [-4.72491124e-01 -8.81332776e-01 -2.16229382e-03 -8.42219666e+01] [ 5.21096208e-03 -3.40244905e-04 -9.99986365e-01 2.24104363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.79999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.38, Y:-84.23, Z:2.24 [[ 9.14918536e-01 -4.03601716e-01 5.45229474e-03 7.43763124e+01] [-4.03597037e-01 -9.14934700e-01 -1.98161637e-03 -8.42334297e+01] [ 5.78827742e-03 -3.87512449e-04 -9.99983173e-01 2.24099572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.82999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.37, Y:-84.25, Z:2.24 [[ 9.42821866e-01 -3.33224709e-01 6.94422243e-03 7.43734264e+01] [-3.33219533e-01 -9.42847306e-01 -1.92348720e-03 -8.42467653e+01] [ 7.18829488e-03 -5.00444768e-04 -9.99974039e-01 2.24068010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.85999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.37, Y:-84.26, Z:2.24 [[ 9.66033221e-01 -2.58321085e-01 7.07347432e-03 7.43715885e+01] [-2.58317918e-01 -9.66058987e-01 -1.37341591e-03 -8.42551804e+01] [ 7.18817573e-03 -5.00439769e-04 -9.99974040e-01 2.24068124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.37, Y:-84.27, Z:2.24 [[ 9.83142222e-01 -1.82682237e-01 7.65316230e-03 7.43695883e+01] [-1.82680960e-01 -9.83171861e-01 -8.71448125e-04 -8.42660704e+01] [ 7.68357191e-03 -5.41329594e-04 -9.99970334e-01 2.24083044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.92 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.37, Y:-84.28, Z:2.24 [[ 9.94318010e-01 -1.06184447e-01 7.52051369e-03 7.43678118e+01] [-1.06185477e-01 -9.94346305e-01 -2.63303283e-04 -8.42829159e+01] [ 7.50595371e-03 -5.36762135e-04 -9.99971686e-01 2.24174848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.95 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.37, Y:-84.30, Z:2.24 [[ 9.99539361e-01 -2.94647899e-02 7.27262958e-03 7.43676086e+01] [-2.94678596e-02 -9.99565679e-01 3.15280483e-04 -8.43025802e+01] [ 7.26018125e-03 -5.29444080e-04 -9.99973504e-01 2.24282262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.98 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.37, Y:-84.32, Z:2.24 [[ 9.98852550e-01 4.73833258e-02 6.95730635e-03 7.43693525e+01] [ 4.73785439e-02 -9.98876644e-01 8.50637076e-04 -8.43173040e+01] [ 6.98979683e-03 -5.20033969e-04 -9.99975436e-01 2.24318310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.01 meters Centerline goodness [0,1] 0.9999790860608596 Centerline is valid? [True, True] Translation: X:74.37, Y:-84.33, Z:2.24 [[ 9.92677966e-01 1.20657412e-01 5.67850661e-03 7.43721607e+01] [ 1.20652789e-01 -9.92694102e-01 1.15097628e-03 -8.43334819e+01] [ 5.77589384e-03 -4.57421129e-04 -9.99983215e-01 2.24450311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.04 meters Centerline goodness [0,1] 0.9999581353484186 Centerline is valid? [True, True] Translation: X:74.38, Y:-84.35, Z:2.25 [[ 9.80761733e-01 1.95152202e-01 4.69473827e-03 7.43768374e+01] [ 1.95148002e-01 -9.80772889e-01 1.34114785e-03 -8.43467414e+01] [ 4.86619997e-03 -3.99177694e-04 -9.99988080e-01 2.24548276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.39, Y:-84.37, Z:2.25 [[ 9.63251127e-01 2.68581798e-01 3.32938094e-03 7.43862737e+01] [ 2.68579105e-01 -9.63256834e-01 1.23961969e-03 -8.43698621e+01] [ 3.53998823e-03 -2.99862907e-04 -9.99993689e-01 2.24666988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.1 meters Centerline goodness [0,1] 0.9999791074711684 Centerline is valid? [True, True] Translation: X:74.39, Y:-84.39, Z:2.25 [[ 9.41284931e-01 3.37600965e-01 2.87511314e-03 7.43943879e+01] [ 3.37598446e-01 -9.41289279e-01 1.33509676e-03 -8.43867742e+01] [ 3.15704313e-03 -2.86072730e-04 -9.99994976e-01 2.24747321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.13 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.41, Y:-84.41, Z:2.25 [[ 9.12961051e-01 4.08037127e-01 2.79669910e-03 7.44073502e+01] [ 4.08034193e-01 -9.12965287e-01 1.57580132e-03 -8.44054728e+01] [ 3.19627463e-03 -2.97496368e-04 -9.99994848e-01 2.24775381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.16 meters Centerline goodness [0,1] 0.9995403835708018 Centerline is valid? [True, True] Translation: X:74.42, Y:-84.42, Z:2.25 [[ 8.79064358e-01 4.76694213e-01 2.91245374e-03 7.44153842e+01] [ 4.76690312e-01 -8.79069120e-01 1.95661905e-03 -8.44151757e+01] [ 3.49295713e-03 -3.31655589e-04 -9.99993845e-01 2.24728243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.19 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.43, Y:-84.43, Z:2.25 [[ 8.39902651e-01 5.42730119e-01 2.74868509e-03 7.44345335e+01] [ 5.42725856e-01 -8.39907081e-01 2.17729256e-03 -8.44347804e+01] [ 3.49032232e-03 -3.36931323e-04 -9.99993852e-01 2.24705359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.22 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.46, Y:-84.45, Z:2.25 [[ 7.95611106e-01 6.05800384e-01 2.97695306e-03 7.44570781e+01] [ 6.05794206e-01 -7.95616577e-01 2.76448891e-03 -8.44537138e+01] [ 4.04324164e-03 -3.96037165e-04 -9.99991748e-01 2.24677782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.25 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.48, Y:-84.47, Z:2.25 [[ 7.45599373e-01 6.66389878e-01 2.47092601e-03 7.44780594e+01] [ 6.66384567e-01 -7.45603383e-01 2.68386528e-03 -8.44659046e+01] [ 3.63083145e-03 -3.54501312e-04 -9.99993346e-01 2.24662522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.28 meters Centerline goodness [0,1] 0.9999792587061581 Centerline is valid? [True, True] Translation: X:74.50, Y:-84.47, Z:2.25 [[ 6.90787705e-01 7.23054468e-01 2.14091169e-03 7.44957473e+01] [ 7.23049408e-01 -6.90790941e-01 2.72572848e-03 -8.44740845e+01] [ 3.44977256e-03 -3.34914789e-04 -9.99993993e-01 2.24666357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.31 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.53, Y:-84.49, Z:2.25 [[ 6.30838524e-01 7.75913058e-01 1.29755765e-03 7.45288122e+01] [ 7.75910647e-01 -6.30839820e-01 1.94692976e-03 -8.44895918e+01] [ 2.32919926e-03 -2.21409502e-04 -9.99997263e-01 2.24723263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.34 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.55, Y:-84.49, Z:2.25 [[ 5.67159765e-01 8.23607224e-01 9.69848281e-04 7.45527006e+01] [ 8.23605417e-01 -5.67160564e-01 1.73520975e-03 -8.44948631e+01] [ 1.97919099e-03 -1.85368858e-04 -9.99998024e-01 2.24735385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.37 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.58, Y:-84.50, Z:2.25 [[ 4.99961620e-01 8.66047178e-01 8.15228004e-04 7.45784384e+01] [ 8.66045385e-01 -4.99962252e-01 1.77126239e-03 -8.44979963e+01] [ 1.94158002e-03 -1.79538762e-04 -9.99998099e-01 2.24721630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.4 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.60, Y:-84.50, Z:2.25 [[ 4.29618685e-01 9.03010187e-01 6.22245771e-04 7.46022421e+01] [ 9.03008624e-01 -4.29619105e-01 1.68827422e-03 -8.44975828e+01] [ 1.79185749e-03 -1.63420853e-04 -9.99998381e-01 2.24683729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.43 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.63, Y:-84.49, Z:2.25 [[ 3.56458324e-01 9.34311034e-01 5.95936307e-04 7.46263884e+01] [ 9.34308658e-01 -3.56458768e-01 2.11635741e-03 -8.44947400e+01] [ 2.18976280e-03 -1.97604765e-04 -9.99997583e-01 2.24618878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.45999999999998 meters Centerline goodness [0,1] 0.9999170984455958 Centerline is valid? [True, True] Translation: X:74.64, Y:-84.49, Z:2.25 [[ 2.80955280e-01 9.59720750e-01 4.61377210e-04 7.46439742e+01] [ 9.59717959e-01 -2.80955580e-01 2.32394035e-03 -8.44901879e+01] [ 2.35996027e-03 -2.10131315e-04 -9.99997193e-01 2.24558678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.48999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.68, Y:-84.48, Z:2.25 [[ 2.01499225e-01 9.79488643e-01 2.47702328e-04 7.46783046e+01] [ 9.79486420e-01 -2.01499298e-01 2.09448559e-03 -8.44842142e+01] [ 2.10143669e-03 -1.79416158e-04 -9.99997776e-01 2.24555241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.51999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.70, Y:-84.47, Z:2.25 [[ 1.21884602e-01 9.92544276e-01 6.91235798e-05 7.46998860e+01] [ 9.92542752e-01 -1.21884536e-01 1.74488566e-03 -8.44739674e+01] [ 1.74030137e-03 -1.44066586e-04 -9.99998475e-01 2.24573729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.54999999999998 meters Centerline goodness [0,1] 0.9999792380359181 Centerline is valid? [True, True] Translation: X:74.72, Y:-84.46, Z:2.25 [[ 4.13415756e-02 9.99145069e-01 -7.03003804e-05 7.47182845e+01] [ 9.99143443e-01 -4.13413811e-02 1.80849262e-03 -8.44622188e+01] [ 1.80404016e-03 -1.45006098e-04 -9.99998362e-01 2.24530872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.57999999999998 meters Centerline goodness [0,1] 0.9999792750409318 Centerline is valid? [True, True] Translation: X:74.74, Y:-84.45, Z:2.25 [[-3.99009219e-02 9.99203625e-01 -1.81475342e-04 7.47402307e+01] [ 9.99202439e-01 3.99011549e-02 1.54399462e-03 -8.44472754e+01] [ 1.55000609e-03 -1.19723796e-04 -9.99998792e-01 2.24561313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.60999999999999 meters Centerline goodness [0,1] 0.9999171979796307 Centerline is valid? [True, True] Translation: X:74.77, Y:-84.43, Z:2.25 [[-1.24164693e-01 9.92261614e-01 -1.37596970e-04 7.47658363e+01] [ 9.92261366e-01 1.24164759e-01 7.03127996e-04 -8.44292508e+01] [ 7.14771615e-04 -4.92284861e-05 -9.99999743e-01 2.24580498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.64 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.78, Y:-84.41, Z:2.25 [[-2.05052098e-01 9.78751058e-01 -5.52737921e-05 7.47801223e+01] [ 9.78751037e-01 2.05052105e-01 2.05787596e-04 -8.44113610e+01] [ 2.12748835e-04 -1.19021030e-05 -9.99999977e-01 2.24588730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.67 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.79, Y:-84.39, Z:2.25 [[-2.84928639e-01 9.58548667e-01 3.52326039e-04 7.47931893e+01] [ 9.58548203e-01 2.84928848e-01 -9.45422638e-04 -8.43909915e+01] [-1.00662146e-03 6.83435061e-05 -9.99999491e-01 2.24596762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.7 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.80, Y:-84.37, Z:2.25 [[-3.62927972e-01 9.31816926e-01 7.09649220e-04 7.48028108e+01] [ 9.31815674e-01 3.62928651e-01 -1.53125375e-03 -8.43709908e+01] [-1.68440020e-03 1.05527448e-04 -9.99998576e-01 2.24699271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.73 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.82, Y:-84.35, Z:2.25 [[-4.41585233e-01 8.97217329e-01 1.88297401e-03 7.48160077e+01] [ 8.97211081e-01 4.41589199e-01 -3.35503781e-03 -8.43456553e+01] [-3.84169905e-03 2.07889989e-04 -9.99992599e-01 2.24778715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.76 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.82, Y:-84.32, Z:2.25 [[-5.13361493e-01 8.58169334e-01 2.31773400e-03 7.48198924e+01] [ 8.58162370e-01 5.13366682e-01 -3.46351987e-03 -8.43222309e+01] [-4.16213395e-03 2.10954377e-04 -9.99991316e-01 2.24794218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.79 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.82, Y:-84.30, Z:2.25 [[-5.83650910e-01 8.12000693e-01 2.54764967e-03 7.48249460e+01] [ 8.11994297e-01 5.83656441e-01 -3.22804180e-03 -8.42973115e+01] [-4.10812432e-03 1.84627469e-04 -9.99991545e-01 2.24700056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.82 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.82, Y:-84.28, Z:2.25 [[-6.47041115e-01 7.62451818e-01 2.24040896e-03 7.48211532e+01] [ 7.62447988e-01 6.47044979e-01 -2.42112726e-03 -8.42775652e+01] [-3.29563825e-03 1.41626419e-04 -9.99994559e-01 2.24595532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.85 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.81, Y:-84.26, Z:2.25 [[-7.06327169e-01 7.07882505e-01 2.07114166e-03 7.48145490e+01] [ 7.07879931e-01 7.06330196e-01 -1.91256008e-03 -8.42575467e+01] [-2.81677772e-03 1.15226469e-04 -9.99996026e-01 2.24537480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.88 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.81, Y:-84.21, Z:2.25 [[-7.56111062e-01 6.54439356e-01 2.27816980e-03 7.48092195e+01] [ 6.54436829e-01 7.56114486e-01 -1.82239195e-03 -8.42094194e+01] [-2.91520220e-03 1.12987508e-04 -9.99995744e-01 2.24529774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.91 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.82, Y:-84.18, Z:2.25 [[-8.02184335e-01 5.97068676e-01 3.04778690e-03 7.48188268e+01] [ 5.97064991e-01 8.02190114e-01 -2.10200857e-03 -8.41757066e+01] [-3.69994799e-03 1.33528512e-04 -9.99993146e-01 2.24595655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.94 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.80, Y:-84.12, Z:2.25 [[-8.45562262e-01 5.33849615e-01 5.38969238e-03 7.47958256e+01] [ 5.33840170e-01 8.45579419e-01 -3.18104788e-03 -8.41156145e+01] [-6.25561413e-03 1.87460258e-04 -9.99980416e-01 2.24786526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.97 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.80, Y:-84.09, Z:2.25 [[-8.83122756e-01 4.69098312e-01 6.40096983e-03 7.48017097e+01] [ 4.69087514e-01 8.83145933e-01 -3.18827043e-03 -8.40866791e+01] [-7.14860275e-03 1.86980861e-04 -9.99974431e-01 2.24999882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.0 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.80, Y:-84.05, Z:2.25 [[-9.15800306e-01 4.01563625e-01 7.51363059e-03 7.48023659e+01] [ 4.01551721e-01 9.15831110e-01 -3.09729105e-03 -8.40494782e+01] [-8.12497607e-03 1.80611205e-04 -9.99966976e-01 2.24930143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.03 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.79, Y:-84.01, Z:2.25 [[-9.43292291e-01 3.31874735e-01 7.66899121e-03 7.47909824e+01] [ 3.31865033e-01 9.43323454e-01 -2.54186601e-03 -8.40141231e+01] [-8.07792038e-03 1.47347410e-04 -9.99967362e-01 2.25027293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.06 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.80, Y:-83.91, Z:1.44 [[-9.29658148e-01 -3.68366892e-01 6.44678272e-03 7.47987485e+01] [ 3.68356496e-01 -9.29680478e-01 -2.77510610e-03 -8.39081586e+01] [ 7.01570525e-03 -2.05185708e-04 9.99975369e-01 1.43768991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.09 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.73, Y:-83.99, Z:2.25 [[-9.47878394e-01 3.18580598e-01 5.74053170e-03 7.47339616e+01] [ 3.18575068e-01 9.47895775e-01 -1.87767622e-03 -8.39865273e+01] [-6.03961695e-03 4.89815587e-05 -9.99981760e-01 2.24780510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.12 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.72, Y:-83.95, Z:2.25 [[-9.68658272e-01 2.48347433e-01 4.97029272e-03 7.47192258e+01] [ 2.48344328e-01 9.68671023e-01 -1.24217537e-03 -8.39524105e+01] [-5.12306960e-03 3.11005625e-05 -9.99986877e-01 2.24692383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.15 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.70, Y:-83.92, Z:2.25 [[-9.84128291e-01 1.77398039e-01 4.63056521e-03 7.46995489e+01] [ 1.77396179e-01 9.84139185e-01 -8.12527853e-04 -8.39210558e+01] [-4.70126152e-03 2.18129266e-05 -9.99988949e-01 2.24691866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.18 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.70, Y:-83.82, Z:1.44 [[-9.71953296e-01 -2.35130964e-01 4.49674285e-03 7.46982475e+01] [ 2.35128324e-01 -9.71963697e-01 -1.11456302e-03 -8.38208210e+01] [ 4.63273909e-03 -2.59915857e-05 9.99989268e-01 1.43853204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.20999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.65, Y:-83.92, Z:2.25 [[-9.84437528e-01 1.75674194e-01 4.61854893e-03 7.46463911e+01] [ 1.75672408e-01 9.84448362e-01 -7.92670857e-04 -8.39221933e+01] [-4.68597474e-03 3.10166732e-05 -9.99989020e-01 2.24730092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.23999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.66, Y:-83.81, Z:1.44 [[-9.73676519e-01 -2.27882808e-01 4.84372434e-03 7.46555874e+01] [ 2.27879916e-01 -9.73688567e-01 -1.14825236e-03 -8.38057037e+01] [ 4.97794598e-03 -1.42388693e-05 9.99987610e-01 1.43816085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.26999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.60, Y:-83.92, Z:2.25 [[-9.84308093e-01 1.76382577e-01 5.17341096e-03 7.45987706e+01] [ 1.76380449e-01 9.84321687e-01 -8.68298168e-04 -8.39240549e+01] [-5.24545327e-03 5.78156339e-05 -9.99986241e-01 2.24774644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.29999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.58, Y:-83.90, Z:2.25 [[-9.93836230e-01 1.10652723e-01 6.74705350e-03 7.45835436e+01] [ 1.10650896e-01 9.93859127e-01 -6.44527919e-04 -8.39042509e+01] [-6.77693947e-03 1.06012319e-04 -9.99977031e-01 2.24885996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.32999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.59, Y:-83.75, Z:1.44 [[-9.89359254e-01 -1.45316541e-01 7.16728891e-03 7.45920631e+01] [ 1.45312122e-01 -9.89385211e-01 -1.13629418e-03 -8.37505469e+01] [ 7.25633199e-03 -8.27091996e-05 9.99973669e-01 1.43655772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.35999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.54, Y:-83.91, Z:2.25 [[-9.93874483e-01 1.10228547e-01 7.94849726e-03 7.45393203e+01] [ 1.10226237e-01 9.93906255e-01 -7.29372506e-04 -8.39095130e+01] [-7.98045882e-03 1.51228221e-04 -9.99968144e-01 2.24965493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.39 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.54, Y:-83.74, Z:1.44 [[-9.90240043e-01 -1.39118011e-01 8.41640712e-03 7.45401541e+01] [ 1.39111898e-01 -9.90275802e-01 -1.31020699e-03 -8.37373332e+01] [ 8.51683770e-03 -1.26597049e-04 9.99963723e-01 1.43595714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.42 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.48, Y:-83.92, Z:2.25 [[-9.94099286e-01 1.08171981e-01 8.08907049e-03 7.44824328e+01] [ 1.08169769e-01 9.94132182e-01 -7.11636248e-04 -8.39174937e+01] [-8.11858440e-03 1.67555804e-04 -9.99967030e-01 2.24934078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.45 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.46, Y:-83.89, Z:2.25 [[-9.99280131e-01 3.70739961e-02 8.04605116e-03 7.44611909e+01] [ 3.70741235e-02 9.99312509e-01 -1.33370384e-04 -8.38918163e+01] [-8.04546415e-03 1.65025920e-04 -9.99967621e-01 2.24840952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.48 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.46, Y:-83.69, Z:1.44 [[-9.97920609e-01 -6.39835043e-02 7.78268571e-03 7.44593464e+01] [ 6.39801836e-02 -9.97950941e-01 -6.75155997e-04 -8.36899879e+01] [ 7.80993737e-03 -1.75814422e-04 9.99969487e-01 1.43750058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.51 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.42, Y:-83.90, Z:2.25 [[-9.99405175e-01 3.37253935e-02 7.20380057e-03 7.44222229e+01] [ 3.37256099e-02 9.99431126e-01 -9.14665834e-05 -8.39009796e+01] [-7.20278726e-03 1.51540391e-04 -9.99974048e-01 2.24823712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.54 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.40, Y:-83.88, Z:2.25 [[-9.99302209e-01 -3.67076660e-02 6.90228002e-03 7.43997569e+01] [-3.67057470e-02 9.99326035e-01 4.04532310e-04 -8.38771789e+01] [-6.91247756e-03 1.50896686e-04 -9.99976097e-01 2.24767711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.38, Y:-83.65, Z:1.44 [[-9.99867263e-01 1.47768948e-02 6.86299486e-03 7.43771988e+01] [-1.47775971e-02 -9.99890804e-01 -5.16390786e-05 -8.36459092e+01] [ 6.86148238e-03 -1.53050797e-04 9.99976448e-01 1.43731943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.6 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.35, Y:-83.90, Z:2.25 [[-9.99307655e-01 -3.65577516e-02 6.90950664e-03 7.43469420e+01] [-3.65556422e-02 9.99331526e-01 4.31385548e-04 -8.38975683e+01] [-6.92065830e-03 1.78505428e-04 -9.99976036e-01 2.24930327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.63 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.33, Y:-83.88, Z:2.25 [[-9.94357397e-01 -1.05871814e-01 6.67276693e-03 7.43275925e+01] [-1.05868174e-01 9.94379769e-01 8.97289792e-04 -8.38765670e+01] [-6.73026214e-03 1.85793091e-04 -9.99977334e-01 2.24922478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.66 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.31, Y:-83.86, Z:2.25 [[-9.84876827e-01 -1.73161176e-01 5.73082300e-03 7.43059064e+01] [-1.73157168e-01 9.84893484e-01 1.19197421e-03 -8.38599382e+01] [-5.85065388e-03 1.81614694e-04 -9.99982868e-01 2.24785085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.69 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.28, Y:-83.84, Z:2.25 [[-9.70403346e-01 -2.41445828e-01 4.61073027e-03 7.42782781e+01] [-2.41442329e-01 9.70414287e-01 1.30925556e-03 -8.38398449e+01] [-4.79043282e-03 1.57280519e-04 -9.99988513e-01 2.24656592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.72 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.25, Y:-83.82, Z:2.25 [[-9.51134335e-01 -3.08750490e-01 4.07568396e-03 7.42473319e+01] [-3.08746974e-01 9.51143056e-01 1.48116324e-03 -8.38245219e+01] [-4.33386837e-03 1.50430124e-04 -9.99990597e-01 2.24563426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.21, Y:-83.82, Z:2.25 [[-9.27203828e-01 -3.74539314e-01 3.65558093e-03 7.42060123e+01] [-3.74535773e-01 9.27211023e-01 1.63512006e-03 -8.38150059e+01] [-4.00191167e-03 1.46943747e-04 -9.99991982e-01 2.24563683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.78 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.05, Y:-83.56, Z:1.44 [[-9.25492841e-01 3.78745793e-01 3.82442076e-03 7.40491193e+01] [-3.78743201e-01 -9.25500731e-01 1.40865923e-03 -8.35555552e+01] [ 4.07302797e-03 -1.44769329e-04 9.99991695e-01 1.44010188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.81 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.11, Y:-83.86, Z:2.25 [[-9.26167063e-01 -3.77091854e-01 4.03799851e-03 7.41082460e+01] [-3.77087453e-01 9.26175849e-01 1.82996088e-03 -8.38626359e+01] [-4.42996004e-03 1.72170916e-04 -9.99990173e-01 2.24545003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.84 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.06, Y:-83.86, Z:2.25 [[-8.97950313e-01 -4.40077229e-01 4.15540231e-03 7.40611538e+01] [-4.40071474e-01 8.97959906e-01 2.25941896e-03 -8.38604251e+01] [-4.72570350e-03 2.00171947e-04 -9.99988814e-01 2.24577729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.87 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.00, Y:-83.86, Z:2.25 [[-8.64088626e-01 -5.03322027e-01 4.21701688e-03 7.40023836e+01] [-5.03314790e-01 8.64098889e-01 2.70798630e-03 -8.38645074e+01] [-5.00690876e-03 2.17453200e-04 -9.99987442e-01 2.24601000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.9 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.93, Y:-83.88, Z:2.25 [[-8.25312043e-01 -5.64661820e-01 4.13050547e-03 7.39346455e+01] [-5.64653346e-01 8.25322347e-01 3.10202425e-03 -8.38790813e+01] [-5.16059313e-03 2.27834241e-04 -9.99986658e-01 2.24602727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.93 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.86, Y:-83.91, Z:2.25 [[-7.81788055e-01 -6.23534250e-01 3.53216858e-03 7.38605793e+01] [-6.23526655e-01 7.81796007e-01 3.08452470e-03 -8.39065823e+01] [-4.68474209e-03 2.09043306e-04 -9.99989005e-01 2.24591390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.95999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.79, Y:-83.93, Z:2.25 [[-7.33353400e-01 -6.79836795e-01 3.83697419e-03 7.37896985e+01] [-6.79825738e-01 7.33363398e-01 3.88491425e-03 -8.39295813e+01] [-5.45500409e-03 2.40541264e-04 -9.99985092e-01 2.24602280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.98999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.72, Y:-83.97, Z:2.25 [[-6.80818847e-01 -7.32440175e-01 4.13358089e-03 7.37185776e+01] [-7.32424139e-01 6.80831339e-01 4.85465465e-03 -8.39722702e+01] [-6.37001552e-03 2.77605962e-04 -9.99979673e-01 2.24771321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.01999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.64, Y:-84.02, Z:2.25 [[-6.24824578e-01 -7.80752718e-01 4.40902706e-03 7.36440159e+01] [-7.80729492e-01 6.24840049e-01 6.03106848e-03 -8.40152117e+01] [-7.46370979e-03 3.26102359e-04 -9.99972093e-01 2.24802122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.04999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.58, Y:-84.07, Z:2.25 [[-5.65622261e-01 -8.24655295e-01 3.88613862e-03 7.35804511e+01] [-8.24631734e-01 5.65635517e-01 6.24226946e-03 -8.40710162e+01] [-7.34585859e-03 3.26133339e-04 -9.99972966e-01 2.24883585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.07999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.51, Y:-84.14, Z:2.25 [[-5.03734806e-01 -8.63852739e-01 3.11282447e-03 7.35087726e+01] [-8.63832346e-01 5.03744332e-01 5.94358706e-03 -8.41419927e+01] [-6.70245164e-03 3.05033210e-04 -9.99977492e-01 2.24778321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.10999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.45, Y:-84.19, Z:2.25 [[-4.38976197e-01 -8.98495472e-01 2.40526412e-03 7.34482055e+01] [-8.98478271e-01 4.38982696e-01 5.56683922e-03 -8.41947857e+01] [-6.05764916e-03 2.82632365e-04 -9.99981612e-01 2.24641319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.14 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.40, Y:-84.27, Z:2.25 [[-3.71928274e-01 -9.28259659e-01 1.83431414e-03 7.33958881e+01] [-9.28244539e-01 3.71932699e-01 5.30496221e-03 -8.42697135e+01] [-5.60662382e-03 2.70373353e-04 -9.99984246e-01 2.24648058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.17 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.34, Y:-84.35, Z:2.25 [[-3.04461528e-01 -9.52523718e-01 1.32066703e-03 7.33373930e+01] [-9.52510610e-01 3.04464277e-01 5.00423735e-03 -8.43479792e+01] [-5.16875069e-03 2.65648392e-04 -9.99986607e-01 2.24562391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.2 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.30, Y:-84.44, Z:2.25 [[-2.34107844e-01 -9.72210249e-01 8.65668346e-04 7.32969193e+01] [-9.72199035e-01 2.34109308e-01 4.67627170e-03 -8.44428715e+01] [-4.74898029e-03 2.53149957e-04 -9.99988691e-01 2.24639552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.23 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.25, Y:-84.52, Z:2.25 [[-1.62263590e-01 -9.86747346e-01 4.50455295e-04 7.32504330e+01] [-9.86738599e-01 1.62264051e-01 4.16109063e-03 -8.45241799e+01] [-4.17903783e-03 2.30711876e-04 -9.99991241e-01 2.24603345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.26 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.21, Y:-84.62, Z:2.25 [[-9.12064934e-02 -9.95831994e-01 1.25237832e-04 7.32134030e+01] [-9.95824734e-01 9.12063075e-02 3.80909079e-03 -8.46176528e+01] [-3.80463696e-03 2.22698884e-04 -9.99992738e-01 2.24619117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.29 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.19, Y:-84.72, Z:2.25 [[-1.79603141e-02 -9.99838687e-01 -1.65874032e-04 7.31864097e+01] [-9.99830991e-01 1.79595238e-02 3.93010626e-03 -8.47194644e+01] [-3.92649326e-03 2.36431941e-04 -9.99992263e-01 2.24650299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.32 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.17, Y:-84.82, Z:2.25 [[ 5.54203756e-02 -9.98462974e-01 -5.20264115e-04 7.31706181e+01] [-9.98453250e-01 -5.54221364e-02 4.41515062e-03 -8.48163166e+01] [-4.43719856e-03 2.74770091e-04 -9.99990118e-01 2.24763568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.35 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.15, Y:-84.91, Z:2.25 [[ 1.26862551e-01 -9.91919608e-01 -1.17644163e-03 7.31488548e+01] [-9.91901269e-01 -1.26867375e-01 6.04505907e-03 -8.49108851e+01] [-6.14546468e-03 4.00022329e-04 -9.99981036e-01 2.24961919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.38 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.14, Y:-85.01, Z:2.25 [[ 1.99090089e-01 -9.79979549e-01 -1.79427483e-03 7.31380777e+01] [-9.79957697e-01 -1.99097660e-01 6.56001105e-03 -8.50094468e+01] [-6.78591260e-03 4.52280251e-04 -9.99976873e-01 2.24983568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.41 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.14, Y:-85.10, Z:2.25 [[ 2.70402597e-01 -9.62744650e-01 -2.27481105e-03 7.31415170e+01] [-9.62723537e-01 -2.70411771e-01 6.39265961e-03 -8.51036919e+01] [-6.76963453e-03 4.61422386e-04 -9.99976979e-01 2.25012146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.44 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.15, Y:-85.20, Z:2.25 [[ 3.40411244e-01 -9.40272948e-01 -2.63971250e-03 7.31488055e+01] [-9.40254143e-01 -3.40421179e-01 5.96377806e-03 -8.52028784e+01] [-6.50619322e-03 4.51863500e-04 -9.99978732e-01 2.24962343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.47 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.16, Y:-85.30, Z:2.25 [[ 4.07664583e-01 -9.13127918e-01 -2.64428745e-03 7.31559764e+01] [-9.13114641e-01 -4.07672962e-01 4.94049898e-03 -8.52969648e+01] [-5.58931205e-03 4.00471123e-04 -9.99984299e-01 2.24774887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.18, Y:-85.39, Z:2.25 [[ 4.74271933e-01 -8.80375006e-01 -2.44564369e-03 7.31758610e+01] [-8.80366653e-01 -4.74278126e-01 3.84901888e-03 -8.53897488e+01] [-4.54849533e-03 3.27581525e-04 -9.99989602e-01 2.24723402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.53 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.19, Y:-85.48, Z:2.25 [[ 5.38316700e-01 -8.42738354e-01 -2.68283399e-03 7.31923056e+01] [-8.42730724e-01 -5.38323288e-01 3.60051518e-03 -8.54794419e+01] [-4.47852425e-03 3.22689179e-04 -9.99989919e-01 2.24676844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.23, Y:-85.57, Z:2.25 [[ 5.99864664e-01 -8.00097036e-01 -2.66789556e-03 7.32261420e+01] [-8.00091176e-01 -5.99870527e-01 3.07594488e-03 -8.55718389e+01] [-4.06144630e-03 2.89409054e-04 -9.99991710e-01 2.24658945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.59 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.25, Y:-85.64, Z:2.25 [[ 6.59976664e-01 -7.51281477e-01 -2.63545042e-03 7.32479205e+01] [-7.51276953e-01 -6.59981878e-01 2.61918271e-03 -8.56436040e+01] [-3.70709297e-03 2.51353696e-04 -9.99993097e-01 2.24669357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.62 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.04, Y:-85.89, Z:1.44 [[ 7.52548000e-01 6.58531870e-01 -2.69890958e-03 7.30448072e+01] [-6.58526439e-01 7.52552800e-01 2.68568172e-03 -8.58901924e+01] [ 3.79967897e-03 -2.43801094e-04 9.99992751e-01 1.43979218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.65 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.07, Y:-85.91, Z:1.44 [[ 7.50295946e-01 6.61095615e-01 -2.92942708e-03 7.30702689e+01] [-6.61089235e-01 7.50301623e-01 2.91496823e-03 -8.59072371e+01] [ 4.12502660e-03 -2.50476138e-04 9.99991461e-01 1.43981358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.68 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.10, Y:-85.92, Z:1.44 [[ 7.48276200e-01 6.63379646e-01 -3.18972490e-03 7.30971223e+01] [-6.63372104e-01 7.48282954e-01 3.17386921e-03 -8.59228894e+01] [ 4.49229700e-03 -2.58956271e-04 9.99989876e-01 1.43989290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.70999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.12, Y:-85.94, Z:1.44 [[ 7.46475674e-01 6.65404389e-01 -3.32690019e-03 7.31197142e+01] [-6.65396205e-01 7.46483043e-01 3.31013152e-03 -8.59411749e+01] [ 4.68605061e-03 -2.57225894e-04 9.99988987e-01 1.43969221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.73999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.15, Y:-85.95, Z:1.44 [[ 7.44390198e-01 6.67741499e-01 -2.12680903e-03 7.31488345e+01] [-6.67738164e-01 7.44393220e-01 2.11601519e-03 -8.59549880e+01] [ 2.99613337e-03 -1.54989408e-04 9.99995500e-01 1.44150671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.76999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.17, Y:-85.97, Z:1.44 [[ 7.43907409e-01 6.68281314e-01 -1.36078368e-03 7.31714901e+01] [-6.68279951e-01 7.43908647e-01 1.35323353e-03 -8.59724039e+01] [ 1.91663943e-03 -9.72959923e-05 9.99998159e-01 1.44229832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.79999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.19, Y:-85.99, Z:1.44 [[ 7.43304850e-01 6.68952176e-01 -9.41205815e-04 7.31949618e+01] [-6.68951525e-01 7.43305443e-01 9.35535640e-04 -8.59892335e+01] [ 1.32543201e-03 -6.57671125e-05 9.99999119e-01 1.44306509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.82999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.22, Y:-86.01, Z:1.44 [[ 7.42536978e-01 6.69804669e-01 -7.36253326e-04 7.32189713e+01] [-6.69804272e-01 7.42537341e-01 7.31466511e-04 -8.60063863e+01] [ 1.03663527e-03 -4.99953094e-05 9.99999461e-01 1.44298850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.85999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.24, Y:-86.02, Z:1.44 [[ 7.40677890e-01 6.71859229e-01 -1.19967340e-03 7.32446440e+01] [-6.71858176e-01 7.40678858e-01 1.19177548e-03 -8.60217513e+01] [ 1.68927808e-03 -7.67113653e-05 9.99998570e-01 1.44198766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.27, Y:-86.04, Z:1.44 [[ 7.39771445e-01 6.72856102e-01 -1.69549984e-03 7.32704638e+01] [-6.72854003e-01 7.39773381e-01 1.68392090e-03 -8.60372077e+01] [ 2.38732210e-03 -1.04892744e-04 9.99997145e-01 1.44164608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.92 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.29, Y:-86.06, Z:1.44 [[ 7.38826967e-01 6.73892430e-01 -1.92485933e-03 7.32920796e+01] [-6.73889731e-01 7.38829466e-01 1.91078693e-03 -8.60556485e+01] [ 2.70980763e-03 -1.14597976e-04 9.99996322e-01 1.44065712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.95 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.32, Y:-86.07, Z:1.44 [[ 7.37880035e-01 6.74927582e-01 -2.41104650e-03 7.33162912e+01] [-6.74923356e-01 7.37883962e-01 2.39235492e-03 -8.60730257e+01] [ 3.39373886e-03 -1.37999333e-04 9.99994232e-01 1.44017157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.98 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.34, Y:-86.09, Z:1.44 [[ 7.35168988e-01 6.77875714e-01 -3.32789421e-03 7.33407021e+01] [-6.77867695e-01 7.35176501e-01 3.30174838e-03 -8.60889244e+01] [ 4.68476466e-03 -1.71471038e-04 9.99989012e-01 1.43826542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.01 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.37, Y:-86.10, Z:1.44 [[ 7.33350317e-01 6.79839865e-01 -3.88205363e-03 7.33674766e+01] [-6.79828983e-01 7.33360569e-01 3.85101278e-03 -8.61029457e+01] [ 5.46501707e-03 -1.85008877e-04 9.99985050e-01 1.43825761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.04 meters Centerline goodness [0,1] 0.999937971673731 Centerline is valid? [True, True] Translation: X:73.39, Y:-86.12, Z:1.44 [[ 7.31514163e-01 6.81813090e-01 -4.23536171e-03 7.33876502e+01] [-6.81800174e-01 7.31526401e-01 4.20091336e-03 -8.61227914e+01] [ 5.96251663e-03 -1.85357272e-04 9.99982207e-01 1.43708789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.41, Y:-86.14, Z:1.44 [[ 7.29855574e-01 6.83588188e-01 -4.24625401e-03 7.34138439e+01] [-6.83575246e-01 7.29867906e-01 4.20982283e-03 -8.61378496e+01] [ 5.97698968e-03 -1.69928526e-04 9.99982123e-01 1.43765320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.1 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.44, Y:-86.15, Z:1.44 [[ 7.25945618e-01 6.87740153e-01 -4.05476878e-03 7.34403944e+01] [-6.87728418e-01 7.25956930e-01 4.01969382e-03 -8.61530972e+01] [ 5.70809234e-03 -1.29499395e-04 9.99983700e-01 1.43847563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.13 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.46, Y:-86.17, Z:1.44 [[ 7.24403159e-01 6.89365106e-01 -3.97674200e-03 7.34600475e+01] [-6.89353846e-01 7.24414065e-01 3.94166636e-03 -8.61731224e+01] [ 5.59805509e-03 -1.13973171e-04 9.99984324e-01 1.43776566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.16 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.48, Y:-86.19, Z:1.44 [[ 7.23433234e-01 6.90382850e-01 -3.98447640e-03 7.34843651e+01] [-6.90371573e-01 7.23444199e-01 3.94736424e-03 -8.61889128e+01] [ 5.60773891e-03 -1.04885238e-04 9.99984271e-01 1.43885937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.19 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.51, Y:-86.21, Z:1.44 [[ 7.22677330e-01 6.91174667e-01 -3.88028128e-03 7.35051503e+01] [-6.91163994e-01 7.22687741e-01 3.84221750e-03 -8.62082907e+01] [ 5.45987511e-03 -9.47727772e-05 9.99985090e-01 1.43898659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.22 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.52, Y:-86.23, Z:1.44 [[ 7.22185464e-01 6.91691115e-01 -3.39955730e-03 7.35246745e+01] [-6.91682931e-01 7.22193461e-01 3.36561124e-03 -8.62287583e+01] [ 4.78310145e-03 -7.91797560e-05 9.99988558e-01 1.43900294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.25 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.55, Y:-86.25, Z:1.44 [[ 7.21755269e-01 6.92140873e-01 -3.21596684e-03 7.35455455e+01] [-6.92133561e-01 7.21762431e-01 3.18229358e-03 -8.62483301e+01] [ 4.52375950e-03 -7.09585786e-05 9.99989765e-01 1.43943441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.28 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.57, Y:-86.27, Z:1.44 [[ 7.22001839e-01 6.91882096e-01 -3.53677054e-03 7.35651583e+01] [-6.91873260e-01 7.22010498e-01 3.49772853e-03 -8.62687976e+01] [ 4.97360121e-03 -7.83694714e-05 9.99987629e-01 1.43932108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.31 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.58, Y:-86.29, Z:1.44 [[ 7.22384955e-01 6.91482294e-01 -3.49490048e-03 7.35846528e+01] [-6.91473670e-01 7.22393405e-01 3.45431891e-03 -8.62895976e+01] [ 4.91329342e-03 -7.87163450e-05 9.99987927e-01 1.43935039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.34 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.60, Y:-86.31, Z:1.44 [[ 7.22587577e-01 6.91270127e-01 -3.57847558e-03 7.36036779e+01] [-6.91261087e-01 7.22596433e-01 3.53627869e-03 -8.63102960e+01] [ 5.03031751e-03 -8.16101281e-05 9.99987345e-01 1.43949964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.37 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.62, Y:-86.33, Z:1.44 [[ 7.22918031e-01 6.90924161e-01 -3.65027953e-03 7.36230232e+01] [-6.90914760e-01 7.22927242e-01 3.60518343e-03 -8.63310968e+01] [ 5.12979485e-03 -8.42201011e-05 9.99986839e-01 1.43941665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.4 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.64, Y:-86.35, Z:1.44 [[ 7.23092594e-01 6.90741688e-01 -3.60838309e-03 7.36418503e+01] [-6.90732510e-01 7.23101593e-01 3.56176631e-03 -8.63517821e+01] [ 5.06948803e-03 -8.30593335e-05 9.99987147e-01 1.43955891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.43 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.66, Y:-86.37, Z:1.44 [[ 7.22715139e-01 6.91137423e-01 -3.44823899e-03 7.36586770e+01] [-6.91129049e-01 7.22723361e-01 3.40308003e-03 -8.63739918e+01] [ 4.84411883e-03 -7.62793211e-05 9.99988264e-01 1.44005020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.45999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.68, Y:-86.40, Z:1.44 [[ 7.22365683e-01 6.91502438e-01 -3.49261818e-03 7.36783646e+01] [-6.91493859e-01 7.22374123e-01 3.44519893e-03 -8.63953717e+01] [ 4.90534045e-03 -7.35694549e-05 9.99987966e-01 1.44014742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.48999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.70, Y:-86.42, Z:1.44 [[ 7.21839683e-01 6.92051140e-01 -3.56249129e-03 7.36987527e+01] [-6.92042230e-01 7.21848471e-01 3.51233152e-03 -8.64155728e+01] [ 5.00229192e-03 -6.99458587e-05 9.99987486e-01 1.44040930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.51999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.72, Y:-86.44, Z:1.44 [[ 7.20750122e-01 6.93183505e-01 -3.98629485e-03 7.37160303e+01] [-6.93172373e-01 7.20761142e-01 3.92909912e-03 -8.64381044e+01] [ 5.59675313e-03 -6.87092077e-05 9.99984336e-01 1.43957900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.54999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.73, Y:-86.46, Z:1.44 [[ 7.20523732e-01 6.93418560e-01 -4.03136642e-03 7.37335968e+01] [-6.93407184e-01 7.20535007e-01 3.97254347e-03 -8.64587598e+01] [ 5.65937601e-03 -6.69334062e-05 9.99983983e-01 1.43917372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.57999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.75, Y:-86.48, Z:1.44 [[ 7.20403091e-01 6.93545577e-01 -3.73092754e-03 7.37518346e+01] [-6.93535846e-01 7.20412749e-01 3.67439155e-03 -8.64794755e+01] [ 5.23616577e-03 -5.95110462e-05 9.99986289e-01 1.43902588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.60999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.77, Y:-86.50, Z:1.44 [[ 7.20640890e-01 6.93299340e-01 -3.56819172e-03 7.37696638e+01] [-6.93290447e-01 7.20649722e-01 3.51209116e-03 -8.65006702e+01] [ 5.00634686e-03 -5.71632673e-05 9.99987467e-01 1.43892221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.64 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.79, Y:-86.52, Z:1.44 [[ 7.20935647e-01 6.92994908e-01 -3.13835688e-03 7.37851709e+01] [-6.92988033e-01 7.20942476e-01 3.08724166e-03 -8.65249780e+01] [ 4.40201753e-03 -5.08588002e-05 9.99990310e-01 1.43864491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.67 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.80, Y:-86.54, Z:1.44 [[ 7.21134886e-01 6.92787573e-01 -3.13924448e-03 7.38048281e+01] [-6.92780700e-01 7.21141718e-01 3.08633910e-03 -8.65442240e+01] [ 4.40201753e-03 -5.08588108e-05 9.99990310e-01 1.43864581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.7 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.82, Y:-86.57, Z:1.44 [[ 7.21581048e-01 6.92325511e-01 -2.48550862e-03 7.38226678e+01] [-6.92321205e-01 7.21585328e-01 2.44222428e-03 -8.65662571e+01] [ 3.48432072e-03 -4.14924312e-05 9.99993929e-01 1.43890101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.73 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.84, Y:-86.59, Z:1.44 [[ 7.22046769e-01 6.91840947e-01 -2.13715855e-03 7.38400353e+01] [-6.91837763e-01 7.22049931e-01 2.09956206e-03 -8.65886058e+01] [ 2.99569819e-03 -3.74150151e-05 9.99995512e-01 1.43907272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.76 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.86, Y:-86.61, Z:1.44 [[ 7.23219253e-01 6.90615645e-01 -1.98573240e-03 7.38583066e+01] [-6.90612893e-01 7.23221978e-01 1.94982897e-03 -8.66117468e+01] [ 2.78270771e-03 -3.87814590e-05 9.99996128e-01 1.43909197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.79 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.88, Y:-86.64, Z:1.44 [[ 7.24680819e-01 6.89081659e-01 -2.04383913e-03 7.38752217e+01] [-6.89078741e-01 7.24683700e-01 2.00588097e-03 -8.66351233e+01] [ 2.86335269e-03 -4.52573764e-05 9.99995900e-01 1.43912860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.82 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.89, Y:-86.66, Z:1.44 [[ 7.28169183e-01 6.85396072e-01 -1.36561092e-03 7.38889115e+01] [-6.85394763e-01 7.28170463e-01 1.34009997e-03 -8.66630028e+01] [ 1.91289680e-03 -3.98369273e-05 9.99998170e-01 1.43926991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.85 meters Centerline goodness [0,1] 0.9999791961388034 Centerline is valid? [True, True] Translation: X:73.91, Y:-86.69, Z:1.44 [[ 7.29855942e-01 6.83600295e-01 -9.69665126e-04 7.39062629e+01] [-6.83599634e-01 7.29856586e-01 9.51078042e-04 -8.66862054e+01] [ 1.35787371e-03 -3.12872348e-05 9.99999078e-01 1.43989621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.88 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.92, Y:-86.71, Z:1.44 [[ 7.31267663e-01 6.82090426e-01 -5.05171607e-04 7.39211831e+01] [-6.82090247e-01 7.31267838e-01 4.95397268e-04 -8.67101886e+01] [ 7.07321482e-04 -1.76953769e-05 9.99999750e-01 1.44043481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.91 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.94, Y:-86.73, Z:1.44 [[ 7.32392770e-01 6.80882370e-01 -1.68473748e-04 7.39400340e+01] [-6.80882350e-01 7.32392790e-01 1.65142035e-04 -8.67324684e+01] [ 2.35831258e-04 -6.23803114e-06 9.99999972e-01 1.44117233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.94 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.95, Y:-86.76, Z:1.44 [[ 7.33509606e-01 6.79679076e-01 1.10992952e-04 7.39549935e+01] [-6.79679067e-01 7.33509614e-01 -1.08749896e-04 -8.67562070e+01] [-1.55329426e-04 4.32950717e-06 9.99999988e-01 1.44139478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.97 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.97, Y:-86.78, Z:1.44 [[ 7.33731133e-01 6.79439922e-01 1.30742723e-04 7.39724123e+01] [-6.79439910e-01 7.33731144e-01 -1.28070781e-04 -8.67781817e+01] [-1.82946409e-04 5.13769495e-06 9.99999983e-01 1.44156984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.0 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.99, Y:-86.80, Z:1.44 [[ 7.33723151e-01 6.79448513e-01 2.36842312e-04 7.39903934e+01] [-6.79448473e-01 7.33723189e-01 -2.31871824e-04 -8.67995535e+01] [-3.31321663e-04 9.20757764e-06 9.99999945e-01 1.44138966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.03 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.01, Y:-86.82, Z:1.44 [[ 7.33801347e-01 6.79364014e-01 3.46570644e-04 7.40085949e+01] [-6.79363929e-01 7.33801429e-01 -3.39116387e-04 -8.68208014e+01] [-4.84697503e-04 1.33964671e-05 9.99999882e-01 1.44145539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.06 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.02, Y:-86.84, Z:1.44 [[ 7.32785821e-01 6.80459349e-01 1.25442633e-04 7.40248049e+01] [-6.80459337e-01 7.32785832e-01 -1.22724258e-04 -8.68437409e+01] [-1.75431453e-04 4.57198490e-06 9.99999985e-01 1.44074146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.09 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.05, Y:-86.86, Z:1.44 [[ 7.31975156e-01 6.81331082e-01 -5.72110434e-04 7.40465339e+01] [-6.81330853e-01 7.31975379e-01 5.59462405e-04 -8.68622826e+01] [ 7.99949878e-04 -1.97160909e-05 9.99999680e-01 1.43983911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.12 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.07, Y:-86.88, Z:1.44 [[ 7.30876449e-01 6.82507976e-01 -1.57422130e-03 7.40660106e+01] [-6.82506243e-01 7.30878143e-01 1.53917184e-03 -8.68830515e+01] [ 2.20106100e-03 -5.05285868e-05 9.99997576e-01 1.43898289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.15 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.08, Y:-86.90, Z:1.44 [[ 7.28216765e-01 6.85343996e-01 -1.98736889e-03 7.40849069e+01] [-6.85341245e-01 7.28219475e-01 1.94265005e-03 -8.69039846e+01] [ 2.77862428e-03 -5.26444610e-05 9.99996138e-01 1.43805098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.18 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.10, Y:-86.92, Z:1.44 [[ 7.27074860e-01 6.86555931e-01 -1.76132700e-03 7.41049183e+01] [-6.86553776e-01 7.27076992e-01 1.72086238e-03 -8.69243925e+01] [ 2.46208861e-03 -4.19500696e-05 9.99996968e-01 1.43836372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.20999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.12, Y:-86.94, Z:1.44 [[ 7.25663114e-01 6.88048416e-01 -1.55642994e-03 7.41243809e+01] [-6.88046737e-01 7.25664783e-01 1.52040438e-03 -8.69448673e+01] [ 2.17555822e-03 -3.24048428e-05 9.99997633e-01 1.43887770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.23999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.14, Y:-86.97, Z:1.44 [[ 7.24658175e-01 6.89107707e-01 -1.04762411e-03 7.41447247e+01] [-6.89106948e-01 7.24658932e-01 1.02289108e-03 -8.69655507e+01] [ 1.46405230e-03 -1.93213278e-05 9.99998928e-01 1.43935246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.26999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.16, Y:-86.99, Z:1.44 [[ 7.23647757e-01 6.90169060e-01 -7.70106829e-04 7.41648250e+01] [-6.90168651e-01 7.23648166e-01 7.51561675e-04 -8.69861108e+01] [ 1.07599101e-03 -1.23623290e-05 9.99999421e-01 1.43945690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.29999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.18, Y:-87.01, Z:1.44 [[ 7.21326988e-01 6.92594385e-01 -6.28516695e-04 7.41833868e+01] [-6.92594113e-01 7.21327261e-01 6.13084449e-04 -8.70080576e+01] [ 8.77985073e-04 -6.92739557e-06 9.99999615e-01 1.43931725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.32999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.20, Y:-87.03, Z:1.44 [[ 7.20135505e-01 6.93833034e-01 -7.58018512e-04 7.42022310e+01] [-6.93832641e-01 7.20135904e-01 7.39269422e-04 -8.70284837e+01] [ 1.05880589e-03 -6.43617227e-06 9.99999439e-01 1.43875569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.35999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.22, Y:-87.05, Z:1.44 [[ 7.18769909e-01 6.95247503e-01 -8.52354794e-04 7.42225592e+01] [-6.95247007e-01 7.18770415e-01 8.31149452e-04 -8.70489956e+01] [ 1.19050199e-03 -4.80809762e-06 9.99999291e-01 1.43799750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.39 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.24, Y:-87.07, Z:1.44 [[ 7.17463315e-01 6.96595472e-01 -1.06750111e-03 7.42412960e+01] [-6.96594694e-01 7.17464110e-01 1.04075376e-03 -8.70697989e+01] [ 1.49087809e-03 -3.08703809e-06 9.99998889e-01 1.43712675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.42 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.26, Y:-87.09, Z:1.44 [[ 7.15368627e-01 6.98746793e-01 -8.03979648e-04 7.42588356e+01] [-6.98746353e-01 7.15369079e-01 7.83668529e-04 -8.70918663e+01] [ 1.12272805e-03 1.16596725e-06 9.99999370e-01 1.43692844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.45 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.28, Y:-87.11, Z:1.44 [[ 7.14649323e-01 6.99482727e-01 -5.09877963e-04 7.42764364e+01] [-6.99482550e-01 7.14649505e-01 4.96875795e-04 -8.71120846e+01] [ 7.11940070e-04 1.55878777e-06 9.99999747e-01 1.43710356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.48 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.29, Y:-87.13, Z:1.44 [[ 7.14325032e-01 6.99814037e-01 -2.48691433e-04 7.42947076e+01] [-6.99813995e-01 7.14325076e-01 2.42299058e-04 -8.71333491e+01] [ 3.47210808e-04 9.57463036e-07 9.99999940e-01 1.43742255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.51 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.31, Y:-87.15, Z:1.44 [[ 7.14361347e-01 6.99776947e-01 3.01156597e-04 7.43119841e+01] [-6.99776885e-01 7.14361411e-01 -2.93329757e-04 -8.71537230e+01] [-4.20400053e-04 -1.19898496e-06 9.99999912e-01 1.43748493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.54 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.33, Y:-87.18, Z:1.44 [[ 7.14434546e-01 6.99702278e-01 3.96099949e-05 7.43276085e+01] [-6.99702277e-01 7.14434547e-01 -3.85723370e-05 -8.71789619e+01] [-5.52879009e-05 -1.57793558e-07 9.99999998e-01 1.43717809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.35, Y:-87.20, Z:1.44 [[ 7.14695511e-01 6.99435720e-01 2.57717610e-06 7.43456035e+01] [-6.99435720e-01 7.14695511e-01 -2.50614049e-06 -8.72019531e+01] [-3.59478041e-06 -1.14416521e-08 1.00000000e+00 1.43653664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.6 meters Centerline goodness [0,1] 0.9998744480947498 Centerline is valid? [True, True] Translation: X:74.36, Y:-87.22, Z:1.43 [[ 7.15725985e-01 6.98378467e-01 -1.95731376e-03 7.43639850e+01] [-6.98375867e-01 7.15728661e-01 1.90571885e-03 -8.72246681e+01] [ 2.73181857e-03 2.96819893e-06 9.99996269e-01 1.43313940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.63 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.38, Y:-87.25, Z:1.44 [[ 7.15711996e-01 6.98395480e-01 -3.04209807e-04 7.43815166e+01] [-6.98395417e-01 7.15712061e-01 2.96151136e-04 -8.72475597e+01] [ 4.24557242e-04 4.99814373e-07 9.99999910e-01 1.43621761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.66 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.40, Y:-87.27, Z:1.44 [[ 7.16563825e-01 6.97521463e-01 -3.03627448e-04 7.44010916e+01] [-6.97521401e-01 7.16563890e-01 2.95600674e-04 -8.72722109e+01] [ 4.23756280e-04 -3.01069756e-08 9.99999910e-01 1.43603594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.69 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.42, Y:-87.30, Z:1.44 [[ 7.17209270e-01 6.96857763e-01 -3.46831788e-04 7.44217062e+01] [-6.96857682e-01 7.17209354e-01 3.37824170e-04 -8.72976477e+01] [ 4.84166398e-04 -5.98230615e-07 9.99999883e-01 1.43548656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.72 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.44, Y:-87.33, Z:1.43 [[ 7.18816821e-01 6.95199086e-01 -7.80330972e-04 7.44396099e+01] [-6.95198670e-01 7.18817245e-01 7.60525402e-04 -8.73263609e+01] [ 1.08963192e-03 -4.19339859e-06 9.99999406e-01 1.43446926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.46, Y:-87.35, Z:1.43 [[ 7.19893760e-01 6.94083147e-01 -1.24866831e-03 7.44592154e+01] [-6.94082079e-01 7.19894843e-01 1.21765154e-03 -8.73524921e+01] [ 1.74406129e-03 -9.90144810e-06 9.99998479e-01 1.43374714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.78 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.48, Y:-87.38, Z:1.43 [[ 7.21334830e-01 6.92584354e-01 -1.72504206e-03 7.44785581e+01] [-6.92582309e-01 7.21336892e-01 1.68304660e-03 -8.73780373e+01] [ 2.40998822e-03 -1.93065150e-05 9.99997096e-01 1.43333349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.81 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.50, Y:-87.40, Z:1.43 [[ 7.23147231e-01 6.90688545e-01 -2.72316119e-03 7.44977888e+01] [-6.90683431e-01 7.23152357e-01 2.65814766e-03 -8.74036542e+01] [ 3.80521257e-03 -4.13898036e-05 9.99992759e-01 1.43311019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.84 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.51, Y:-87.43, Z:1.43 [[ 7.28366548e-01 6.85180906e-01 -3.04924087e-03 7.45121754e+01] [-6.85174444e-01 7.28372927e-01 2.97667173e-03 -8.74328693e+01] [ 4.26054312e-03 -7.88461938e-05 9.99990921e-01 1.43278084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.87 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.53, Y:-87.46, Z:1.43 [[ 7.31397908e-01 6.81946067e-01 -2.58118382e-03 7.45301574e+01] [-6.81941416e-01 7.31402458e-01 2.51993597e-03 -8.74584749e+01] [ 3.60634461e-03 -8.28597479e-05 9.99993494e-01 1.43336108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.9 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.55, Y:-87.48, Z:1.43 [[ 7.34764679e-01 6.78318762e-01 -2.12676879e-03 7.45492353e+01] [-6.78315589e-01 7.34767752e-01 2.07645251e-03 -8.74836279e+01] [ 2.97117781e-03 -8.30835353e-05 9.99995583e-01 1.43456030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.93 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.56, Y:-87.51, Z:1.44 [[ 7.42339452e-01 6.70023079e-01 -1.10073948e-03 7.45614360e+01] [-6.70022220e-01 7.42340266e-01 1.07478159e-03 -8.75142559e+01] [ 1.53725170e-03 -6.03328639e-05 9.99998817e-01 1.43625536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.95999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.58, Y:-87.54, Z:1.44 [[ 7.46359340e-01 6.65543111e-01 -3.19824521e-04 7.45816263e+01] [-6.65543038e-01 7.46359408e-01 3.12291160e-04 -8.75379766e+01] [ 4.46547271e-04 -2.02244407e-05 9.99999900e-01 1.43729562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.98999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.60, Y:-87.56, Z:1.44 [[ 7.50365170e-01 6.61023438e-01 3.54428243e-04 7.45999067e+01] [-6.61023348e-01 7.50365254e-01 -3.46101619e-04 -8.75638239e+01] [-4.94731921e-04 2.54172567e-05 9.99999877e-01 1.43763631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.01999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.62, Y:-87.59, Z:1.44 [[ 7.54137661e-01 6.56716017e-01 6.79229877e-04 7.46188699e+01] [-6.56715684e-01 7.54137965e-01 -6.63277273e-04 -8.75882075e+01] [-9.47817846e-04 5.41414576e-05 9.99999549e-01 1.43817935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.04999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.63, Y:-87.61, Z:1.44 [[ 7.57371648e-01 6.52983460e-01 8.87595475e-04 7.46348500e+01] [-6.52982890e-01 7.57372164e-01 -8.66831183e-04 -8.76149860e+01] [-1.23826653e-03 7.69287034e-05 9.99999230e-01 1.43823010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.07999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.66, Y:-87.64, Z:1.44 [[ 7.62185386e-01 6.47358573e-01 5.62066820e-04 7.46574601e+01] [-6.47358343e-01 7.62185591e-01 -5.48954025e-04 -8.76364034e+01] [-7.83769325e-04 5.45460905e-05 9.99999691e-01 1.43771321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.10999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.68, Y:-87.66, Z:1.44 [[ 7.63680330e-01 6.45594490e-01 3.29511619e-04 7.46792630e+01] [-6.45594410e-01 7.63680400e-01 -3.21853900e-04 -8.76578909e+01] [-4.59428669e-04 3.30626334e-05 9.99999894e-01 1.43733979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.14 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.70, Y:-87.68, Z:1.44 [[ 7.64427317e-01 6.44709901e-01 1.43066894e-04 7.47033946e+01] [-6.44709886e-01 7.64427331e-01 -1.39764417e-04 -8.76788760e+01] [-1.99471747e-04 1.46030978e-05 9.99999980e-01 1.43708520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.17 meters Centerline goodness [0,1] 0.9999584588223076 Centerline is valid? [True, True] Translation: X:74.72, Y:-87.70, Z:1.44 [[ 7.64740890e-01 6.44337894e-01 2.23122934e-04 7.47233370e+01] [-6.44337858e-01 7.64740922e-01 -2.18030432e-04 -8.77036095e+01] [-3.11116508e-04 2.29702330e-05 9.99999951e-01 1.43728772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.2 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.75, Y:-87.72, Z:1.44 [[ 7.64424885e-01 6.44712548e-01 5.70758019e-04 7.47538295e+01] [-6.44712309e-01 7.64425096e-01 -5.58010057e-04 -8.77189621e+01] [-7.96057838e-04 5.85820536e-05 9.99999681e-01 1.43758713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.23 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.78, Y:-87.74, Z:1.44 [[ 7.63678659e-01 6.45595992e-01 8.48924529e-04 7.47774493e+01] [-6.45595464e-01 7.63679126e-01 -8.30344499e-04 -8.77390307e+01] [-1.18437302e-03 8.60545480e-05 9.99999295e-01 1.43772939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.26 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.81, Y:-87.76, Z:1.44 [[ 7.62939033e-01 6.46469936e-01 8.08419456e-04 7.48062234e+01] [-6.46469457e-01 7.62939457e-01 -7.91123360e-04 -8.77551600e+01] [-1.12821257e-03 8.09604046e-05 9.99999360e-01 1.43715419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.29 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.83, Y:-87.78, Z:1.44 [[ 7.62229005e-01 6.47307419e-01 2.22956393e-04 7.48265962e+01] [-6.47307383e-01 7.62229037e-01 -2.18294615e-04 -8.77791749e+01] [-3.11247561e-04 2.20691683e-05 9.99999951e-01 1.43694323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.32 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.86, Y:-87.79, Z:1.44 [[ 7.61432925e-01 6.48243542e-01 -4.58548622e-04 7.48598685e+01] [-6.48243388e-01 7.61433062e-01 4.49013891e-04 -8.77920126e+01] [ 6.40224437e-04 -4.46428475e-05 9.99999794e-01 1.43530855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.35 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.89, Y:-87.81, Z:1.43 [[ 7.61016729e-01 6.48731487e-01 -9.97838504e-04 7.48852182e+01] [-6.48730758e-01 7.61017377e-01 9.77565445e-04 -8.78119439e+01] [ 1.39354993e-03 -9.66151283e-05 9.99999024e-01 1.43453668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.38 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.91, Y:-87.83, Z:1.43 [[ 7.61086081e-01 6.48649439e-01 -1.37228501e-03 7.49110119e+01] [-6.48648058e-01 7.61087306e-01 1.34506428e-03 -8.78310488e+01] [ 1.91690389e-03 -1.33579699e-04 9.99998154e-01 1.43329921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.41 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.94, Y:-87.85, Z:1.43 [[ 7.61460286e-01 6.48206890e-01 -2.46187245e-03 7.49366480e+01] [-6.48202443e-01 7.61464227e-01 2.41322475e-03 -8.78487691e+01] [ 3.43889671e-03 -2.41783075e-04 9.99994058e-01 1.43182970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.44 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.96, Y:-87.87, Z:1.43 [[ 7.61615084e-01 6.48022984e-01 -2.94542759e-03 7.49636423e+01] [-6.48016611e-01 7.61620724e-01 2.88860663e-03 -8.78677544e+01] [ 4.11518219e-03 -2.91320377e-04 9.99991490e-01 1.43147341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.47 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.99, Y:-87.89, Z:1.43 [[ 7.61677586e-01 6.47947506e-01 -3.35923697e-03 7.49874930e+01] [-6.47939209e-01 7.61684920e-01 3.29589713e-03 -8.78873346e+01] [ 4.69424847e-03 -3.33829621e-04 9.99988926e-01 1.43073909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.01, Y:-87.91, Z:1.43 [[ 7.61500604e-01 6.48153093e-01 -3.79456758e-03 7.50142460e+01] [-6.48142498e-01 7.61509965e-01 3.72504497e-03 -8.79073749e+01] [ 5.30400045e-03 -3.77203483e-04 9.99985863e-01 1.43073360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.53 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.04, Y:-87.93, Z:1.43 [[ 7.60960281e-01 6.48787471e-01 -3.77738712e-03 7.50380038e+01] [-6.48776971e-01 7.60969565e-01 3.70980737e-03 -8.79271150e+01] [ 5.28135317e-03 -3.72334284e-04 9.99985984e-01 1.43054404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.07, Y:-87.94, Z:1.43 [[ 7.60078930e-01 6.49819550e-01 -3.81750736e-03 7.50717933e+01] [-6.49808829e-01 7.60088426e-01 3.75110328e-03 -8.79386749e+01] [ 5.33918340e-03 -3.70484578e-04 9.99985678e-01 1.43198027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.59 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.09, Y:-87.96, Z:1.43 [[ 7.59891003e-01 6.50039305e-01 -3.81642340e-03 7.50949706e+01] [-6.50028582e-01 7.59900496e-01 3.75220611e-03 -8.79615146e+01] [ 5.33918349e-03 -3.70483377e-04 9.99985678e-01 1.43198134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.62 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.12, Y:-87.98, Z:1.43 [[ 7.57265187e-01 6.53099806e-01 -3.17488318e-03 7.51201842e+01] [-6.53092412e-01 7.57271787e-01 3.12138421e-03 -8.79781890e+01] [ 4.44282488e-03 -2.90223483e-04 9.99990088e-01 1.43283289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.65 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.15, Y:-88.00, Z:1.43 [[ 7.55420713e-01 6.55232858e-01 -3.07393083e-03 7.51468716e+01] [-6.55225943e-01 7.55426919e-01 3.02227501e-03 -8.79955327e+01] [ 4.30242399e-03 -2.68969921e-04 9.99990708e-01 1.43331035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.68 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.17, Y:-88.02, Z:1.43 [[ 7.53131674e-01 6.57864791e-01 -2.56874350e-03 7.51667588e+01] [-6.57859976e-01 7.53136025e-01 2.52571432e-03 -8.80162224e+01] [ 3.59619179e-03 -2.12321922e-04 9.99993511e-01 1.43340591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.70999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.20, Y:-88.03, Z:1.43 [[ 7.46977553e-01 6.64846220e-01 -2.00962873e-03 7.51984575e+01] [-6.64843299e-01 7.46980243e-01 1.97586785e-03 -8.80261391e+01] [ 2.81480123e-03 -1.39840740e-04 9.99996029e-01 1.43435648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.73999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.23, Y:-88.04, Z:1.44 [[ 7.43221613e-01 6.69042199e-01 -2.04210116e-03 7.52312912e+01] [-6.69039198e-01 7.43224408e-01 2.00778034e-03 -8.80361592e+01] [ 2.86102920e-03 -1.25980015e-04 9.99995899e-01 1.43501563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.76999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.26, Y:-88.05, Z:1.43 [[ 7.39053351e-01 6.73644216e-01 -1.90111845e-03 7.52584541e+01] [-6.73641630e-01 7.39055790e-01 1.86912052e-03 -8.80522508e+01] [ 2.66415483e-03 -1.00707253e-04 9.99996446e-01 1.43485818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.79999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.29, Y:-88.07, Z:1.43 [[ 7.34876836e-01 6.78197376e-01 -2.08690784e-03 7.52852345e+01] [-6.78194279e-01 7.34879794e-01 2.05171104e-03 -8.80681665e+01] [ 2.92509145e-03 -9.24259548e-05 9.99995718e-01 1.43459282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.82999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.31, Y:-88.08, Z:1.43 [[ 7.31068932e-01 6.82299531e-01 -2.35936455e-03 7.53121880e+01] [-6.82295593e-01 7.31072735e-01 2.31948993e-03 -8.80836244e+01] [ 3.30745399e-03 -8.59229892e-05 9.99994527e-01 1.43444446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.85999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.34, Y:-88.10, Z:1.43 [[ 7.24584717e-01 6.89183476e-01 -1.76769781e-03 7.53404438e+01] [-6.89181287e-01 7.24586872e-01 1.73763969e-03 -8.80955881e+01] [ 2.47840318e-03 -4.08029113e-05 9.99996928e-01 1.43486390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.36, Y:-88.11, Z:1.44 [[ 7.22232852e-01 6.91649361e-01 -9.32421438e-04 7.53646263e+01] [-6.91648754e-01 7.22233453e-01 9.16123003e-04 -8.81116591e+01] [ 1.30706184e-03 -1.67460029e-05 9.99999146e-01 1.43544528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.92 meters Centerline goodness [0,1] 0.9999164229001254 Centerline is valid? [True, True] Translation: X:75.39, Y:-88.13, Z:1.43 [[ 7.20262196e-01 6.93700879e-01 -1.20812790e-03 7.53886595e+01] [-6.93699864e-01 7.20263209e-01 1.18640577e-03 -8.81284532e+01] [ 1.69318081e-03 -1.64450622e-05 9.99998566e-01 1.43325057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.95 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.41, Y:-88.14, Z:1.44 [[ 7.17070988e-01 6.97000137e-01 -7.88822455e-05 7.54124733e+01] [-6.97000133e-01 7.17070993e-01 7.74358215e-05 -8.81445490e+01] [ 1.10536948e-04 -5.46045403e-07 9.99999994e-01 1.43550597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.98 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.43, Y:-88.16, Z:1.44 [[ 7.15724384e-01 6.98382800e-01 -2.65940694e-04 7.54337561e+01] [-6.98382751e-01 7.15724434e-01 2.60889669e-04 -8.81623492e+01] [ 3.72541110e-04 -9.96703970e-07 9.99999931e-01 1.43513714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.01 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.46, Y:-88.18, Z:1.43 [[ 7.14365752e-01 6.99772477e-01 -2.29416119e-04 7.54550555e+01] [-6.99772441e-01 7.14365789e-01 2.24930754e-04 -8.81804208e+01] [ 3.21287378e-04 -1.43750185e-07 9.99999948e-01 1.43422637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.04 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.48, Y:-88.20, Z:1.43 [[ 7.11626504e-01 7.02557087e-01 -1.12181622e-03 7.54764744e+01] [-7.02556227e-01 7.11627388e-01 1.09962576e-03 -8.81979864e+01] [ 1.57086502e-03 5.61613666e-06 9.99998766e-01 1.43230073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.50, Y:-88.22, Z:1.43 [[ 7.11827542e-01 7.02353395e-01 -1.12212635e-03 7.54961702e+01] [-7.02352534e-01 7.11828427e-01 1.09930928e-03 -8.82171962e+01] [ 1.57086504e-03 5.60965820e-06 9.99998766e-01 1.43230163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.1 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.52, Y:-88.24, Z:1.43 [[ 7.10029405e-01 7.04169619e-01 -1.84167916e-03 7.55161843e+01] [-7.04167311e-01 7.10031793e-01 1.80330224e-03 -8.82375594e+01] [ 2.57748141e-03 1.64526448e-05 9.99996678e-01 1.43100546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.13 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.53, Y:-88.26, Z:1.43 [[ 7.09609478e-01 7.04591926e-01 -2.14620712e-03 7.55348723e+01] [-7.04588796e-01 7.09612723e-01 2.10025921e-03 -8.82578449e+01] [ 3.00280157e-03 2.18296490e-05 9.99995491e-01 1.43075691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.16 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.55, Y:-88.28, Z:1.43 [[ 7.09208192e-01 7.04994964e-01 -2.41673033e-03 7.55538256e+01] [-7.04991000e-01 7.09212309e-01 2.36433588e-03 -8.82786044e+01] [ 3.38081979e-03 2.69667573e-05 9.99994285e-01 1.43075727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.19 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.57, Y:-88.30, Z:1.43 [[ 7.09089777e-01 7.05115235e-01 -2.04795148e-03 7.55720207e+01] [-7.05112392e-01 7.09092734e-01 2.00239967e-03 -8.82995534e+01] [ 2.86411003e-03 2.41548348e-05 9.99995898e-01 1.43106301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.22 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.59, Y:-88.32, Z:1.43 [[ 7.09054059e-01 7.05151684e-01 -1.85574572e-03 7.55886958e+01] [-7.05149353e-01 7.09056487e-01 1.81341452e-03 -8.83228574e+01] [ 2.59456084e-03 2.27689687e-05 9.99996634e-01 1.43183613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.25 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.61, Y:-88.34, Z:1.43 [[ 7.09181835e-01 7.05022922e-01 -1.95075133e-03 7.56058134e+01] [-7.05020346e-01 7.09184517e-01 1.90576437e-03 -8.83432713e+01] [ 2.72705020e-03 2.37859066e-05 9.99996281e-01 1.43200246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.28 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.62, Y:-88.37, Z:1.43 [[ 7.09551985e-01 7.04650390e-01 -1.95157049e-03 7.56238503e+01] [-7.04647814e-01 7.09554668e-01 1.90548125e-03 -8.83650513e+01] [ 2.72744406e-03 2.31318720e-05 9.99996280e-01 1.43207991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.31 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.64, Y:-88.39, Z:1.43 [[ 7.09643780e-01 7.04557366e-01 -2.15039007e-03 7.56408864e+01] [-7.04554239e-01 7.09647038e-01 2.09907637e-03 -8.83863052e+01] [ 3.00493766e-03 2.54699493e-05 9.99995485e-01 1.43191878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.34 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.66, Y:-88.41, Z:1.43 [[ 7.10572557e-01 7.03617377e-01 -3.03777999e-03 7.56551723e+01] [-7.03611136e-01 7.10579050e-01 2.96362043e-03 -8.84116168e+01] [ 4.24383765e-03 3.15484861e-05 9.99990994e-01 1.43114144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.37 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.67, Y:-88.43, Z:1.43 [[ 7.10953386e-01 7.03228913e-01 -3.79179970e-03 7.56721138e+01] [-7.03219190e-01 7.10963497e-01 3.69831612e-03 -8.84330417e+01] [ 5.29659401e-03 3.71359403e-05 9.99985972e-01 1.43018658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.4 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.69, Y:-88.46, Z:1.43 [[ 7.11457978e-01 7.02714326e-01 -4.48576069e-03 7.56893573e+01] [-7.02700722e-01 7.11472118e-01 4.37268622e-03 -8.84551078e+01] [ 6.26424291e-03 4.11647779e-05 9.99980379e-01 1.42996410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.43 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.71, Y:-88.48, Z:1.43 [[ 7.11928259e-01 7.02236866e-01 -4.64085265e-03 7.57070667e+01] [-7.02222312e-01 7.11943384e-01 4.52129757e-03 -8.84772050e+01] [ 6.47904618e-03 4.00707693e-05 9.99979010e-01 1.43013744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.45999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.72, Y:-88.50, Z:1.43 [[ 7.12588307e-01 7.01568833e-01 -4.36761706e-03 7.57241518e+01] [-7.01555945e-01 7.12601692e-01 4.25269286e-03 -8.84997399e+01] [ 6.09592807e-03 3.37085109e-05 9.99981419e-01 1.43038487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.48999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.74, Y:-88.52, Z:1.43 [[ 7.13619461e-01 7.00520944e-01 -4.20378581e-03 7.57413468e+01] [-7.00509000e-01 7.13631842e-01 4.09087376e-03 -8.85225824e+01] [ 5.86569815e-03 2.54626654e-05 9.99982796e-01 1.43066254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.51999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.75, Y:-88.55, Z:1.43 [[ 7.16536144e-01 6.97536553e-01 -4.32568231e-03 7.57546860e+01] [-6.97523855e-01 7.16549201e-01 4.20887841e-03 -8.85498843e+01] [ 6.03541074e-03 1.45309116e-06 9.99981787e-01 1.43198358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.54999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.77, Y:-88.57, Z:1.43 [[ 7.18921394e-01 6.95078430e-01 -4.24324858e-03 7.57711228e+01] [-6.95066172e-01 7.18933916e-01 4.12807534e-03 -8.85739888e+01] [ 5.91995145e-03 -1.84231360e-05 9.99982477e-01 1.43269499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.57999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.79, Y:-88.60, Z:1.43 [[ 7.22041909e-01 6.91837156e-01 -4.10252559e-03 7.57873689e+01] [-6.91825649e-01 7.22053563e-01 3.99059972e-03 -8.85987752e+01] [ 5.72308838e-03 -4.31478095e-05 9.99983622e-01 1.43298969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.60999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.80, Y:-88.62, Z:1.43 [[ 7.25669971e-01 6.88032926e-01 -3.71294250e-03 7.58029447e+01] [-6.88023454e-01 7.25679466e-01 3.61099874e-03 -8.86235539e+01] [ 5.17889216e-03 -6.58018270e-05 9.99986587e-01 1.43379269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.64 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.81, Y:-88.66, Z:1.43 [[ 7.33776101e-01 6.79383439e-01 -3.28271259e-03 7.58139974e+01] [-6.79375946e-01 7.33783435e-01 3.19282441e-03 -8.86556851e+01] [ 4.57795215e-03 -1.12622276e-04 9.99989515e-01 1.43423837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.67 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.83, Y:-88.68, Z:1.43 [[ 7.38051749e-01 6.74736627e-01 -3.17796796e-03 7.58301272e+01] [-6.74729560e-01 7.38058578e-01 3.09122134e-03 -8.86829093e+01] [ 4.43128678e-03 -1.37212394e-04 9.99990172e-01 1.43462518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.7 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.85, Y:-88.71, Z:1.43 [[ 7.42190916e-01 6.70181014e-01 -3.17066526e-03 7.58471728e+01] [-6.70173937e-01 7.42197670e-01 3.08422574e-03 -8.87096731e+01] [ 4.42024990e-03 -1.64187110e-04 9.99990217e-01 1.43492761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.73 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.87, Y:-88.73, Z:1.44 [[ 7.45978460e-01 6.65962846e-01 -3.10247509e-03 7.58661913e+01] [-6.65956033e-01 7.45984888e-01 3.01809301e-03 -8.87343899e+01] [ 4.32433734e-03 -1.85320371e-04 9.99990633e-01 1.43535677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.76 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.88, Y:-88.76, Z:1.44 [[ 7.51554403e-01 6.59661255e-01 -3.60669698e-03 7.58820958e+01] [-6.59651973e-01 7.51563013e-01 3.50885689e-03 -8.87620833e+01] [ 5.02531699e-03 -2.57932073e-04 9.99987340e-01 1.43573239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.79 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.90, Y:-88.78, Z:1.44 [[ 7.53176204e-01 6.57810358e-01 -3.33740483e-03 7.59042518e+01] [-6.57802391e-01 7.53183557e-01 3.24710457e-03 -8.87842246e+01] [ 4.64965746e-03 -2.50289021e-04 9.99989159e-01 1.43652295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.82 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.92, Y:-88.81, Z:1.44 [[ 7.54155103e-01 6.56690018e-01 -2.88105837e-03 7.59226996e+01] [-6.56684072e-01 7.54160574e-01 2.80330768e-03 -8.88094332e+01] [ 4.01368480e-03 -2.22183656e-04 9.99991920e-01 1.43686079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.85 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.95, Y:-88.83, Z:1.44 [[ 7.54446602e-01 6.56356568e-01 -2.52581956e-03 7.59458680e+01] [-6.56351992e-01 7.54450805e-01 2.45886457e-03 -8.88312942e+01] [ 3.51949851e-03 -1.97255324e-04 9.99993787e-01 1.43787258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.88 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.97, Y:-88.85, Z:1.44 [[ 7.53924366e-01 6.56959124e-01 -1.66121948e-03 7.59693328e+01] [-6.56957144e-01 7.53926185e-01 1.61798269e-03 -8.88537791e+01] [ 2.31538535e-03 -1.28486573e-04 9.99997311e-01 1.43889132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.91 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.99, Y:-88.87, Z:1.44 [[ 7.52993375e-01 6.58026281e-01 -1.54636169e-03 7.59946435e+01] [-6.58024566e-01 7.52994953e-01 1.50687866e-03 -8.88737485e+01] [ 2.15596831e-03 -1.17125667e-04 9.99997669e-01 1.43932820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.94 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.02, Y:-88.90, Z:1.44 [[ 7.51863917e-01 6.59316999e-01 -1.32100601e-03 7.60158109e+01] [-6.59315748e-01 7.51865072e-01 1.28787877e-03 -8.88961478e+01] [ 1.84233865e-03 -9.73495134e-05 9.99998298e-01 1.43930558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.97 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.04, Y:-88.92, Z:1.44 [[ 7.50688979e-01 6.60654873e-01 -1.09344004e-03 7.60408039e+01] [-6.60654018e-01 7.50689771e-01 1.06610373e-03 -8.89154827e+01] [ 1.52516088e-03 -7.79267707e-05 9.99998834e-01 1.43926845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.0 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.07, Y:-88.93, Z:1.44 [[ 7.48359463e-01 6.63291834e-01 -1.43417947e-03 7.60666582e+01] [-6.63290367e-01 7.48360831e-01 1.39838095e-03 -8.89336720e+01] [ 2.00081840e-03 -9.52141904e-05 9.99997994e-01 1.43895902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.03 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.09, Y:-88.96, Z:1.44 [[ 7.47084328e-01 6.64727915e-01 -1.34379485e-03 7.60876731e+01] [-6.64726629e-01 7.47085532e-01 1.31029926e-03 -8.89551399e+01] [ 1.87492219e-03 -8.56478260e-05 9.99998239e-01 1.43860126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.06 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.11, Y:-88.97, Z:1.44 [[ 7.45678934e-01 6.66303320e-01 -1.67747396e-03 7.61130629e+01] [-6.66301318e-01 7.45680813e-01 1.63645115e-03 -8.89748688e+01] [ 2.34123298e-03 -1.02564041e-04 9.99997254e-01 1.43816873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.09 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.14, Y:-89.00, Z:1.44 [[ 7.44250465e-01 6.67897209e-01 -2.13601689e-03 7.61367534e+01] [-6.67893967e-01 7.44253520e-01 2.08472444e-03 -8.89951479e+01] [ 2.98211973e-03 -1.24924344e-04 9.99995546e-01 1.43715293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.12 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.16, Y:-89.01, Z:1.44 [[ 7.42135489e-01 6.70242828e-01 -3.07701487e-03 7.61642762e+01] [-6.70236119e-01 7.42141849e-01 3.00360583e-03 -8.90126996e+01] [ 4.29672677e-03 -1.66755980e-04 9.99990755e-01 1.43627049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.15 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.19, Y:-89.03, Z:1.44 [[ 7.41205316e-01 6.71271741e-01 -2.98813527e-03 7.61894557e+01] [-6.71265420e-01 7.41211323e-01 2.91736082e-03 -8.90337410e+01] [ 4.17318157e-03 -1.56531474e-04 9.99991280e-01 1.43651065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.18 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.21, Y:-89.06, Z:1.44 [[ 7.40285362e-01 6.72287651e-01 -2.62610065e-03 7.62139656e+01] [-6.72282774e-01 7.40290008e-01 2.56435144e-03 -8.90553323e+01] [ 3.66805787e-03 -1.32869604e-04 9.99993264e-01 1.43658555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.20999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.24, Y:-89.08, Z:1.44 [[ 7.39685040e-01 6.72948857e-01 -2.42456856e-03 7.62376517e+01] [-6.72944702e-01 7.39689004e-01 2.36772629e-03 -8.90761624e+01] [ 3.38678540e-03 -1.19771148e-04 9.99994258e-01 1.43693784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.23999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.26, Y:-89.10, Z:1.44 [[ 7.38945702e-01 6.73760560e-01 -2.44069305e-03 7.62588365e+01] [-6.73756355e-01 7.38949724e-01 2.38332664e-03 -8.90954427e+01] [ 3.40934095e-03 -1.16716525e-04 9.99994181e-01 1.43670505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.26999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.28, Y:-89.11, Z:1.44 [[ 7.38171818e-01 6.74609262e-01 -2.17014598e-03 7.62807235e+01] [-6.74605942e-01 7.38175002e-01 2.11884731e-03 -8.91142988e+01] [ 3.03134153e-03 -1.00079995e-04 9.99995400e-01 1.43633094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.29999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.30, Y:-89.13, Z:1.43 [[ 7.36440599e-01 6.76494069e-01 -3.31941599e-03 7.63037366e+01] [-6.76486322e-01 7.36448067e-01 3.24050409e-03 -8.91312899e+01] [ 4.63675929e-03 -1.40899261e-04 9.99989240e-01 1.43446696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.32999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.33, Y:-89.15, Z:1.43 [[ 7.35331864e-01 6.77695899e-01 -3.91385779e-03 7.63255490e+01] [-6.77685149e-01 7.35342263e-01 3.82029340e-03 -8.91503369e+01] [ 5.46702221e-03 -1.56820162e-04 9.99985043e-01 1.43334466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.35999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.35, Y:-89.17, Z:1.43 [[ 7.34006569e-01 6.79127609e-01 -4.47746073e-03 7.63474885e+01] [-6.79113570e-01 7.34020206e-01 4.36982930e-03 -8.91695127e+01] [ 6.25421837e-03 -1.66779069e-04 9.99980428e-01 1.43255881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.39 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.37, Y:-89.19, Z:1.43 [[ 7.31399755e-01 6.81933953e-01 -4.52583433e-03 7.63717047e+01] [-6.81919666e-01 7.31413743e-01 4.41642277e-03 -8.91863765e+01] [ 6.32196607e-03 -1.43915098e-04 9.99980006e-01 1.43256406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.42 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.39, Y:-89.20, Z:1.43 [[ 7.29949387e-01 6.83484937e-01 -4.71520299e-03 7.63923262e+01] [-6.83469468e-01 7.29964604e-01 4.60041560e-03 -8.92048437e+01] [ 6.58624605e-03 -1.35373268e-04 9.99978301e-01 1.43260608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.45 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.41, Y:-89.22, Z:1.43 [[ 7.28527433e-01 6.85002759e-01 -4.35872779e-03 7.64148979e+01] [-6.84989572e-01 7.28540464e-01 4.25201487e-03 -8.92233019e+01] [ 6.08815148e-03 -1.12026394e-04 9.99981461e-01 1.43298309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.48 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.43, Y:-89.24, Z:1.43 [[ 7.28600313e-01 6.84925238e-01 -4.35917937e-03 7.64346573e+01] [-6.84912052e-01 7.28613344e-01 4.25155191e-03 -8.92424558e+01] [ 6.08815146e-03 -1.12027562e-04 9.99981461e-01 1.43298400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.51 meters Centerline goodness [0,1] 0.9999585148309479 Centerline is valid? [True, True] Translation: X:76.46, Y:-89.26, Z:1.43 [[ 7.26851942e-01 6.86779850e-01 -4.43758130e-03 7.64558035e+01] [-6.86766223e-01 7.26865482e-01 4.32740718e-03 -8.92613592e+01] [ 6.19750072e-03 -9.78033686e-05 9.99980791e-01 1.43305478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.54 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.48, Y:-89.28, Z:1.43 [[ 7.25337008e-01 6.88381522e-01 -4.13585289e-03 7.64779293e+01] [-6.88369714e-01 7.25348795e-01 4.03260694e-03 -8.92805449e+01] [ 5.77590802e-03 -7.80031803e-05 9.99983316e-01 1.43308605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.50, Y:-89.30, Z:1.43 [[ 7.23884778e-01 6.89908034e-01 -4.21105159e-03 7.64994205e+01] [-6.89895822e-01 7.23897024e-01 4.10535116e-03 -8.92994532e+01] [ 5.88068246e-03 -6.66143191e-05 9.99982706e-01 1.43306897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.6 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.52, Y:-89.32, Z:1.43 [[ 7.21492006e-01 6.92412636e-01 -3.74516482e-03 7.65192024e+01] [-6.92403014e-01 7.21501725e-01 3.65052234e-03 -8.93189992e+01] [ 5.22981068e-03 -4.06592727e-05 9.99986324e-01 1.43253831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.63 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.54, Y:-89.34, Z:1.43 [[ 7.20766357e-01 6.93169920e-01 -3.36462708e-03 7.65411443e+01] [-6.93162164e-01 7.20774210e-01 3.27913544e-03 -8.93380659e+01] [ 4.69813448e-03 -3.12583146e-05 9.99988963e-01 1.43398868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.66 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.56, Y:-89.36, Z:1.43 [[ 7.20367626e-01 6.93584961e-01 -3.22259851e-03 7.65618309e+01] [-6.93577853e-01 7.20374834e-01 3.14026468e-03 -8.93579211e+01] [ 4.49951922e-03 -2.70220573e-05 9.99989877e-01 1.43434382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.69 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.58, Y:-89.38, Z:1.43 [[ 7.20860821e-01 6.93074870e-01 -2.62696050e-03 7.65809691e+01] [-6.93070146e-01 7.20865607e-01 2.55929570e-03 -8.93784687e+01] [ 3.66746901e-03 -2.42280978e-05 9.99993275e-01 1.43434524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.72 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.60, Y:-89.40, Z:1.43 [[ 7.21702588e-01 6.92197293e-01 -2.87766595e-03 7.65994265e+01] [-6.92191619e-01 7.21708325e-01 2.80288158e-03 -8.93989461e+01] [ 4.01698251e-03 -3.09506379e-05 9.99991931e-01 1.43422123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.62, Y:-89.42, Z:1.43 [[ 7.23043015e-01 6.90797478e-01 -2.76473188e-03 7.66180411e+01] [-6.90792233e-01 7.23048300e-01 2.69220561e-03 -8.94204865e+01] [ 3.85880353e-03 -3.67251510e-05 9.99992554e-01 1.43430946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.78 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.64, Y:-89.44, Z:1.43 [[ 7.24577297e-01 6.89188822e-01 -2.55107544e-03 7.66358120e+01] [-6.89184348e-01 7.24581787e-01 2.48371688e-03 -8.94422697e+01] [ 3.56021271e-03 -4.14836065e-05 9.99993662e-01 1.43439995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.81 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.65, Y:-89.47, Z:1.44 [[ 7.28472372e-01 6.85072587e-01 -1.88532704e-03 7.66526336e+01] [-6.85070130e-01 7.28474810e-01 1.83529287e-03 -8.94664750e+01] [ 2.63072209e-03 -4.53789104e-05 9.99996539e-01 1.43528301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.84 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.67, Y:-89.49, Z:1.44 [[ 7.30725040e-01 6.82669953e-01 -1.62831237e-03 7.66744584e+01] [-6.82668112e-01 7.30726853e-01 1.58588218e-03 -8.94902304e+01] [ 2.27248568e-03 -4.72468857e-05 9.99997417e-01 1.43566963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.87 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.70, Y:-89.51, Z:1.44 [[ 7.33193990e-01 6.80018122e-01 -1.38843183e-03 7.66959097e+01] [-6.80016778e-01 7.33195303e-01 1.35245746e-03 -8.95142807e+01] [ 1.93768728e-03 -4.74567459e-05 9.99998122e-01 1.43583457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.9 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.72, Y:-89.54, Z:1.44 [[ 7.35885817e-01 6.77104418e-01 -1.29274291e-03 7.67159097e+01] [-6.77103248e-01 7.35886951e-01 1.25954809e-03 -8.95386333e+01] [ 1.80415821e-03 -5.15631540e-05 9.99998371e-01 1.43580623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.93 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.74, Y:-89.56, Z:1.44 [[ 7.38526457e-01 6.74223521e-01 -1.14716493e-03 7.67368518e+01] [-6.74222596e-01 7.38527346e-01 1.11779269e-03 -8.95619841e+01] [ 1.60085480e-03 -5.20749584e-05 9.99998717e-01 1.43597653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.95999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.76, Y:-89.59, Z:1.44 [[ 7.41096266e-01 6.71398052e-01 -9.90028092e-04 7.67564845e+01] [-6.71397360e-01 7.41096926e-01 9.64714553e-04 -8.95856944e+01] [ 1.38141425e-03 -5.02441053e-05 9.99999045e-01 1.43603295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.98999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.77, Y:-89.61, Z:1.44 [[ 7.46202003e-01 6.65719450e-01 -4.28927337e-04 7.67736284e+01] [-6.65719320e-01 7.46202126e-01 4.17971452e-04 -8.96100439e+01] [ 5.98318216e-04 -2.63459195e-05 9.99999821e-01 1.43634718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.01999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.80, Y:-89.63, Z:1.44 [[ 7.48366535e-01 6.63284699e-01 -9.68542507e-04 7.67961791e+01] [-6.63284030e-01 7.48367159e-01 9.43871300e-04 -8.96315669e+01] [ 1.35088079e-03 -6.39429161e-05 9.99999086e-01 1.43624031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.04999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.82, Y:-89.65, Z:1.44 [[ 7.50239654e-01 6.61165008e-01 -1.13720109e-03 7.68161675e+01] [-6.61164084e-01 7.50240512e-01 1.10842414e-03 -8.96534892e+01] [ 1.58602558e-03 -7.97072315e-05 9.99998739e-01 1.43574750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.07999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.84, Y:-89.68, Z:1.44 [[ 7.51756803e-01 6.59439035e-01 -1.36679672e-03 7.68387200e+01] [-6.59437696e-01 7.51758039e-01 1.33230823e-03 -8.96753928e+01] [ 1.90607647e-03 -1.00254498e-04 9.99998178e-01 1.43501661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.10999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.86, Y:-89.70, Z:1.43 [[ 7.53109367e-01 6.57891914e-01 -2.12391573e-03 7.68614475e+01] [-6.57888673e-01 7.53112345e-01 2.07126438e-03 -8.96965254e+01] [ 2.96221524e-03 -1.62588508e-04 9.99995599e-01 1.43474362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.14 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.89, Y:-89.72, Z:1.43 [[ 7.53003541e-01 6.58012277e-01 -2.34743090e-03 7.68858250e+01] [-6.58008315e-01 7.53007178e-01 2.29052178e-03 -8.97186878e+01] [ 3.27482377e-03 -1.80141959e-04 9.99994622e-01 1.43466125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.17 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.91, Y:-89.74, Z:1.43 [[ 7.52617448e-01 6.58454308e-01 -2.21398712e-03 7.69091480e+01] [-6.58450784e-01 7.52620685e-01 2.16092122e-03 -8.97388611e+01] [ 3.08916039e-03 -1.68545461e-04 9.99995214e-01 1.43497033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.2 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.93, Y:-89.76, Z:1.44 [[ 7.51874175e-01 6.59303595e-01 -1.99879124e-03 7.69336344e+01] [-6.59300723e-01 7.51876817e-01 1.95181869e-03 -8.97594930e+01] [ 2.78968587e-03 -1.49717554e-04 9.99996098e-01 1.43527925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.23 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.96, Y:-89.78, Z:1.44 [[ 7.51036302e-01 6.60258265e-01 -1.87014464e-03 7.69596371e+01] [-6.60255751e-01 7.51038618e-01 1.82708253e-03 -8.97785684e+01] [ 2.61089719e-03 -1.37431548e-04 9.99996582e-01 1.43543288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.26 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.99, Y:-89.80, Z:1.44 [[ 7.50126677e-01 6.61291349e-01 -1.92880148e-03 7.69863736e+01] [-6.61288676e-01 7.50129144e-01 1.88532165e-03 -8.97971721e+01] [ 2.69359710e-03 -1.38735486e-04 9.99996363e-01 1.43568782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.29 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.01, Y:-89.81, Z:1.44 [[ 7.48503271e-01 6.63127808e-01 -2.08888240e-03 7.70137932e+01] [-6.63124680e-01 7.48506172e-01 2.04187978e-03 -8.98134489e+01] [ 2.91756864e-03 -1.43164219e-04 9.99995734e-01 1.43535156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.32 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.04, Y:-89.83, Z:1.44 [[ 7.47664924e-01 6.64073213e-01 -1.98193486e-03 7.70407144e+01] [-6.64070398e-01 7.47667539e-01 1.93830048e-03 -8.98315449e+01] [ 2.76900179e-03 -1.33055010e-04 9.99996157e-01 1.43574871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.35 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.07, Y:-89.85, Z:1.44 [[ 7.47127959e-01 6.64678925e-01 -1.31901706e-03 7.70651464e+01] [-6.64677679e-01 7.47129118e-01 1.28989478e-03 -8.98495321e+01] [ 1.84284193e-03 -8.69952555e-05 9.99998298e-01 1.43595915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.38 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.09, Y:-89.87, Z:1.44 [[ 7.46674933e-01 6.65188392e-01 -9.73440374e-04 7.70877035e+01] [-6.65187714e-01 7.46675565e-01 9.51782539e-04 -8.98668288e+01] [ 1.35995884e-03 -6.31515864e-05 9.99999073e-01 1.43638337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.41 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.11, Y:-89.89, Z:1.44 [[ 7.46389941e-01 6.65508286e-01 -8.81842219e-04 7.71067778e+01] [-6.65507730e-01 7.46390459e-01 8.62072233e-04 -8.98870394e+01] [ 1.23191483e-03 -5.65692297e-05 9.99999240e-01 1.43653892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.44 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.13, Y:-89.90, Z:1.44 [[ 7.46223004e-01 6.65695590e-01 -7.80918366e-04 7.71338983e+01] [-6.65695154e-01 7.46223411e-01 7.63302979e-04 -8.98999739e+01] [ 1.09086699e-03 -4.97406699e-05 9.99999404e-01 1.43659406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.47 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.16, Y:-89.91, Z:1.44 [[ 7.46334908e-01 6.65569654e-01 -1.11357489e-03 7.71599317e+01] [-6.65568768e-01 7.46335736e-01 1.08830148e-03 -8.99141926e+01] [ 1.55544117e-03 -7.10767180e-05 9.99998788e-01 1.43595450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.18, Y:-89.93, Z:1.44 [[ 7.46574556e-01 6.65300380e-01 -1.35560038e-03 7.71821690e+01] [-6.65299067e-01 7.46575781e-01 1.32460348e-03 -8.99317982e+01] [ 1.89331761e-03 -8.70355883e-05 9.99998204e-01 1.43556172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.53 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.21, Y:-89.95, Z:1.44 [[ 7.46979769e-01 6.64845513e-01 -1.29220802e-03 7.72071832e+01] [-6.64844319e-01 7.46980882e-01 1.26244331e-03 -8.99456709e+01] [ 1.80458445e-03 -8.39024468e-05 9.99998368e-01 1.43541275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.23, Y:-89.96, Z:1.44 [[ 7.46908027e-01 6.64926097e-01 -1.29779926e-03 7.72298377e+01] [-6.64924894e-01 7.46909150e-01 1.26769050e-03 -8.99628890e+01] [ 1.81225864e-03 -8.39091735e-05 9.99998354e-01 1.43518062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.59 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.25, Y:-89.98, Z:1.44 [[ 7.47102083e-01 6.64707254e-01 -1.65680802e-03 7.72527504e+01] [-6.64705294e-01 7.47103912e-01 1.61750303e-03 -8.99793773e+01] [ 2.31297376e-03 -1.07150819e-04 9.99997319e-01 1.43522018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.62 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.28, Y:-89.99, Z:1.43 [[ 7.47151657e-01 6.64651632e-01 -1.61518305e-03 7.72763132e+01] [-6.64649772e-01 7.47153396e-01 1.57600570e-03 -8.99947829e+01] [ 2.25428426e-03 -1.03984222e-04 9.99997454e-01 1.43491245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.65 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.30, Y:-90.01, Z:1.43 [[ 7.47039349e-01 6.64776776e-01 -2.01227047e-03 7.72997287e+01] [-6.64773892e-01 7.47042048e-01 1.96251945e-03 -9.00114293e+01] [ 2.80788800e-03 -1.28374378e-04 9.99996050e-01 1.43466051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.68 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.32, Y:-90.03, Z:1.43 [[ 7.46610042e-01 6.65257465e-01 -2.43921454e-03 7.73249809e+01] [-6.65253231e-01 7.46614011e-01 2.37849622e-03 -9.00258252e+01] [ 3.40346411e-03 -1.53113811e-04 9.99994196e-01 1.43403862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.70999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.35, Y:-90.04, Z:1.43 [[ 7.46258171e-01 6.65651137e-01 -2.70290569e-03 7.73478122e+01] [-6.65645942e-01 7.46263047e-01 2.63518635e-03 -9.00422939e+01] [ 3.77119342e-03 -1.67351142e-04 9.99992875e-01 1.43327190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.73999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.38, Y:-90.06, Z:1.43 [[ 7.46036199e-01 6.65898760e-01 -2.97161889e-03 7.73755897e+01] [-6.65892489e-01 7.46042095e-01 2.89573558e-03 -9.00553307e+01] [ 4.14521951e-03 -1.81544865e-04 9.99991392e-01 1.43347213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.76999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.39, Y:-90.08, Z:1.43 [[ 7.45696180e-01 6.66279484e-01 -2.97577855e-03 7.73939785e+01] [-6.66273201e-01 7.45702096e-01 2.89927208e-03 -9.00758949e+01] [ 4.15076981e-03 -1.79294618e-04 9.99991369e-01 1.43271844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.79999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.42, Y:-90.09, Z:1.43 [[ 7.45528943e-01 6.66467065e-01 -2.87156927e-03 7.74167185e+01] [-6.66461220e-01 7.45534454e-01 2.79656213e-03 -9.00939274e+01] [ 4.00467038e-03 -1.71128454e-04 9.99991967e-01 1.43279181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.82999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.45, Y:-90.10, Z:1.43 [[ 7.44922771e-01 6.67147672e-01 -2.01224089e-03 7.74472672e+01] [-6.67144807e-01 7.44925480e-01 1.95870997e-03 -9.01036212e+01] [ 2.80571830e-03 -1.16631602e-04 9.99996057e-01 1.43411661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.85999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.47, Y:-90.12, Z:1.43 [[ 7.44412721e-01 6.67717203e-01 -1.85421517e-03 7.74704187e+01] [-6.67714774e-01 7.44415022e-01 1.80399921e-03 -9.01206684e+01] [ 2.58486694e-03 -1.04833096e-04 9.99996654e-01 1.43422550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.49, Y:-90.14, Z:1.43 [[ 7.43837567e-01 6.68358712e-01 -1.51868016e-03 7.74944992e+01] [-6.68357086e-01 7.43839112e-01 1.47681982e-03 -9.01375834e+01] [ 2.11669909e-03 -8.34934164e-05 9.99997756e-01 1.43438508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.92 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.52, Y:-90.16, Z:1.43 [[ 7.43086313e-01 6.69193408e-01 -1.70684451e-03 7.75179450e+01] [-6.69191358e-01 7.43088268e-01 1.65897631e-03 -9.01553705e+01] [ 2.37851214e-03 -9.05569969e-05 9.99997167e-01 1.43430324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.95 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.54, Y:-90.17, Z:1.43 [[ 7.42158403e-01 6.70220983e-01 -2.17694145e-03 7.75410112e+01] [-6.70217655e-01 7.42161587e-01 2.11484644e-03 -9.01732729e+01] [ 3.03305678e-03 -1.10526460e-04 9.99995394e-01 1.43394904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.98 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.57, Y:-90.19, Z:1.43 [[ 7.40466709e-01 6.72090117e-01 -1.98169171e-03 7.75669997e+01] [-6.72087367e-01 7.40469355e-01 1.92488542e-03 -9.01874082e+01] [ 2.76107845e-03 -9.34436077e-05 9.99996184e-01 1.43363635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.01 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.59, Y:-90.20, Z:1.43 [[ 7.40115716e-01 6.72477466e-01 -1.66853870e-03 7.75901410e+01] [-6.72475520e-01 7.40117593e-01 1.61990848e-03 -9.02049030e+01] [ 2.32426679e-03 -7.68682962e-05 9.99997296e-01 1.43410564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.04 meters Centerline goodness [0,1] 0.9999377231586813 Centerline is valid? [True, True] Translation: X:77.61, Y:-90.22, Z:1.43 [[ 7.40220909e-01 6.72362837e-01 -1.10552046e-03 7.76112912e+01] [-6.72361983e-01 7.40221733e-01 1.07269803e-03 -9.02227616e+01] [ 1.53957256e-03 -5.07235838e-05 9.99998814e-01 1.43459598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.63, Y:-90.24, Z:1.44 [[ 7.40372146e-01 6.72197017e-01 -5.05499789e-04 7.76295354e+01] [-6.72196839e-01 7.40372318e-01 4.90305601e-04 -9.02423086e+01] [ 7.03840013e-04 -2.32132497e-05 9.99999752e-01 1.43529612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.1 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.65, Y:-90.26, Z:1.44 [[ 7.40891621e-01 6.71624505e-01 3.59489161e-04 7.76541265e+01] [-6.71624415e-01 7.40891708e-01 -3.48494528e-04 -9.02590192e+01] [-5.00400004e-04 1.67549787e-05 9.99999875e-01 1.43623738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.13 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.68, Y:-90.28, Z:1.44 [[ 7.42150222e-01 6.70232386e-01 1.26389783e-03 7.76785488e+01] [-6.70231270e-01 7.42151295e-01 -1.22464984e-03 -9.02750431e+01] [-1.75880340e-03 6.17703035e-05 9.99998451e-01 1.43656588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.16 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.70, Y:-90.29, Z:1.44 [[ 7.42520069e-01 6.69823397e-01 7.51365954e-04 7.77004613e+01] [-6.69823003e-01 7.42520448e-01 -7.27662467e-04 -9.02941486e+01] [-1.04530993e-03 3.70217857e-05 9.99999453e-01 1.43598974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.19 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.72, Y:-90.31, Z:1.43 [[ 7.42318321e-01 6.70047374e-01 1.64034398e-04 7.77208953e+01] [-6.70047355e-01 7.42318339e-01 -1.58829712e-04 -9.03135867e+01] [-2.28189174e-04 7.99139063e-06 9.99999974e-01 1.43493194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.22 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.74, Y:-90.33, Z:1.43 [[ 7.41274862e-01 6.71200696e-01 -1.09748770e-03 7.77440128e+01] [-6.71199857e-01 7.41275673e-01 1.06218341e-03 -9.03305765e+01] [ 1.52647918e-03 -5.07362797e-05 9.99998834e-01 1.43277804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.25 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.77, Y:-90.35, Z:1.43 [[ 7.40628847e-01 6.71912800e-01 -1.44939305e-03 7.77662256e+01] [-6.71911340e-01 7.40630262e-01 1.40207160e-03 -9.03489065e+01] [ 2.01553420e-03 -6.45510455e-05 9.99997967e-01 1.43245627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.28 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.79, Y:-90.37, Z:1.43 [[ 7.39724393e-01 6.72907928e-01 -1.65624901e-03 7.77881633e+01] [-6.72906026e-01 7.39726244e-01 1.60137948e-03 -9.03680745e+01] [ 2.30275181e-03 -7.00795245e-05 9.99997346e-01 1.43206310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.31 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.81, Y:-90.39, Z:1.43 [[ 7.38518863e-01 6.74230513e-01 -1.76180755e-03 7.78087024e+01] [-6.74228366e-01 7.38520961e-01 1.70313461e-03 -9.03862970e+01] [ 2.44943713e-03 -6.99364093e-05 9.99996998e-01 1.43217072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.34 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.83, Y:-90.41, Z:1.43 [[ 7.37326680e-01 6.75534255e-01 -1.68454011e-03 7.78287103e+01] [-6.75532296e-01 7.37328601e-01 1.62815905e-03 -9.04051344e+01] [ 2.34193682e-03 -6.25238623e-05 9.99997256e-01 1.43183396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.37 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.85, Y:-90.42, Z:1.43 [[ 7.34080804e-01 6.79059876e-01 -1.74866710e-03 7.78531780e+01] [-6.79057775e-01 7.34082885e-01 1.69001992e-03 -9.04223420e+01] [ 2.43129130e-03 -5.31651886e-05 9.99997043e-01 1.43195450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.4 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.87, Y:-90.44, Z:1.43 [[ 7.34270267e-01 6.78855003e-01 -1.74913305e-03 7.78730059e+01] [-6.78852903e-01 7.34272349e-01 1.68953767e-03 -9.04413978e+01] [ 2.43129113e-03 -5.31732296e-05 9.99997043e-01 1.43195541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.43 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.90, Y:-90.46, Z:1.43 [[ 7.32564789e-01 6.80695554e-01 -1.54653522e-03 7.78953003e+01] [-6.80693918e-01 7.32566421e-01 1.49310211e-03 -9.04599650e+01] [ 2.14928774e-03 -4.10769142e-05 9.99997689e-01 1.43215700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.45999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.92, Y:-90.48, Z:1.43 [[ 7.30657770e-01 6.82742300e-01 -1.47521871e-03 7.79175332e+01] [-6.82740816e-01 7.30659258e-01 1.42359314e-03 -9.04790958e+01] [ 2.04982946e-03 -3.29673636e-05 9.99997899e-01 1.43224491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.48999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.94, Y:-90.50, Z:1.43 [[ 7.28167819e-01 6.85397743e-01 -1.24922820e-03 7.79387704e+01] [-6.85396684e-01 7.28168891e-01 1.20529423e-03 -9.04972113e+01] [ 1.73575506e-03 -2.14396036e-05 9.99998493e-01 1.43228231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.51999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.96, Y:-90.52, Z:1.43 [[ 7.25453931e-01 6.88269763e-01 -1.15213969e-03 7.79611282e+01] [-6.88268866e-01 7.25454846e-01 1.11108827e-03 -9.05160901e+01] [ 1.60055379e-03 -1.30614771e-05 9.99998719e-01 1.43202735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.54999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.98, Y:-90.53, Z:1.43 [[ 7.22650481e-01 6.91211854e-01 -1.56683539e-03 7.79830824e+01] [-6.91210204e-01 7.22652180e-01 1.51024735e-03 -9.05346327e+01] [ 2.17617788e-03 -8.36836764e-06 9.99997632e-01 1.43181160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.57999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.00, Y:-90.55, Z:1.43 [[ 7.16568846e-01 6.97514054e-01 -1.79824656e-03 7.80042667e+01] [-6.97511901e-01 7.16571103e-01 1.73298433e-03 -9.05522241e+01] [ 2.49735244e-03 1.24957987e-05 9.99996882e-01 1.43050931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.60999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.02, Y:-90.57, Z:1.43 [[ 7.13905122e-01 7.00241015e-01 -1.41323744e-03 7.80247206e+01] [-7.00239692e-01 7.13906521e-01 1.36127012e-03 -9.05722900e+01] [ 1.96213660e-03 1.77872393e-05 9.99998075e-01 1.43099359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.64 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.04, Y:-90.59, Z:1.43 [[ 7.11314431e-01 7.02872768e-01 -1.28532855e-03 7.80446955e+01] [-7.02871678e-01 7.11315592e-01 1.23779366e-03 -9.05909397e+01] [ 1.78428570e-03 2.29605388e-05 9.99998408e-01 1.43128593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.67 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.06, Y:-90.61, Z:1.43 [[ 7.09031633e-01 7.05176263e-01 -7.62903908e-04 7.80648883e+01] [-7.05175881e-01 7.09032043e-01 7.34561527e-04 -9.06101801e+01] [ 1.05891867e-03 1.71540768e-05 9.99999439e-01 1.43196772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.7 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.08, Y:-90.63, Z:1.43 [[ 7.07414702e-01 7.06798725e-01 2.77368545e-05 7.80837632e+01] [-7.06798725e-01 7.07414703e-01 -2.66974281e-05 -9.06313394e+01] [-3.84911669e-05 -7.18220232e-07 9.99999999e-01 1.43286600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.73 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.10, Y:-90.65, Z:1.43 [[ 7.06245246e-01 7.07966643e-01 9.41085386e-04 7.81023640e+01] [-7.07966064e-01 7.06245872e-01 -9.05789264e-04 -9.06527946e+01] [-1.30590625e-03 -2.65471546e-05 9.99999147e-01 1.43358106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.76 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.12, Y:-90.68, Z:1.44 [[ 7.06291052e-01 7.07917945e-01 2.26571768e-03 7.81185968e+01] [-7.07914590e-01 7.06294683e-01 -2.18035552e-03 -9.06765705e+01] [-3.14377715e-03 -6.39690098e-05 9.99995056e-01 1.43515210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.79 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.14, Y:-90.70, Z:1.44 [[ 7.07164809e-01 7.07045587e-01 2.11444627e-03 7.81351648e+01] [-7.07042664e-01 7.07167968e-01 -2.03376604e-03 -9.07009490e+01] [-2.93323397e-03 -5.67959544e-05 9.99995696e-01 1.43513545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.82 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.15, Y:-90.72, Z:1.43 [[ 7.08139826e-01 7.06069459e-01 1.97641950e-03 7.81515846e+01] [-7.06066902e-01 7.08142582e-01 -1.90067844e-03 -9.07236467e+01] [-2.74159781e-03 -4.95382950e-05 9.99996241e-01 1.43467521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.85 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.17, Y:-90.75, Z:1.43 [[ 7.09341462e-01 7.04863417e-01 1.50147167e-03 7.81682126e+01] [-7.04861940e-01 7.09343050e-01 -1.44322055e-03 -9.07481743e+01] [-2.08233186e-03 -3.45940584e-05 9.99997831e-01 1.43383512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.88 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.18, Y:-90.77, Z:1.43 [[ 7.10487135e-01 7.03709718e-01 8.14894506e-04 7.81847204e+01] [-7.03709283e-01 7.10487602e-01 -7.82890104e-04 -9.07730509e+01] [-1.12989982e-03 -1.72154818e-05 9.99999362e-01 1.43273450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.91 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.20, Y:-90.80, Z:1.43 [[ 7.12932518e-01 7.01231923e-01 -1.00762430e-03 7.81964358e+01] [-7.01231255e-01 7.12933230e-01 9.67900291e-04 -9.08010910e+01] [ 1.39709143e-03 1.65300603e-05 9.99999024e-01 1.42972129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.94 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.21, Y:-90.83, Z:1.43 [[ 7.14307341e-01 6.99830100e-01 -1.68924052e-03 7.82128318e+01] [-6.99828221e-01 7.14309338e-01 1.62187188e-03 -9.08257758e+01] [ 2.34167504e-03 2.36632019e-05 9.99997258e-01 1.42859654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.97 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.23, Y:-90.85, Z:1.43 [[ 7.15850960e-01 6.98248119e-01 -2.63948949e-03 7.82285829e+01] [-6.98243525e-01 7.15855826e-01 2.53300619e-03 -9.08504305e+01] [ 3.65816074e-03 2.97515314e-05 9.99993308e-01 1.42767911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.0 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.24, Y:-90.87, Z:1.43 [[ 7.17052323e-01 6.97013011e-01 -2.97131663e-03 7.82443465e+01] [-6.97007181e-01 7.17058478e-01 2.85095569e-03 -9.08747534e+01] [ 4.11776099e-03 2.67446251e-05 9.99991522e-01 1.42733078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.03 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.26, Y:-90.90, Z:1.43 [[ 7.19268550e-01 6.94727262e-01 -2.60470206e-03 7.82553352e+01] [-6.94722771e-01 7.19273266e-01 2.49798511e-03 -9.09043874e+01] [ 3.60891092e-03 1.28237065e-05 9.99993488e-01 1.42859135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.06 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.27, Y:-90.93, Z:1.43 [[ 7.20140087e-01 6.93823030e-01 -2.80333822e-03 7.82710976e+01] [-6.93817827e-01 7.20145543e-01 2.68693114e-03 -9.09280315e+01] [ 3.88306622e-03 1.00392070e-05 9.99992461e-01 1.42940122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.09 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.29, Y:-90.95, Z:1.43 [[ 7.20953902e-01 6.92978611e-01 -2.47299594e-03 7.82872305e+01] [-6.92974562e-01 7.20958143e-01 2.36893276e-03 -9.09513490e+01] [ 3.42454630e-03 5.83196367e-06 9.99994136e-01 1.42966657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.12 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.30, Y:-90.97, Z:1.43 [[ 7.21785536e-01 6.92113171e-01 -2.23604930e-03 7.83039563e+01] [-6.92109860e-01 7.21788999e-01 2.14071208e-03 -9.09741478e+01] [ 3.09557081e-03 2.45675106e-06 9.99995209e-01 1.43004741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.15 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.32, Y:-91.00, Z:1.43 [[ 7.22535711e-01 6.91332256e-01 -1.36290043e-03 7.83171859e+01] [-6.91331025e-01 7.22536997e-01 1.30446013e-03 -9.09987048e+01] [ 1.88656135e-03 -3.03677065e-07 9.99998220e-01 1.43029640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.18 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.33, Y:-91.02, Z:1.43 [[ 7.22851335e-01 6.91002264e-01 -1.34870317e-03 7.83349674e+01] [-6.91001059e-01 7.22852593e-01 1.29014667e-03 -9.10213273e+01] [ 1.86640785e-03 -6.28928048e-07 9.99998258e-01 1.43083978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.20999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.35, Y:-91.04, Z:1.43 [[ 7.22956449e-01 6.90892113e-01 -1.43581191e-03 7.83523496e+01] [-6.90890749e-01 7.22957874e-01 1.37269950e-03 -9.10436272e+01] [ 1.98641878e-03 -4.12791866e-07 9.99998027e-01 1.43080550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.23999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.37, Y:-91.06, Z:1.43 [[ 7.23104540e-01 6.90736777e-01 -1.59011472e-03 7.83686789e+01] [-6.90735105e-01 7.23106288e-01 1.51984041e-03 -9.10649942e+01] [ 2.19963162e-03 -6.55441601e-07 9.99997581e-01 1.42995506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.26999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.39, Y:-91.09, Z:1.43 [[ 7.23098875e-01 6.90741367e-01 -2.09311740e-03 7.83863665e+01] [-6.90738473e-01 7.23101905e-01 1.99950701e-03 -9.10875486e+01] [ 2.89467938e-03 -4.45562935e-08 9.99995810e-01 1.43050589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.29999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.40, Y:-91.11, Z:1.43 [[ 7.23097490e-01 6.90743086e-01 -2.00222615e-03 7.84037451e+01] [-6.90740439e-01 7.23100262e-01 1.91221367e-03 -9.11091251e+01] [ 2.76865862e-03 3.01667111e-07 9.99996167e-01 1.43028313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.32999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.42, Y:-91.13, Z:1.43 [[ 7.22787639e-01 6.91069132e-01 -1.21852939e-03 7.84199278e+01] [-6.91068152e-01 7.22788666e-01 1.16350034e-03 -9.11328310e+01] [ 1.68479840e-03 1.12318952e-06 9.99998581e-01 1.43283780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.35999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.44, Y:-91.15, Z:1.43 [[ 7.22759119e-01 6.91099902e-01 -4.26485247e-04 7.84382501e+01] [-6.91099782e-01 7.22759245e-01 4.07139728e-04 -9.11536058e+01] [ 5.89620381e-04 4.79909652e-07 9.99999826e-01 1.43351721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.39 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.46, Y:-91.17, Z:1.43 [[ 7.22896836e-01 6.90955964e-01 -1.41132543e-04 7.84566579e+01] [-6.90955951e-01 7.22896850e-01 1.34704561e-04 -9.11745332e+01] [ 1.95099191e-04 1.38869452e-07 9.99999981e-01 1.43420967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.42 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.47, Y:-91.20, Z:1.43 [[ 7.23364959e-01 6.90465816e-01 3.04552800e-04 7.84747165e+01] [-6.90465755e-01 7.23365023e-01 -2.90591553e-04 -9.11954358e+01] [-4.20946377e-04 -7.95323593e-08 9.99999911e-01 1.43441899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.45 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.49, Y:-91.22, Z:1.43 [[ 7.24854227e-01 6.88902271e-01 -1.02973967e-04 7.84910570e+01] [-6.88902264e-01 7.24854234e-01 9.82443765e-05 -9.12205022e+01] [ 1.42321890e-04 -2.73852691e-07 9.99999990e-01 1.43441848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.48 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.51, Y:-91.24, Z:1.43 [[ 7.24904429e-01 6.88849445e-01 -1.02981127e-04 7.85116027e+01] [-6.88849438e-01 7.24904436e-01 9.82368710e-05 -9.12400255e+01] [ 1.42321890e-04 -2.73851414e-07 9.99999990e-01 1.43441941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.51 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.53, Y:-91.27, Z:1.43 [[ 7.27274695e-01 6.86346190e-01 -6.52002233e-04 7.85271981e+01] [-6.86345908e-01 7.27274988e-01 6.21878978e-04 -9.12657765e+01] [ 9.01009183e-04 -4.77778006e-06 9.99999594e-01 1.43327593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.54 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.55, Y:-91.29, Z:1.43 [[ 7.28628917e-01 6.84907578e-01 -1.22910168e-03 7.85460235e+01] [-6.84906575e-01 7.28629954e-01 1.17222828e-03 -9.12887538e+01] [ 1.69842834e-03 -1.22996023e-05 9.99998558e-01 1.43303361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.56, Y:-91.31, Z:1.43 [[ 7.30114046e-01 6.83323341e-01 -1.64059289e-03 7.85643686e+01] [-6.83321550e-01 7.30115889e-01 1.56451128e-03 -9.13111897e+01] [ 2.26689001e-03 -2.12191900e-05 9.99997430e-01 1.43250413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.6 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.58, Y:-91.33, Z:1.43 [[ 7.31524824e-01 6.81810700e-01 -2.36674342e-03 7.85828314e+01] [-6.81806966e-01 7.31528652e-01 2.25658876e-03 -9.13329048e+01] [ 3.26990699e-03 -3.70885458e-05 9.99994653e-01 1.43218692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.63 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.60, Y:-91.36, Z:1.43 [[ 7.34207647e-01 6.78919598e-01 -2.70384450e-03 7.85999327e+01] [-6.78914706e-01 7.34212624e-01 2.57781576e-03 -9.13576176e+01] [ 3.73532640e-03 -5.69722460e-05 9.99993022e-01 1.43234580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.66 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.62, Y:-91.38, Z:1.43 [[ 7.35501437e-01 6.77518600e-01 -2.48637250e-03 7.86193755e+01] [-6.77514456e-01 7.35505638e-01 2.37031423e-03 -9.13801218e+01] [ 3.43467298e-03 -5.88162101e-05 9.99994100e-01 1.43304225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.69 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.64, Y:-91.40, Z:1.43 [[ 7.36313506e-01 6.76637739e-01 -1.94678436e-03 7.86408207e+01] [-6.76635194e-01 7.36316078e-01 1.85681860e-03 -9.14039029e+01] [ 2.68984216e-03 -4.99377969e-05 9.99996381e-01 1.43415019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.72 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.66, Y:-91.43, Z:1.43 [[ 7.37395482e-01 6.75459574e-01 -1.50585457e-03 7.86626992e+01] [-6.75458046e-01 7.37397018e-01 1.43697933e-03 -9.14274368e+01] [ 2.08103412e-03 -4.24804839e-05 9.99997834e-01 1.43470011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.68, Y:-91.45, Z:1.43 [[ 7.38591830e-01 6.74151319e-01 -1.45226223e-03 7.86835051e+01] [-6.74149894e-01 7.38593256e-01 1.38647568e-03 -9.14509381e+01] [ 2.00732550e-03 -4.49971776e-05 9.99997984e-01 1.43482610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.78 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.70, Y:-91.47, Z:1.43 [[ 7.42098531e-01 6.70288540e-01 -1.74457035e-03 7.87019651e+01] [-6.70286474e-01 7.42100579e-01 1.66555497e-03 -9.14747524e+01] [ 2.41104907e-03 -6.66439885e-05 9.99997091e-01 1.43428800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.81 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.72, Y:-91.50, Z:1.43 [[ 7.44032582e-01 6.68139934e-01 -2.13197990e-03 7.87237816e+01] [-6.68136839e-01 7.44035631e-01 2.03569950e-03 -9.14981491e+01] [ 2.94640114e-03 -9.01724443e-05 9.99995655e-01 1.43355213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.84 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.75, Y:-91.52, Z:1.43 [[ 7.46105773e-01 6.65823453e-01 -2.30311426e-03 7.87457057e+01] [-6.65819829e-01 7.46109320e-01 2.19941217e-03 -9.15219289e+01] [ 3.18279522e-03 -1.07534970e-04 9.99994929e-01 1.43286333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.87 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.77, Y:-91.54, Z:1.43 [[ 7.48171463e-01 6.63498381e-01 -3.05950786e-03 7.87693804e+01] [-6.63491964e-01 7.48177703e-01 2.92216954e-03 -9.15437541e+01] [ 4.22791032e-03 -1.56324982e-04 9.99991050e-01 1.43257288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.9 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.79, Y:-91.57, Z:1.43 [[ 7.50259563e-01 6.61135085e-01 -3.31474491e-03 7.87882459e+01] [-6.61127528e-01 7.50266863e-01 3.16651591e-03 -9.15670312e+01] [ 4.58043803e-03 -1.84239735e-04 9.99989493e-01 1.43173917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.93 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.81, Y:-91.59, Z:1.43 [[ 7.52074512e-01 6.59065698e-01 -4.04147575e-03 7.88111269e+01] [-6.59054432e-01 7.52085333e-01 3.86102828e-03 -9.15886943e+01] [ 5.58420594e-03 -2.40228453e-04 9.99984379e-01 1.43155622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.95999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.83, Y:-91.61, Z:1.43 [[ 7.55120893e-01 6.55566490e-01 -5.00149998e-03 7.88311581e+01] [-6.55549158e-01 7.55137384e-01 4.77835774e-03 -9.16117326e+01] [ 6.90935082e-03 -3.29508668e-04 9.99976076e-01 1.43112362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.98999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.85, Y:-91.63, Z:1.43 [[ 7.56176710e-01 6.54345724e-01 -5.33446934e-03 7.88540877e+01] [-6.54325960e-01 7.56195438e-01 5.09876420e-03 -9.16334723e+01] [ 7.37025593e-03 -3.65084964e-04 9.99972773e-01 1.43087959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.01999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.88, Y:-91.65, Z:1.43 [[ 7.56805885e-01 6.53619588e-01 -5.12696299e-03 7.88793384e+01] [-6.53601298e-01 7.56823166e-01 4.90286582e-03 -9.16533837e+01] [ 7.08481350e-03 -3.59528038e-04 9.99974838e-01 1.43183956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.04999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.90, Y:-91.67, Z:1.43 [[ 7.57334326e-01 6.53005945e-01 -5.28728879e-03 7.89036797e+01] [-6.52986461e-01 7.57352687e-01 5.05854909e-03 -9.16736262e+01] [ 7.30760500e-03 -3.78484874e-04 9.99973227e-01 1.43228854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.07999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.92, Y:-91.70, Z:1.43 [[ 7.57756508e-01 6.52521192e-01 -4.60090625e-03 7.89242246e+01] [-6.52506417e-01 7.57770402e-01 4.40390235e-03 -9.16966254e+01] [ 6.36007019e-03 -3.34964816e-04 9.99979718e-01 1.43243665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.10999999999999 meters Centerline goodness [0,1] 0.9999167810926642 Centerline is valid? [True, True] Translation: X:78.95, Y:-91.71, Z:1.43 [[ 7.58311584e-01 6.51876639e-01 -4.51552286e-03 7.89524780e+01] [-6.51862382e-01 7.58324954e-01 4.32434214e-03 -9.17133745e+01] [ 6.24317128e-03 -3.35699252e-04 9.99980455e-01 1.43272423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.14 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.98, Y:-91.73, Z:1.43 [[ 7.58418912e-01 6.51750544e-01 -4.68856805e-03 7.89775051e+01] [-6.51735157e-01 7.58433322e-01 4.49233070e-03 -9.17337275e+01] [ 6.48384522e-03 -3.51363925e-04 9.99978918e-01 1.43291583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.17 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.00, Y:-91.75, Z:1.43 [[ 7.58682167e-01 6.51445652e-01 -4.46450023e-03 7.90001323e+01] [-6.51431682e-01 7.58695227e-01 4.27963995e-03 -9.17545876e+01] [ 6.17514785e-03 -3.38569619e-04 9.99980876e-01 1.43273605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.2 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.03, Y:-91.77, Z:1.43 [[ 7.58941571e-01 6.51148118e-01 -3.71754626e-03 7.90255860e+01] [-6.51138419e-01 7.58950623e-01 3.56538667e-03 -9.17744605e+01] [ 5.14302886e-03 -2.85282969e-04 9.99986734e-01 1.43298328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.23 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.05, Y:-91.79, Z:1.43 [[ 7.59179804e-01 6.50872050e-01 -3.40588908e-03 7.90506047e+01] [-6.50863899e-01 7.59187397e-01 3.26810699e-03 -9.17949375e+01] [ 4.71282756e-03 -2.64310573e-04 9.99988860e-01 1.43324976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.26 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.08, Y:-91.81, Z:1.43 [[ 7.59465571e-01 6.50539383e-01 -3.24924932e-03 7.90780250e+01] [-6.50531954e-01 7.59472479e-01 3.11939311e-03 -9.18124742e+01] [ 4.49700350e-03 -2.55331164e-04 9.99989856e-01 1.43359464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.29 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.10, Y:-91.84, Z:1.43 [[ 7.59276391e-01 6.50760179e-01 -3.24834301e-03 7.91014471e+01] [-6.50752748e-01 7.59283296e-01 3.12033687e-03 -9.18350259e+01] [ 4.49700357e-03 -2.55329979e-04 9.99989856e-01 1.43359572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.32 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.13, Y:-91.85, Z:1.43 [[ 7.59596796e-01 6.50383267e-01 -3.78336872e-03 7.91277979e+01] [-6.50373177e-01 7.59606158e-01 3.63527060e-03 -9.18521760e+01] [ 5.23818935e-03 -3.00738364e-04 9.99986235e-01 1.43331132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.35 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.15, Y:-91.87, Z:1.43 [[ 7.59347870e-01 6.50672524e-01 -4.00980988e-03 7.91545109e+01] [-6.50661182e-01 7.59358390e-01 3.85503446e-03 -9.18718613e+01] [ 5.55324778e-03 -3.18284567e-04 9.99984530e-01 1.43335256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.38 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.18, Y:-91.89, Z:1.43 [[ 7.59106160e-01 6.50956152e-01 -3.73190668e-03 7.91773235e+01] [-6.50946322e-01 7.59115275e-01 3.58950535e-03 -9.18925972e+01] [ 5.16955795e-03 -2.95544695e-04 9.99986594e-01 1.43332679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.41 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.20, Y:-91.91, Z:1.43 [[ 7.59059939e-01 6.51010812e-01 -3.59608776e-03 7.92038222e+01] [-6.51001687e-01 7.59068404e-01 3.45863812e-03 -9.19084052e+01] [ 4.98128741e-03 -2.84254438e-04 9.99987553e-01 1.43434446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.44 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.23, Y:-91.92, Z:1.43 [[ 7.58817397e-01 6.51296931e-01 -2.90960683e-03 7.92283979e+01] [-6.51290961e-01 7.58822941e-01 2.79800593e-03 -9.19246525e+01] [ 4.03020909e-03 -2.28174946e-04 9.99991853e-01 1.43485369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.47 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.25, Y:-91.94, Z:1.43 [[ 7.58594207e-01 6.51558727e-01 -2.46063963e-03 7.92525266e+01] [-6.51554460e-01 7.58598173e-01 2.36593023e-03 -9.19412593e+01] [ 3.40817921e-03 -1.91540243e-04 9.99994174e-01 1.43496709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.28, Y:-91.95, Z:1.43 [[ 7.57957703e-01 6.52300079e-01 -2.17424391e-03 7.92803297e+01] [-6.52296751e-01 7.57960803e-01 2.09026804e-03 -9.19541405e+01] [ 3.01147367e-03 -1.66082526e-04 9.99995452e-01 1.43487812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.53 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.30, Y:-91.97, Z:1.43 [[ 7.57870484e-01 6.52401971e-01 -1.99932138e-03 7.93038277e+01] [-6.52399158e-01 7.57873106e-01 1.92183702e-03 -9.19707844e+01] [ 2.76904216e-03 -1.52147972e-04 9.99996155e-01 1.43477727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.33, Y:-91.99, Z:1.43 [[ 7.57836717e-01 6.52441318e-01 -1.95883977e-03 7.93290790e+01] [-6.52438619e-01 7.57839234e-01 1.88266159e-03 -9.19863228e+01] [ 2.71281184e-03 -1.48727361e-04 9.99996309e-01 1.43465166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.59 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.35, Y:-92.00, Z:1.43 [[ 7.57957478e-01 6.52300305e-01 -2.18494702e-03 7.93530377e+01] [-6.52296947e-01 7.57960609e-01 2.09968397e-03 -9.20028904e+01] [ 3.02572827e-03 -1.66236901e-04 9.99995409e-01 1.43376271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.62 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.38, Y:-92.02, Z:1.43 [[ 7.58249157e-01 6.51956745e-01 -3.25843190e-03 7.93786210e+01] [-6.51949276e-01 7.58256118e-01 3.13073976e-03 -9.20168974e+01] [ 4.51183283e-03 -2.49548469e-04 9.99989791e-01 1.43183982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.65 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.40, Y:-92.03, Z:1.43 [[ 7.58670731e-01 6.51462011e-01 -3.99632826e-03 7.94024806e+01] [-6.51450779e-01 7.58681194e-01 3.83788494e-03 -9.20336135e+01] [ 5.53217533e-03 -3.08279808e-04 9.99984650e-01 1.43096458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.68 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.43, Y:-92.05, Z:1.43 [[ 7.58896110e-01 6.51197457e-01 -4.30887914e-03 7.94261087e+01] [-6.51184406e-01 7.58908270e-01 4.13607925e-03 -9.20509104e+01] [ 5.96344830e-03 -3.32979546e-04 9.99982163e-01 1.43055252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.70999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.45, Y:-92.06, Z:1.43 [[ 7.59314334e-01 6.50710968e-01 -4.12047765e-03 7.94540051e+01] [-6.50699038e-01 7.59325447e-01 3.95325432e-03 -9.20639902e+01] [ 5.70120947e-03 -3.20571831e-04 9.99983697e-01 1.43104228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.73999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.48, Y:-92.08, Z:1.43 [[ 7.59664390e-01 6.50302087e-01 -4.14847498e-03 7.94780913e+01] [-6.50290000e-01 7.59675648e-01 3.97813137e-03 -9.20808496e+01] [ 5.73848255e-03 -3.24332943e-04 9.99983482e-01 1.43136673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.76999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.50, Y:-92.10, Z:1.43 [[ 7.59872041e-01 6.50061276e-01 -3.84942640e-03 7.94991076e+01] [-6.50050874e-01 7.59881732e-01 3.68993732e-03 -9.20972510e+01] [ 5.32379416e-03 -3.01557211e-04 9.99985783e-01 1.43157839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.79999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.53, Y:-92.11, Z:1.43 [[ 7.59701221e-01 6.50266596e-01 -2.72194960e-03 7.95288841e+01] [-6.50261401e-01 7.59706068e-01 2.60786140e-03 -9.21073014e+01] [ 3.76368679e-03 -2.11216727e-04 9.99992895e-01 1.43324623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.82999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.55, Y:-92.12, Z:1.43 [[ 7.59195628e-01 6.50856790e-01 -2.72698234e-03 7.95519518e+01] [-6.50851585e-01 7.59200498e-01 2.61137652e-03 -9.21240473e+01] [ 3.76995849e-03 -2.07684865e-04 9.99992872e-01 1.43360899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.85999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.58, Y:-92.14, Z:1.43 [[ 7.58272317e-01 6.51932608e-01 -2.63962643e-03 7.95756239e+01] [-6.51927738e-01 7.58276887e-01 2.52736039e-03 -9.21403607e+01] [ 3.64923636e-03 -1.95581735e-04 9.99993322e-01 1.43321107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.60, Y:-92.15, Z:1.43 [[ 7.55420666e-01 6.55234110e-01 -2.80680699e-03 7.96049694e+01] [-6.55228627e-01 7.55425857e-01 2.68734379e-03 -9.21532321e+01] [ 3.88117389e-03 -1.90974745e-04 9.99992450e-01 1.43256556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.92 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.63, Y:-92.17, Z:1.43 [[ 7.53695919e-01 6.57216979e-01 -2.88170904e-03 7.96293563e+01] [-6.57211214e-01 7.53701405e-01 2.75896310e-03 -9.21703143e+01] [ 3.98518555e-03 -1.85527739e-04 9.99992042e-01 1.43161177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.95 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.66, Y:-92.18, Z:1.43 [[ 7.52031825e-01 6.59119022e-01 -3.20153657e-03 7.96566203e+01] [-6.59111925e-01 7.52038614e-01 3.06473008e-03 -9.21833414e+01] [ 4.42770101e-03 -1.94603624e-04 9.99990179e-01 1.43174868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.98 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.68, Y:-92.20, Z:1.43 [[ 7.50429982e-01 6.60941790e-01 -3.28498063e-03 7.96781598e+01] [-6.60934339e-01 7.50437149e-01 3.14404791e-03 -9.22009654e+01] [ 4.54320415e-03 -1.88231318e-04 9.99989662e-01 1.43093457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.01 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.70, Y:-92.22, Z:1.43 [[ 7.49049458e-01 6.62506386e-01 -3.19343668e-03 7.97036366e+01] [-6.62499361e-01 7.49056245e-01 3.05599626e-03 -9.22155173e+01] [ 4.41668073e-03 -1.73442577e-04 9.99990231e-01 1.43094888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.04 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.72, Y:-92.23, Z:1.43 [[ 7.48198240e-01 6.63467432e-01 -3.21878365e-03 7.97244416e+01] [-6.63460310e-01 7.48205144e-01 3.07875065e-03 -9.22345827e+01] [ 4.45096127e-03 -1.67980622e-04 9.99990080e-01 1.43011054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.75, Y:-92.25, Z:1.43 [[ 7.47975300e-01 6.63717332e-01 -3.50066778e-03 7.97528548e+01] [-6.63708918e-01 7.47983470e-01 3.34670439e-03 -9.22462763e+01] [ 4.83970734e-03 -1.79827795e-04 9.99988272e-01 1.43026003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.1 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.77, Y:-92.26, Z:1.43 [[ 7.48551414e-01 6.63067835e-01 -3.43906840e-03 7.97744946e+01] [-6.63059711e-01 7.48559292e-01 3.28722690e-03 -9.22644962e+01] [ 4.75400103e-03 -1.80350644e-04 9.99988683e-01 1.42993844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.13 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.80, Y:-92.28, Z:1.43 [[ 7.49688084e-01 6.61782551e-01 -3.41049803e-03 7.97968749e+01] [-6.61774556e-01 7.49695819e-01 3.25830232e-03 -9.22823823e+01] [ 4.71312374e-03 -1.85729597e-04 9.99988876e-01 1.43000062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.16 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.82, Y:-92.30, Z:1.43 [[ 7.51129432e-01 6.60145157e-01 -3.59836509e-03 7.98182881e+01] [-6.60136239e-01 7.51138022e-01 3.43765126e-03 -9.23025985e+01] [ 4.97221767e-03 -2.06709837e-04 9.99987617e-01 1.42971754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.19 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.84, Y:-92.32, Z:1.43 [[ 7.52675052e-01 6.58382743e-01 -3.52554672e-03 7.98385619e+01] [-6.58374165e-01 7.52683278e-01 3.36772417e-03 -9.23230830e+01] [ 4.87087154e-03 -2.13673087e-04 9.99988114e-01 1.42968072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.22 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.86, Y:-92.34, Z:1.43 [[ 7.54443827e-01 6.56355560e-01 -3.44843495e-03 7.98631677e+01] [-6.56347332e-01 7.54451675e-01 3.29382198e-03 -9.23406302e+01] [ 4.76359589e-03 -2.21632578e-04 9.99988629e-01 1.43024310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.25 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.88, Y:-92.36, Z:1.43 [[ 7.57040428e-01 6.53360267e-01 -3.18639732e-03 7.98832538e+01] [-6.53353216e-01 7.57047101e-01 3.04334676e-03 -9.23624444e+01] [ 4.40065470e-03 -2.22093599e-04 9.99990292e-01 1.43021083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.28 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.91, Y:-92.38, Z:1.43 [[ 7.57819818e-01 6.52457643e-01 -2.85446407e-03 7.99064702e+01] [-6.52451984e-01 7.57825166e-01 2.72498609e-03 -9.23800277e+01] [ 3.94112271e-03 -2.02647709e-04 9.99992213e-01 1.43046823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.31 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.93, Y:-92.40, Z:1.43 [[ 7.58395539e-01 6.51790227e-01 -2.38883326e-03 7.99289487e+01] [-6.51786261e-01 7.58399282e-01 2.28006930e-03 -9.23976061e+01] [ 3.29781632e-03 -1.72185689e-04 9.99994547e-01 1.43067106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.34 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.95, Y:-92.41, Z:1.43 [[ 7.58609097e-01 6.51543129e-01 -1.94678733e-03 7.99532453e+01] [-6.51540497e-01 7.58611582e-01 1.85707420e-03 -9.24120681e+01] [ 2.68681935e-03 -1.40382598e-04 9.99996381e-01 1.43112094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.37 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.98, Y:-92.43, Z:1.43 [[ 7.57865033e-01 6.52408784e-01 -1.83591159e-03 7.99787644e+01] [-6.52406448e-01 7.57867246e-01 1.75041662e-03 -9.24265518e+01] [ 2.53336444e-03 -1.28818994e-04 9.99996783e-01 1.43151737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.4 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.00, Y:-92.44, Z:1.43 [[ 7.57188859e-01 6.53192414e-01 -2.16837515e-03 8.00002819e+01] [-6.53189161e-01 7.57191949e-01 2.06701652e-03 -9.24438282e+01] [ 2.99203572e-03 -1.48762739e-04 9.99995513e-01 1.43127686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.43 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.02, Y:-92.46, Z:1.43 [[ 7.56664364e-01 6.53799158e-01 -2.38781100e-03 8.00242533e+01] [-6.53795219e-01 7.56668114e-01 2.27506133e-03 -9.24607813e+01] [ 3.29421363e-03 -1.60318416e-04 9.99994561e-01 1.43115875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.45999999999998 meters Centerline goodness [0,1] 0.9998967368855844 Centerline is valid? [True, True] Translation: X:80.05, Y:-92.48, Z:1.43 [[ 7.55600850e-01 6.55029586e-01 -1.89669828e-03 8.00466850e+01] [-6.55027106e-01 7.55603221e-01 1.80669218e-03 -9.24773246e+01] [ 2.61658816e-03 -1.22749361e-04 9.99996569e-01 1.43137290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.48999999999998 meters Centerline goodness [0,1] 0.9998546813369317 Centerline is valid? [True, True] Translation: X:80.07, Y:-92.49, Z:1.43 [[ 7.55358606e-01 6.55310143e-01 -1.41203364e-03 8.00713336e+01] [-6.55308770e-01 7.55359920e-01 1.34436709e-03 -9.24937587e+01] [ 1.94757101e-03 -9.01612236e-05 9.99998099e-01 1.43142585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.51999999999998 meters Centerline goodness [0,1] 0.9999165849894689 Centerline is valid? [True, True] Translation: X:80.10, Y:-92.51, Z:1.43 [[ 7.55128017e-01 6.55575404e-01 -1.60259887e-03 8.00963169e+01] [-6.55573638e-01 7.55129711e-01 1.52501822e-03 -9.25090050e+01] [ 2.20993445e-03 -1.00962415e-04 9.99997553e-01 1.43164857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.54999999999998 meters Centerline goodness [0,1] 0.9999791527685123 Centerline is valid? [True, True] Translation: X:80.12, Y:-92.53, Z:1.43 [[ 7.55073171e-01 6.55637728e-01 -1.91713254e-03 8.01197904e+01] [-6.55635204e-01 7.55075595e-01 1.82338989e-03 -9.25261746e+01] [ 2.64306320e-03 -1.19853205e-04 9.99996500e-01 1.43100331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.57999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.14, Y:-92.54, Z:1.43 [[ 7.55177383e-01 6.55516970e-01 -2.14991052e-03 8.01405906e+01] [-6.55513796e-01 7.55180431e-01 2.04440649e-03 -9.25443791e+01] [ 2.96371350e-03 -1.34593529e-04 9.99995599e-01 1.43025427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.60999999999999 meters Centerline goodness [0,1] 0.9997290763587863 Centerline is valid? [True, True] Translation: X:80.17, Y:-92.56, Z:1.43 [[ 7.56522930e-01 6.53960804e-01 -2.88509052e-03 8.01665679e+01] [-6.53955077e-01 7.56528408e-01 2.74330136e-03 -9.25601017e+01] [ 3.97666450e-03 -1.88650783e-04 9.99992075e-01 1.42904386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.64 meters Centerline goodness [0,1] 0.9997702301875757 Centerline is valid? [True, True] Translation: X:80.19, Y:-92.58, Z:1.43 [[ 7.57971797e-01 6.52280258e-01 -3.03648901e-03 8.01858126e+01] [-6.52273903e-01 7.57977850e-01 2.88683296e-03 -9.25808386e+01] [ 4.18461556e-03 -2.07515430e-04 9.99991223e-01 1.42855291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.67 meters Centerline goodness [0,1] 0.9997068983565373 Centerline is valid? [True, True] Translation: X:80.21, Y:-92.60, Z:1.43 [[ 7.59552097e-01 6.50439820e-01 -2.94163900e-03 8.02088600e+01] [-6.50433844e-01 7.59557764e-01 2.79621714e-03 -9.25991007e+01] [ 4.05311571e-03 -2.10531029e-04 9.99991764e-01 1.42851095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.7 meters Centerline goodness [0,1] 0.9994586942038641 Centerline is valid? [True, True] Translation: X:80.23, Y:-92.62, Z:1.43 [[ 7.61334300e-01 6.48352894e-01 -2.93415094e-03 8.02284421e+01] [-6.48346933e-01 7.61339922e-01 2.78879189e-03 -9.26199668e+01] [ 4.04200754e-03 -2.20855159e-04 9.99991807e-01 1.42826537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.73 meters Centerline goodness [0,1] 0.9992704837734748 Centerline is valid? [True, True] Translation: X:80.25, Y:-92.64, Z:1.43 [[ 7.63317460e-01 6.46016110e-01 -3.10507480e-03 8.02501886e+01] [-6.46009417e-01 7.63323735e-01 2.95097648e-03 -9.26397429e+01] [ 4.27655564e-03 -2.46624307e-04 9.99990825e-01 1.42813093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.76 meters Centerline goodness [0,1] 0.9994358899358586 Centerline is valid? [True, True] Translation: X:80.27, Y:-92.66, Z:1.43 [[ 7.65201015e-01 6.43783142e-01 -3.26702343e-03 8.02719720e+01] [-6.43775714e-01 7.65207940e-01 3.10463055e-03 -9.26594290e+01] [ 4.49866108e-03 -2.72436106e-04 9.99989844e-01 1.42829195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.79 meters Centerline goodness [0,1] 0.9994568623354919 Centerline is valid? [True, True] Translation: X:80.29, Y:-92.68, Z:1.43 [[ 7.68522543e-01 6.39814938e-01 -3.15356389e-03 8.02940284e+01] [-6.39807984e-01 7.68528961e-01 2.99665681e-03 -9.26799580e+01] [ 4.34091097e-03 -2.85322959e-04 9.99990538e-01 1.42836879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.82 meters Centerline goodness [0,1] 0.9994577911244578 Centerline is valid? [True, True] Translation: X:80.32, Y:-92.70, Z:1.43 [[ 7.69699318e-01 6.38398278e-01 -3.25572917e-03 8.03177220e+01] [-6.38390854e-01 7.69706144e-01 3.09350993e-03 -9.26983005e+01] [ 4.48084616e-03 -3.02644755e-04 9.99989915e-01 1.42867176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.85 meters Centerline goodness [0,1] 0.9993969765652617 Centerline is valid? [True, True] Translation: X:80.34, Y:-92.72, Z:1.43 [[ 7.70574314e-01 6.37342535e-01 -3.11749432e-03 8.03360551e+01] [-6.37335723e-01 7.70580564e-01 2.96151515e-03 -9.27185156e+01] [ 4.28978011e-03 -2.95177013e-04 9.99990755e-01 1.42858758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.88 meters Centerline goodness [0,1] 0.9994379449602399 Centerline is valid? [True, True] Translation: X:80.36, Y:-92.74, Z:1.43 [[ 7.71220327e-01 6.36562008e-01 -2.83155555e-03 8.03587138e+01] [-6.36556388e-01 7.71225478e-01 2.68852059e-03 -9.27364582e+01] [ 3.89517784e-03 -2.70996955e-04 9.99992377e-01 1.42886697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.91 meters Centerline goodness [0,1] 0.9990634560552769 Centerline is valid? [True, True] Translation: X:80.38, Y:-92.75, Z:1.43 [[ 7.71453565e-01 6.36280005e-01 -2.67418923e-03 8.03819810e+01] [-6.36274997e-01 7.71458158e-01 2.53760683e-03 -9.27527226e+01] [ 3.67765358e-03 -2.56126096e-04 9.99993205e-01 1.42936458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.94 meters Centerline goodness [0,1] 0.9989587888632057 Centerline is valid? [True, True] Translation: X:80.40, Y:-92.77, Z:1.43 [[ 7.71026165e-01 6.36799092e-01 -2.35979689e-03 8.04023616e+01] [-6.36795196e-01 7.71029744e-01 2.23885528e-03 -9.27711676e+01] [ 3.24517460e-03 -2.23508680e-04 9.99994709e-01 1.42931554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.97 meters Centerline goodness [0,1] 0.9985611510791367 Centerline is valid? [True, True] Translation: X:80.43, Y:-92.78, Z:1.43 [[ 7.68743194e-01 6.39553727e-01 -2.22077687e-03 8.04314124e+01] [-6.39550288e-01 7.68746376e-01 2.10684738e-03 -9.27845786e+01] [ 3.05465626e-03 -1.99326094e-04 9.99995315e-01 1.42929868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.0 meters Centerline goodness [0,1] 0.9988376196110177 Centerline is valid? [True, True] Translation: X:80.45, Y:-92.80, Z:1.43 [[ 7.67161202e-01 6.41448799e-01 -2.67005518e-03 8.04533316e+01] [-6.41443839e-01 7.67165813e-01 2.53289151e-03 -9.28041156e+01] [ 3.67309528e-03 -2.30445651e-04 9.99993228e-01 1.42871611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.03 meters Centerline goodness [0,1] 0.9985632483081728 Centerline is valid? [True, True] Translation: X:80.48, Y:-92.82, Z:1.43 [[ 7.65571506e-01 6.43344193e-01 -2.91868472e-03 8.04781406e+01] [-6.43338283e-01 7.65577031e-01 2.76808292e-03 -9.28213967e+01] [ 4.01530805e-03 -2.41463790e-04 9.99991909e-01 1.42814315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.06 meters Centerline goodness [0,1] 0.9983627282336117 Centerline is valid? [True, True] Translation: X:80.50, Y:-92.84, Z:1.43 [[ 7.63750887e-01 6.45502345e-01 -3.36232475e-03 8.05038849e+01] [-6.45494524e-01 7.63758242e-01 3.18859370e-03 -9.28373664e+01] [ 4.62624795e-03 -2.64929058e-04 9.99989264e-01 1.42782108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.09 meters Centerline goodness [0,1] 0.9984188736555225 Centerline is valid? [True, True] Translation: X:80.53, Y:-92.85, Z:1.43 [[ 7.61742144e-01 6.47870782e-01 -3.51514134e-03 8.05275777e+01] [-6.47862260e-01 7.61750209e-01 3.33327063e-03 -9.28546786e+01] [ 4.83718831e-03 -2.61765302e-04 9.99988266e-01 1.42742554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.12 meters Centerline goodness [0,1] 0.9983057228915663 Centerline is valid? [True, True] Translation: X:80.56, Y:-92.87, Z:1.43 [[ 7.57500473e-01 6.52823729e-01 -3.76994359e-03 8.05570007e+01] [-6.52813988e-01 7.57509814e-01 3.57464959e-03 -9.28671686e+01] [ 5.18938534e-03 -2.46726848e-04 9.99986505e-01 1.42736691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.15 meters Centerline goodness [0,1] 0.9981253514965944 Centerline is valid? [True, True] Translation: X:80.58, Y:-92.88, Z:1.43 [[ 7.55737199e-01 6.54865853e-01 -3.46413373e-03 8.05815219e+01] [-6.54857651e-01 7.55745109e-01 3.28437200e-03 -9.28839784e+01] [ 4.76882519e-03 -2.13607619e-04 9.99988606e-01 1.42752757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.18 meters Centerline goodness [0,1] 0.9975854963262077 Centerline is valid? [True, True] Translation: X:80.60, Y:-92.90, Z:1.43 [[ 7.54105276e-01 6.56745657e-01 -3.22092290e-03 8.06034502e+01] [-6.56738587e-01 7.54112131e-01 3.05322822e-03 -9.29010953e+01] [ 4.43413141e-03 -1.87151160e-04 9.99990152e-01 1.42742979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.20999999999998 meters Centerline goodness [0,1] 0.9975854963262077 Centerline is valid? [True, True] Translation: X:80.62, Y:-92.92, Z:1.43 [[ 7.54294397e-01 6.56528432e-01 -3.22179769e-03 8.06234535e+01] [-6.56521364e-01 7.54301255e-01 3.05230512e-03 -9.29199498e+01] [ 4.43413113e-03 -1.87157642e-04 9.99990152e-01 1.42743070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.23999999999998 meters Centerline goodness [0,1] 0.9977029256374381 Centerline is valid? [True, True] Translation: X:80.65, Y:-92.94, Z:1.43 [[ 7.53093106e-01 6.57907036e-01 -3.01761581e-03 8.06473995e+01] [-6.57900848e-01 7.53099133e-01 2.85843730e-03 -9.29361226e+01] [ 4.15314986e-03 -1.67377422e-04 9.99991362e-01 1.42782279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.26999999999998 meters Centerline goodness [0,1] 0.997429732194677 Centerline is valid? [True, True] Translation: X:80.67, Y:-92.95, Z:1.43 [[ 7.52292151e-01 6.58823160e-01 -2.92627697e-03 8.06703057e+01] [-6.58817350e-01 7.52297826e-01 2.77118616e-03 -9.29545713e+01] [ 4.02715342e-03 -1.56859554e-04 9.99991879e-01 1.42736382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.29999999999998 meters Centerline goodness [0,1] 0.9976091973139851 Centerline is valid? [True, True] Translation: X:80.69, Y:-92.97, Z:1.43 [[ 7.51382576e-01 6.59858734e-01 -3.26751101e-03 8.06930172e+01] [-6.59851504e-01 7.51389661e-01 3.09351615e-03 -9.29715274e+01] [ 4.49645764e-03 -1.68342077e-04 9.99989877e-01 1.42677899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.32999999999998 meters Centerline goodness [0,1] 0.9972346972721224 Centerline is valid? [True, True] Translation: X:80.72, Y:-92.99, Z:1.43 [[ 7.51087519e-01 6.60195555e-01 -3.06060570e-03 8.07160238e+01] [-6.60189221e-01 7.51093739e-01 2.89618077e-03 -9.29884485e+01] [ 4.21084745e-03 -1.54706341e-04 9.99991122e-01 1.42683182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.35999999999999 meters Centerline goodness [0,1] 0.9969885187276492 Centerline is valid? [True, True] Translation: X:80.74, Y:-93.01, Z:1.43 [[ 7.50506073e-01 6.60857595e-01 -2.80582629e-03 8.07391094e+01] [-6.60852281e-01 7.50511306e-01 2.65385320e-03 -9.30066936e+01] [ 3.85962340e-03 -1.37496237e-04 9.99992542e-01 1.42584999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.39 meters Centerline goodness [0,1] 0.9964957389014453 Centerline is valid? [True, True] Translation: X:80.76, Y:-93.02, Z:1.43 [[ 7.49850009e-01 6.61605499e-01 -1.76849377e-03 8.07618801e+01] [-6.61603392e-01 7.49852090e-01 1.67187660e-03 -9.30244883e+01] [ 2.43223150e-03 -8.36152110e-05 9.99997039e-01 1.42771625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.42 meters Centerline goodness [0,1] 0.9966271080574641 Centerline is valid? [True, True] Translation: X:80.79, Y:-93.04, Z:1.43 [[ 7.48685801e-01 6.62923253e-01 -1.52743357e-03 8.07864081e+01] [-6.62921685e-01 7.48687356e-01 1.44330078e-03 -9.30411933e+01] [ 2.10036785e-03 -6.80099663e-05 9.99997792e-01 1.42808789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.45 meters Centerline goodness [0,1] 0.9965538847117794 Centerline is valid? [True, True] Translation: X:80.81, Y:-93.06, Z:1.43 [[ 7.47196275e-01 6.64602114e-01 -1.32538949e-03 8.08100371e+01] [-6.64600938e-01 7.47197448e-01 1.25179140e-03 -9.30589862e+01] [ 1.82227086e-03 -5.44787743e-05 9.99998338e-01 1.42784299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.48 meters Centerline goodness [0,1] 0.996386142726593 Centerline is valid? [True, True] Translation: X:80.83, Y:-93.08, Z:1.43 [[ 7.43700914e-01 6.68510357e-01 -1.68948006e-03 8.08328946e+01] [-6.68508455e-01 7.43702830e-01 1.59550667e-03 -9.30767017e+01] [ 2.32308383e-03 -5.71480648e-05 9.99997300e-01 1.42688502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.51 meters Centerline goodness [0,1] 0.9963971843891873 Centerline is valid? [True, True] Translation: X:80.86, Y:-93.09, Z:1.43 [[ 7.42676681e-01 6.69647490e-01 -1.89399590e-03 8.08572349e+01] [-6.69645105e-01 7.42679093e-01 1.78816968e-03 -9.30935737e+01] [ 2.60407450e-03 -5.97268406e-05 9.99996608e-01 1.42687564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.54 meters Centerline goodness [0,1] 0.9965510754373863 Centerline is valid? [True, True] Translation: X:80.88, Y:-93.11, Z:1.43 [[ 7.41945695e-01 6.70457700e-01 -1.74891681e-03 8.08791224e+01] [-6.70455671e-01 7.41947754e-01 1.65037247e-03 -9.31123598e+01] [ 2.40410983e-03 -5.19155545e-05 9.99997109e-01 1.42701019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.57 meters Centerline goodness [0,1] 0.9963043387480687 Centerline is valid? [True, True] Translation: X:80.90, Y:-93.13, Z:1.43 [[ 7.41087410e-01 6.71405426e-01 -2.05065948e-03 8.08984349e+01] [-6.71402641e-01 7.41090245e-01 1.93475968e-03 -9.31319666e+01] [ 2.81873189e-03 -5.70078496e-05 9.99996026e-01 1.42699480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.6 meters Centerline goodness [0,1] 0.9960092768642528 Centerline is valid? [True, True] Translation: X:80.92, Y:-93.15, Z:1.43 [[ 7.41096966e-01 6.71395078e-01 -1.98411236e-03 8.09214167e+01] [-6.71392473e-01 7.41099620e-01 1.87089355e-03 -9.31485899e+01] [ 2.72653364e-03 -5.43954329e-05 9.99996282e-01 1.42724970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.63 meters Centerline goodness [0,1] 0.9963327221203534 Centerline is valid? [True, True] Translation: X:80.94, Y:-93.17, Z:1.43 [[ 7.40931245e-01 6.71578180e-01 -1.90741949e-03 8.09408493e+01] [-6.71575775e-01 7.40933698e-01 1.79824411e-03 -9.31679878e+01] [ 2.62093289e-03 -5.13985227e-05 9.99996564e-01 1.42750283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.66 meters Centerline goodness [0,1] 0.9962616046023801 Centerline is valid? [True, True] Translation: X:80.96, Y:-93.19, Z:1.43 [[ 7.40930017e-01 6.71579210e-01 -2.01856147e-03 8.09613814e+01] [-6.71576519e-01 7.40932765e-01 1.90193944e-03 -9.31870179e+01] [ 2.77292132e-03 -5.35855386e-05 9.99996154e-01 1.42764660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.69 meters Centerline goodness [0,1] 0.9963149850296267 Centerline is valid? [True, True] Translation: X:80.98, Y:-93.21, Z:1.43 [[ 7.40898769e-01 6.71614131e-01 -1.86358471e-03 8.09813910e+01] [-6.71611840e-01 7.40901111e-01 1.75489643e-03 -9.32060880e+01] [ 2.55934522e-03 -4.85950514e-05 9.99996724e-01 1.42759446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.72 meters Centerline goodness [0,1] 0.9965549639837143 Centerline is valid? [True, True] Translation: X:81.00, Y:-93.23, Z:1.43 [[ 7.39891619e-01 6.72722888e-01 -2.07552857e-03 8.10013265e+01] [-6.72720053e-01 7.39894529e-01 1.95347774e-03 -9.32265232e+01] [ 2.84982142e-03 -4.91121156e-05 9.99995938e-01 1.42696542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.75 meters Centerline goodness [0,1] 0.9970057372586791 Centerline is valid? [True, True] Translation: X:81.02, Y:-93.25, Z:1.43 [[ 7.38975869e-01 6.73728224e-01 -2.22384901e-03 8.10210898e+01] [-6.73724976e-01 7.38979213e-01 2.09269029e-03 -9.32460704e+01] [ 3.05328271e-03 -4.81850097e-05 9.99995338e-01 1.42720033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.78 meters Centerline goodness [0,1] 0.9964250621955554 Centerline is valid? [True, True] Translation: X:81.04, Y:-93.27, Z:1.42 [[ 7.37680258e-01 6.75142044e-01 -3.32515410e-03 8.10425039e+01] [-6.75134803e-01 7.37687750e-01 3.12758759e-03 -9.32660438e+01] [ 4.56449133e-03 -6.22323649e-05 9.99989581e-01 1.42499026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.81 meters Centerline goodness [0,1] 0.9968320133388912 Centerline is valid? [True, True] Translation: X:81.06, Y:-93.29, Z:1.43 [[ 7.36857495e-01 6.76040437e-01 -3.21858249e-03 8.10637922e+01] [-6.76033668e-01 7.36864523e-01 3.02583172e-03 -9.32858524e+01] [ 4.41724385e-03 -5.37366522e-05 9.99990242e-01 1.42604817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.84 meters Centerline goodness [0,1] 0.9972003426446315 Centerline is valid? [True, True] Translation: X:81.09, Y:-93.31, Z:1.43 [[ 7.33834000e-01 6.79317410e-01 -3.93924147e-03 8.10850306e+01] [-6.79307326e-01 7.33844572e-01 3.70146753e-03 -9.33058126e+01] [ 5.40526230e-03 -4.03071297e-05 9.99985391e-01 1.42579663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.87 meters Centerline goodness [0,1] 0.9971704638343359 Centerline is valid? [True, True] Translation: X:81.11, Y:-93.32, Z:1.43 [[ 7.32256431e-01 6.81012876e-01 -4.68840095e-03 8.11053413e+01] [-6.80998644e-01 7.32271440e-01 4.40283115e-03 -9.33246889e+01] [ 6.43156682e-03 -3.12067358e-05 9.99979317e-01 1.42513116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.9 meters Centerline goodness [0,1] 0.997210657785179 Centerline is valid? [True, True] Translation: X:81.13, Y:-93.34, Z:1.43 [[ 7.30958349e-01 6.82409080e-01 -4.21191863e-03 8.11252482e+01] [-6.82397621e-01 7.30970483e-01 3.95464907e-03 -9.33437186e+01] [ 5.77747663e-03 -1.64805008e-05 9.99983310e-01 1.42653934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.93 meters Centerline goodness [0,1] 0.9975427417171654 Centerline is valid? [True, True] Translation: X:81.14, Y:-93.36, Z:1.43 [[ 7.29886187e-01 6.83558323e-01 -3.76474522e-03 8.11448437e+01] [-6.83549187e-01 7.29895896e-01 3.53415765e-03 -9.33638095e+01] [ 5.16367496e-03 -6.14432163e-06 9.99986668e-01 1.42763304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.95999999999998 meters Centerline goodness [0,1] 0.997674662197549 Centerline is valid? [True, True] Translation: X:81.16, Y:-93.39, Z:1.43 [[ 7.28800655e-01 6.84721148e-01 -2.56021335e-03 8.11619854e+01] [-6.84716935e-01 7.28805152e-01 2.40199847e-03 -9.33862023e+01] [ 3.51059583e-03 2.44337734e-06 9.99993838e-01 1.42961279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.98999999999998 meters Centerline goodness [0,1] 0.9983326733498676 Centerline is valid? [True, True] Translation: X:81.18, Y:-93.41, Z:1.43 [[ 7.29274483e-01 6.84218730e-01 -1.85983280e-03 8.11805076e+01] [-6.84216507e-01 7.29276854e-01 1.74388233e-03 -9.34077985e+01] [ 2.54952997e-03 7.59417234e-07 9.99996750e-01 1.43098018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.01999999999998 meters Centerline goodness [0,1] 0.997911794186435 Centerline is valid? [True, True] Translation: X:81.20, Y:-93.43, Z:1.43 [[ 7.29599529e-01 6.83871472e-01 -2.08255075e-03 8.11973949e+01] [-6.83868686e-01 7.29602501e-01 1.95221081e-03 -9.34287657e+01] [ 2.85449552e-03 -1.40844345e-07 9.99995926e-01 1.42996458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.04999999999998 meters Centerline goodness [0,1] 0.9981569522692525 Centerline is valid? [True, True] Translation: X:81.22, Y:-93.45, Z:1.43 [[ 7.30599792e-01 6.82804003e-01 -1.62417268e-03 8.12150748e+01] [-6.82802307e-01 7.30601597e-01 1.52163178e-03 -9.34504226e+01] [ 2.22559943e-03 -2.71500731e-06 9.99997523e-01 1.43059134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.07999999999998 meters Centerline goodness [0,1] 0.998321765254325 Centerline is valid? [True, True] Translation: X:81.23, Y:-93.47, Z:1.43 [[ 7.31931147e-01 6.81377023e-01 -1.46580445e-03 8.12321881e+01] [-6.81375640e-01 7.31932615e-01 1.37300420e-03 -9.34722607e+01] [ 2.00840360e-03 -6.18109407e-06 9.99997983e-01 1.43134791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.10999999999999 meters Centerline goodness [0,1] 0.998543062898056 Centerline is valid? [True, True] Translation: X:81.25, Y:-93.49, Z:1.43 [[ 7.33635308e-01 6.79540443e-01 -2.00550154e-03 8.12501470e+01] [-6.79537849e-01 7.33638049e-01 1.87759557e-03 -9.34949672e+01] [ 2.74721436e-03 -1.46562018e-05 9.99996226e-01 1.43116439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.14 meters Centerline goodness [0,1] 0.9987712173279184 Centerline is valid? [True, True] Translation: X:81.26, Y:-93.52, Z:1.43 [[ 7.37894357e-01 6.74902419e-01 -4.31770893e-03 8.12645284e+01] [-6.74890329e-01 7.37906986e-01 4.04028377e-03 -9.35220439e+01] [ 5.91286487e-03 -6.73225936e-05 9.99982517e-01 1.42694836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.17 meters Centerline goodness [0,1] 0.9988702456169715 Centerline is valid? [True, True] Translation: X:81.28, Y:-93.55, Z:1.43 [[ 7.40854736e-01 6.71648888e-01 -4.69376944e-03 8.12819488e+01] [-6.71634549e-01 7.40869598e-01 4.38992070e-03 -9.35457328e+01] [ 6.42595644e-03 -9.97958243e-05 9.99979348e-01 1.42735179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.2 meters Centerline goodness [0,1] 0.9990356394129979 Centerline is valid? [True, True] Translation: X:81.30, Y:-93.57, Z:1.43 [[ 7.44121834e-01 6.68025834e-01 -4.91746869e-03 8.12991303e+01] [-6.68010032e-01 7.44138070e-01 4.59677796e-03 -9.35700043e+01] [ 6.73004209e-03 -1.35644434e-04 9.99977344e-01 1.42894233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.23 meters Centerline goodness [0,1] 0.9993291404612159 Centerline is valid? [True, True] Translation: X:81.32, Y:-93.59, Z:1.43 [[ 7.47270558e-01 6.64498510e-01 -5.33332776e-03 8.13163735e+01] [-6.64479836e-01 7.47289568e-01 4.98496341e-03 -9.35945741e+01] [ 7.29804096e-03 -1.81227635e-04 9.99973353e-01 1.42915561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.26 meters Centerline goodness [0,1] 0.998932831136221 Centerline is valid? [True, True] Translation: X:81.33, Y:-93.62, Z:1.43 [[ 7.53118377e-01 6.57863780e-01 -5.28749835e-03 8.13312693e+01] [-6.57845263e-01 7.53136899e-01 4.94183728e-03 -9.36229882e+01] [ 7.23326586e-03 -2.43432732e-04 9.99973810e-01 1.43010796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.29 meters Centerline goodness [0,1] 0.9991842540107511 Centerline is valid? [True, True] Translation: X:81.35, Y:-93.65, Z:1.43 [[ 7.55797475e-01 6.54786116e-01 -5.03180573e-03 8.13474368e+01] [-6.54769284e-01 7.55814181e-01 4.70205755e-03 -9.36470363e+01] [ 6.88195212e-03 -2.59131389e-04 9.99976286e-01 1.43063062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.32 meters Centerline goodness [0,1] 0.9995412939680157 Centerline is valid? [True, True] Translation: X:81.37, Y:-93.67, Z:1.43 [[ 7.57940501e-01 6.52304108e-01 -5.05439598e-03 8.13684771e+01] [-6.52287073e-01 7.57957301e-01 4.72264169e-03 -9.36675790e+01] [ 6.91161491e-03 -2.82564254e-04 9.99976075e-01 1.43223193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.35 meters Centerline goodness [0,1] 0.9996453826738146 Centerline is valid? [True, True] Translation: X:81.39, Y:-93.69, Z:1.43 [[ 7.60961326e-01 6.48782950e-01 -4.30637930e-03 8.13853264e+01] [-6.48770530e-01 7.60973464e-01 4.02327723e-03 -9.36917486e+01] [ 5.88727404e-03 -2.67706398e-04 9.99982634e-01 1.43348851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.38 meters Centerline goodness [0,1] 0.9996652579605841 Centerline is valid? [True, True] Translation: X:81.41, Y:-93.71, Z:1.43 [[ 7.61855809e-01 6.47730457e-01 -4.58059499e-03 8.14051292e+01] [-6.47716400e-01 7.61869523e-01 4.27727685e-03 -9.37125747e+01] [ 6.26033821e-03 -2.91741712e-04 9.99980361e-01 1.43158927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.41 meters Centerline goodness [0,1] 0.9996253668283139 Centerline is valid? [True, True] Translation: X:81.42, Y:-93.73, Z:1.43 [[ 7.62237692e-01 6.47285966e-01 -3.81834950e-03 8.14240892e+01] [-6.47276196e-01 7.62247216e-01 3.56485212e-03 -9.37334503e+01] [ 5.21800502e-03 -2.45737910e-04 9.99986356e-01 1.43342089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.44 meters Centerline goodness [0,1] 0.9995847262307677 Centerline is valid? [True, True] Translation: X:81.44, Y:-93.75, Z:1.43 [[ 7.62239257e-01 6.47282748e-01 -4.04456385e-03 8.14414162e+01] [-6.47271792e-01 7.62249943e-01 3.77510213e-03 -9.37539042e+01] [ 5.52652705e-03 -2.59598954e-04 9.99984695e-01 1.43272410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.47 meters Centerline goodness [0,1] 0.9995815374314767 Centerline is valid? [True, True] Translation: X:81.47, Y:-93.77, Z:1.43 [[ 7.61949065e-01 6.47622635e-01 -4.30629384e-03 8.14655648e+01] [-6.47610232e-01 7.61961186e-01 4.01732717e-03 -9.37699447e+01] [ 5.88294077e-03 -2.72198731e-04 9.99982658e-01 1.43290258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.5 meters Centerline goodness [0,1] 0.9995608164631086 Centerline is valid? [True, True] Translation: X:81.49, Y:-93.79, Z:1.43 [[ 7.60214744e-01 6.49658349e-01 -4.19200433e-03 8.14866323e+01] [-6.49646629e-01 7.60226261e-01 3.91026990e-03 -9.37895917e+01] [ 5.72721126e-03 -2.49323350e-04 9.99983568e-01 1.43284536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.53 meters Centerline goodness [0,1] 0.9996033734134937 Centerline is valid? [True, True] Translation: X:81.51, Y:-93.81, Z:1.43 [[ 7.59168534e-01 6.50880307e-01 -4.23823033e-03 8.15108733e+01] [-6.50868357e-01 7.59180326e-01 3.95140621e-03 -9.38055035e+01] [ 5.78947357e-03 -2.41253249e-04 9.99983212e-01 1.43345813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.56 meters Centerline goodness [0,1] 0.9995403451589988 Centerline is valid? [True, True] Translation: X:81.53, Y:-93.82, Z:1.43 [[ 7.58072167e-01 6.52157079e-01 -4.21126977e-03 8.15323760e+01] [-6.52145306e-01 7.58083829e-01 3.92521665e-03 -9.38235536e+01] [ 5.75235334e-03 -2.29237675e-04 9.99983429e-01 1.43361167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.59 meters Centerline goodness [0,1] 0.9994354062983564 Centerline is valid? [True, True] Translation: X:81.55, Y:-93.84, Z:1.43 [[ 7.57113112e-01 6.53268446e-01 -4.48021476e-03 8.15524541e+01] [-6.53255146e-01 7.57126332e-01 4.17513916e-03 -9.38431904e+01] [ 6.11957524e-03 -2.34329258e-04 9.99981248e-01 1.43338209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.62 meters Centerline goodness [0,1] 0.9992455993294216 Centerline is valid? [True, True] Translation: X:81.58, Y:-93.86, Z:1.43 [[ 7.55321881e-01 6.55342129e-01 -3.94340001e-03 8.15789685e+01] [-6.55331856e-01 7.55332150e-01 3.67433301e-03 -9.38568810e+01] [ 5.38652203e-03 -1.91068471e-04 9.99985474e-01 1.43394642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.65 meters Centerline goodness [0,1] 0.9993548789877843 Centerline is valid? [True, True] Translation: X:81.60, Y:-93.88, Z:1.43 [[ 7.54329912e-01 6.56484143e-01 -3.86712954e-03 8.15976763e+01] [-6.56474282e-01 7.54339803e-01 3.60260543e-03 -9.38779264e+01] [ 5.28218307e-03 -1.78881946e-04 9.99986033e-01 1.43198390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.68 meters Centerline goodness [0,1] 0.9991039799958324 Centerline is valid? [True, True] Translation: X:81.62, Y:-93.89, Z:1.44 [[ 7.53204959e-01 6.57778955e-01 -3.02262865e-03 8.16220262e+01] [-6.57772947e-01 7.53211013e-01 2.81447444e-03 -9.38936286e+01] [ 4.12797924e-03 -1.31672749e-04 9.99991471e-01 1.43504404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.70999999999998 meters Centerline goodness [0,1] 0.9992518858710334 Centerline is valid? [True, True] Translation: X:81.65, Y:-93.91, Z:1.43 [[ 7.51367432e-01 6.59876897e-01 -3.07618106e-03 8.16462382e+01] [-6.59870694e-01 7.51373719e-01 2.86391156e-03 -9.39094083e+01] [ 4.20119068e-03 -1.21968144e-04 9.99991168e-01 1.43488057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.73999999999998 meters Centerline goodness [0,1] 0.9987706796682919 Centerline is valid? [True, True] Translation: X:81.67, Y:-93.93, Z:1.43 [[ 7.49104819e-01 6.62434621e-01 -4.72687585e-03 8.16683008e+01] [-6.62420029e-01 7.49119714e-01 4.39990289e-03 -9.39267247e+01] [ 6.45564389e-03 -1.64811222e-04 9.99979149e-01 1.43036947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.76999999999998 meters Centerline goodness [0,1] 0.998975366985906 Centerline is valid? [True, True] Translation: X:81.69, Y:-93.94, Z:1.43 [[ 7.47007526e-01 6.64802037e-01 -4.24351362e-03 8.16924620e+01] [-6.64790319e-01 7.47019568e-01 3.94940510e-03 -9.39431570e+01] [ 5.79556026e-03 -1.29188557e-04 9.99983197e-01 1.43277371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.79999999999998 meters Centerline goodness [0,1] 0.9991000230226669 Centerline is valid? [True, True] Translation: X:81.72, Y:-93.96, Z:1.43 [[ 7.42172231e-01 6.70190117e-01 -5.05827494e-03 8.17190014e+01] [-6.70173603e-01 7.42189462e-01 4.70581220e-03 -9.39581635e+01] [ 6.90798718e-03 -1.02600803e-04 9.99976134e-01 1.43131662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.82999999999998 meters Centerline goodness [0,1] 0.9986731901484368 Centerline is valid? [True, True] Translation: X:81.74, Y:-93.98, Z:1.43 [[ 7.40012012e-01 6.72571034e-01 -5.51610673e-03 8.17421804e+01] [-6.72551481e-01 7.40032565e-01 5.12911459e-03 -9.39761005e+01] [ 7.53179252e-03 -8.57406542e-05 9.99971632e-01 1.43037244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.85999999999999 meters Centerline goodness [0,1] 0.9993766622340425 Centerline is valid? [True, True] Translation: X:81.76, Y:-93.99, Z:1.43 [[ 7.38274997e-01 6.74472909e-01 -6.02685497e-03 8.17648010e+01] [-6.74449655e-01 7.38299593e-01 5.60117658e-03 -9.39943822e+01] [ 8.22746643e-03 -7.03983684e-05 9.99966151e-01 1.43041356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.89 meters Centerline goodness [0,1] 0.9988167400149465 Centerline is valid? [True, True] Translation: X:81.79, Y:-94.01, Z:1.43 [[ 7.36163740e-01 6.76765458e-01 -7.17375790e-03 8.17862433e+01] [-6.76732631e-01 7.36198691e-01 6.66586436e-03 -9.40122170e+01] [ 9.79253791e-03 -5.24515821e-05 9.99952051e-01 1.42661437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.92 meters Centerline goodness [0,1] 0.9989358150404808 Centerline is valid? [True, True] Translation: X:81.81, Y:-94.03, Z:1.43 [[ 7.35135217e-01 6.77885792e-01 -6.86044924e-03 8.18083503e+01] [-6.77855849e-01 7.35167227e-01 6.37152662e-03 -9.40303300e+01] [ 9.36274481e-03 -3.35379652e-05 9.99956168e-01 1.42923007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.95 meters Centerline goodness [0,1] 0.9987333361019975 Centerline is valid? [True, True] Translation: X:81.83, Y:-94.05, Z:1.43 [[ 7.32564188e-01 6.80653328e-01 -7.79469466e-03 8.18299450e+01] [-6.80614844e-01 7.32605656e-01 7.23788703e-03 -9.40481333e+01] [ 1.06369293e-02 2.96805517e-06 9.99943426e-01 1.42625211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.98 meters Centerline goodness [0,1] 0.9988558352402745 Centerline is valid? [True, True] Translation: X:81.85, Y:-94.07, Z:1.43 [[ 7.31875376e-01 6.81407172e-01 -6.53451860e-03 8.18515461e+01] [-6.81380180e-01 7.31904547e-01 6.06493987e-03 -9.40679151e+01] [ 8.91533740e-03 1.37113137e-05 9.99960258e-01 1.42905476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.01 meters Centerline goodness [0,1] 0.9992322377158035 Centerline is valid? [True, True] Translation: X:81.87, Y:-94.09, Z:1.43 [[ 7.31266531e-01 6.82063920e-01 -6.17000690e-03 8.18712549e+01] [-6.82039898e-01 7.31292560e-01 5.72441463e-03 -9.40864931e+01] [ 8.41649683e-03 2.21180450e-05 9.99964580e-01 1.42965746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.04 meters Centerline goodness [0,1] 0.9993946983928199 Centerline is valid? [True, True] Translation: X:81.89, Y:-94.11, Z:1.43 [[ 7.30850034e-01 6.82514871e-01 -5.62845857e-03 8.18909181e+01] [-6.82494917e-01 7.30871706e-01 5.21905467e-03 -9.41062101e+01] [ 7.67576354e-03 2.70480803e-05 9.99970541e-01 1.43068294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.07 meters Centerline goodness [0,1] 0.9991719626555158 Centerline is valid? [True, True] Translation: X:81.91, Y:-94.13, Z:1.43 [[ 7.30664831e-01 6.82719663e-01 -4.77143786e-03 8.19106742e+01] [-6.82705343e-01 7.30680410e-01 4.42191668e-03 -9.41264786e+01] [ 6.50532563e-03 2.65471112e-05 9.99978840e-01 1.43089953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.1 meters Centerline goodness [0,1] 0.9991719626555158 Centerline is valid? [True, True] Translation: X:81.93, Y:-94.15, Z:1.43 [[ 7.30853939e-01 6.82517209e-01 -4.77266271e-03 8.19308734e+01] [-6.82502894e-01 7.30869522e-01 4.42059464e-03 -9.41450904e+01] [ 6.50532563e-03 2.65471090e-05 9.99978840e-01 1.43090043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.13 meters Centerline goodness [0,1] 0.9993117831074035 Centerline is valid? [True, True] Translation: X:81.95, Y:-94.17, Z:1.43 [[ 7.31282321e-01 6.82064527e-01 -3.76137373e-03 8.19482800e+01] [-6.82055633e-01 7.31291994e-01 3.48330081e-03 -9.41673340e+01] [ 5.12649842e-03 1.81898422e-05 9.99986859e-01 1.43226189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.16 meters Centerline goodness [0,1] 0.9993949509701648 Centerline is valid? [True, True] Translation: X:81.97, Y:-94.19, Z:1.43 [[ 7.31904049e-01 6.81392562e-01 -4.54296313e-03 8.19667630e+01] [-6.81379589e-01 7.31918148e-01 4.20479166e-03 -9.41888468e+01] [ 6.19019093e-03 1.79783071e-05 9.99980840e-01 1.42892188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.19 meters Centerline goodness [0,1] 0.9996055472512871 Centerline is valid? [True, True] Translation: X:81.98, Y:-94.21, Z:1.43 [[ 7.33553813e-01 6.79622612e-01 -3.45096469e-03 8.19845597e+01] [-6.79615109e-01 7.33561930e-01 3.19352873e-03 -9.42099323e+01] [ 4.70189066e-03 2.70257190e-06 9.99988946e-01 1.43252721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.22 meters Centerline goodness [0,1] 0.9994593245716187 Centerline is valid? [True, True] Translation: X:82.00, Y:-94.23, Z:1.43 [[ 7.35172214e-01 6.77870963e-01 -3.57381817e-03 8.20027640e+01] [-6.77862904e-01 7.35180901e-01 3.30544818e-03 -9.42321454e+01] [ 4.86807020e-03 -7.51489014e-06 9.99988151e-01 1.43208152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.25 meters Centerline goodness [0,1] 0.9996663956131023 Centerline is valid? [True, True] Translation: X:82.02, Y:-94.26, Z:1.43 [[ 7.36696774e-01 6.76208412e-01 -4.47740293e-03 8.20206980e+01] [-6.76195743e-01 7.36710379e-01 4.13924492e-03 -9.42551804e+01] [ 6.09754144e-03 -2.17675793e-05 9.99981410e-01 1.42951476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.28 meters Centerline goodness [0,1] 0.9998540389507485 Centerline is valid? [True, True] Translation: X:82.04, Y:-94.28, Z:1.43 [[ 7.40359773e-01 6.72197038e-01 -4.30685684e-03 8.20358168e+01] [-6.72185259e-01 7.40372298e-01 3.97971926e-03 -9.42818995e+01] [ 5.86383299e-03 -5.14183763e-05 9.99982806e-01 1.43159119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.31 meters Centerline goodness [0,1] 0.9996023440770196 Centerline is valid? [True, True] Translation: X:82.06, Y:-94.30, Z:1.43 [[ 7.41957172e-01 6.70422166e-01 -5.80293611e-03 8.20553207e+01] [-6.70400749e-01 7.41979859e-01 5.35943675e-03 -9.43038079e+01] [ 7.89874691e-03 -8.61798207e-05 9.99968801e-01 1.42893443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.34 meters Centerline goodness [0,1] 0.9998117076028286 Centerline is valid? [True, True] Translation: X:82.07, Y:-94.33, Z:1.43 [[ 7.43881621e-01 6.68288166e-01 -5.57328482e-03 8.20741900e+01] [-6.68268371e-01 7.43902491e-01 5.14471891e-03 -9.43261501e+01] [ 7.58413522e-03 -1.02611878e-04 9.99971235e-01 1.43131580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.37 meters Centerline goodness [0,1] 0.9997075718015666 Centerline is valid? [True, True] Translation: X:82.09, Y:-94.35, Z:1.43 [[ 7.45395328e-01 6.66594860e-01 -6.09086035e-03 8.20923749e+01] [-6.66571173e-01 7.45420201e-01 5.62096866e-03 -9.43482672e+01] [ 8.28715916e-03 -1.29851843e-04 9.99965652e-01 1.43077915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.4 meters Centerline goodness [0,1] 0.9997708237843244 Centerline is valid? [True, True] Translation: X:82.11, Y:-94.37, Z:1.43 [[ 7.48284410e-01 6.63352024e-01 -5.87652032e-03 8.21083412e+01] [-6.63329897e-01 7.48307468e-01 5.42041464e-03 -9.43731056e+01] [ 7.99308706e-03 -1.57940154e-04 9.99968042e-01 1.43171512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.43 meters Centerline goodness [0,1] 0.9997496766656931 Centerline is valid? [True, True] Translation: X:82.13, Y:-94.40, Z:1.43 [[ 7.49315388e-01 6.62183270e-01 -6.30604135e-03 8.21269652e+01] [-6.62157774e-01 7.49341901e-01 5.81364307e-03 -9.43956782e+01] [ 8.57507819e-03 -1.80657911e-04 9.99963217e-01 1.42992020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.45999999999998 meters Centerline goodness [0,1] 0.9997501561524047 Centerline is valid? [True, True] Translation: X:82.15, Y:-94.42, Z:1.43 [[ 7.50429757e-01 6.60925370e-01 -5.73023440e-03 8.21457557e+01] [-6.60904301e-01 7.50451614e-01 5.28013245e-03 -9.44179223e+01] [ 7.79003714e-03 -1.75231953e-04 9.99969642e-01 1.43178182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.48999999999998 meters Centerline goodness [0,1] 0.9999162514132574 Centerline is valid? [True, True] Translation: X:82.16, Y:-94.44, Z:1.43 [[ 7.51426875e-01 6.59791937e-01 -5.67906646e-03 8.21640492e+01] [-6.59771231e-01 7.51448313e-01 5.23031394e-03 -9.44410117e+01] [ 7.71844388e-03 -1.83313791e-04 9.99970196e-01 1.43178904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.51999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.18, Y:-94.46, Z:1.43 [[ 7.51552414e-01 6.59652161e-01 -5.29109879e-03 8.21818811e+01] [-6.59634198e-01 7.51571019e-01 4.87108977e-03 -9.44608103e+01] [ 7.18986140e-03 -1.70689563e-04 9.99974138e-01 1.43369358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.54999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.20, Y:-94.48, Z:1.43 [[ 7.51310335e-01 6.59926144e-01 -5.50137599e-03 8.22012233e+01] [-6.59906742e-01 7.51330456e-01 5.06327700e-03 -9.44824314e+01] [ 7.47474020e-03 -1.73697237e-04 9.99972049e-01 1.43333151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.57999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.22, Y:-94.50, Z:1.43 [[ 7.50889224e-01 6.60406460e-01 -5.35545109e-03 8.22217912e+01] [-6.60388104e-01 7.50908304e-01 4.92647513e-03 -9.45030272e+01] [ 7.27492870e-03 -1.62560895e-04 9.99973524e-01 1.43338761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.60999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.24, Y:-94.52, Z:1.43 [[ 7.50355500e-01 6.61013300e-01 -5.29527191e-03 8.22423511e+01] [-6.60995388e-01 7.50374169e-01 4.86861065e-03 -9.45226994e+01] [ 7.19165165e-03 -1.53038471e-04 9.99974128e-01 1.43405662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.64 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.26, Y:-94.54, Z:1.43 [[ 7.49252795e-01 6.62265084e-01 -5.02062961e-03 8.22616468e+01] [-6.62249019e-01 7.49269605e-01 4.61485630e-03 -9.45432682e+01] [ 6.81806336e-03 -1.32786955e-04 9.99976748e-01 1.43404897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.67 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.28, Y:-94.56, Z:1.44 [[ 7.45758194e-01 6.66202833e-01 -4.30127217e-03 8.22827961e+01] [-6.66191110e-01 7.45770594e-01 3.95305754e-03 -9.45626893e+01] [ 5.84130043e-03 -8.25557696e-05 9.99982936e-01 1.43528426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.7 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.30, Y:-94.58, Z:1.44 [[ 7.43881532e-01 6.68298457e-01 -4.17598502e-03 8.23041789e+01] [-6.68287450e-01 7.43893250e-01 3.83611946e-03 -9.45827300e+01] [ 5.67015979e-03 -6.28600328e-05 9.99983923e-01 1.43556565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.73 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.32, Y:-94.60, Z:1.44 [[ 7.41833867e-01 6.70571717e-01 -4.01063790e-03 8.23245147e+01] [-6.70561601e-01 7.41844707e-01 3.68356332e-03 -9.46019475e+01] [ 5.44536388e-03 -4.32122501e-05 9.99985173e-01 1.43555520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.76 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.35, Y:-94.62, Z:1.44 [[ 7.40026493e-01 6.72567751e-01 -3.66207653e-03 8.23457554e+01] [-6.72559350e-01 7.40035553e-01 3.36175102e-03 -9.46209696e+01] [ 4.97107215e-03 -2.48210095e-05 9.99987644e-01 1.43593013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.79 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.37, Y:-94.64, Z:1.44 [[ 7.36029233e-01 6.76943464e-01 -2.91798056e-03 8.23660567e+01] [-6.76938167e-01 7.36035017e-01 2.67796252e-03 -9.46406362e+01] [ 3.96056510e-03 4.23371478e-06 9.99992157e-01 1.43618262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.82 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.39, Y:-94.66, Z:1.44 [[ 7.34525878e-01 6.78577102e-01 -2.20249544e-03 8.23860773e+01] [-6.78574095e-01 7.34529181e-01 2.02019014e-03 -9.46598695e+01] [ 2.98865194e-03 1.06744126e-05 9.99995534e-01 1.43636925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.85 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.41, Y:-94.68, Z:1.44 [[ 7.32825932e-01 6.80412526e-01 -2.22440353e-03 8.24069616e+01] [-6.80409470e-01 7.32829308e-01 2.03927054e-03 -9.46801329e+01] [ 3.01765332e-03 1.90748944e-05 9.99995447e-01 1.43619468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.88 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.43, Y:-94.70, Z:1.44 [[ 7.31161505e-01 6.82200652e-01 -2.26343959e-03 8.24276414e+01] [-6.82197500e-01 7.31165008e-01 2.07403262e-03 -9.47001264e+01] [ 3.06985423e-03 2.76600164e-05 9.99995288e-01 1.43515043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.91 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.45, Y:-94.72, Z:1.43 [[ 7.28731977e-01 6.84789896e-01 -3.53611822e-03 8.24460681e+01] [-6.84782241e-01 7.28740553e-01 3.23857965e-03 -9.47222753e+01] [ 4.79465937e-03 6.14144113e-05 9.99988504e-01 1.43297835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.94 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.47, Y:-94.74, Z:1.43 [[ 7.28003323e-01 6.85561263e-01 -4.11284924e-03 8.24655541e+01] [-6.85550930e-01 7.28014937e-01 3.76488845e-03 -9.47438535e+01] [ 5.57527736e-03 7.87163129e-05 9.99984455e-01 1.43163796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.97 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.48, Y:-94.77, Z:1.43 [[ 7.27693876e-01 6.85884785e-01 -4.86672971e-03 8.24835792e+01] [-6.85870338e-01 7.27710143e-01 4.45269348e-03 -9.47661938e+01] [ 6.59560328e-03 9.77477745e-05 9.99978244e-01 1.43073856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.0 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.50, Y:-94.79, Z:1.43 [[ 7.27940210e-01 6.85620899e-01 -5.19941499e-03 8.25010574e+01] [-6.85604417e-01 7.27958771e-01 4.75516775e-03 -9.47877535e+01] [ 7.04520214e-03 1.03264073e-04 9.99975177e-01 1.42977360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.03 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.52, Y:-94.81, Z:1.43 [[ 7.28547650e-01 6.84973819e-01 -5.40266934e-03 8.25187591e+01] [-6.84956014e-01 7.28567675e-01 4.93971602e-03 -9.48099733e+01] [ 7.31978638e-03 1.01772354e-04 9.99973205e-01 1.42936021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.06 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.53, Y:-94.84, Z:1.43 [[ 7.30202387e-01 6.83210857e-01 -5.23438639e-03 8.25316569e+01] [-6.83194116e-01 7.30221144e-01 4.78349363e-03 -9.48384767e+01] [ 7.09039439e-03 8.31835134e-05 9.99974859e-01 1.43019065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.09 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.55, Y:-94.86, Z:1.43 [[ 7.31235810e-01 6.82108097e-01 -4.76801554e-03 8.25484078e+01] [-6.82094197e-01 7.31251352e-01 4.35508601e-03 -9.48626738e+01] [ 6.45725724e-03 6.76408854e-05 9.99979149e-01 1.43121666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.12 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.57, Y:-94.89, Z:1.43 [[ 7.32592633e-01 6.80652013e-01 -4.56862301e-03 8.25659839e+01] [-6.80639236e-01 7.32606876e-01 4.17085475e-03 -9.48866507e+01] [ 6.18590531e-03 5.40466158e-05 9.99980866e-01 1.43159772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.15 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.58, Y:-94.91, Z:1.43 [[ 7.33747075e-01 6.79407327e-01 -4.57304461e-03 8.25826129e+01] [-6.79394506e-01 7.33761325e-01 4.17413762e-03 -9.49091217e+01] [ 6.19146295e-03 4.41401085e-05 9.99980832e-01 1.43173234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.18 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.60, Y:-94.94, Z:1.43 [[ 7.35729517e-01 6.77260997e-01 -4.42947788e-03 8.25954397e+01] [-6.77248941e-01 7.35742850e-01 4.04109079e-03 -9.49373097e+01] [ 5.99582986e-03 2.67094240e-05 9.99982025e-01 1.43252727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.20999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.61, Y:-94.96, Z:1.43 [[ 7.36553128e-01 6.76365336e-01 -4.40699222e-03 8.26123993e+01] [-6.76353399e-01 7.36566312e-01 4.01842747e-03 -9.49610018e+01] [ 5.96396705e-03 2.08988447e-05 9.99982215e-01 1.43269393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.23999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.63, Y:-94.98, Z:1.43 [[ 7.37449828e-01 6.75389740e-01 -4.05595242e-03 8.26288798e+01] [-6.75379625e-01 7.37460982e-01 3.69624307e-03 -9.49839944e+01] [ 5.48751130e-03 1.35138146e-05 9.99984943e-01 1.43267978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.26999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.64, Y:-95.01, Z:1.43 [[ 7.38871492e-01 6.73834308e-01 -4.03035960e-03 8.26412942e+01] [-6.73824309e-01 7.38882484e-01 3.67084146e-03 -9.50116416e+01] [ 5.45150103e-03 3.47416537e-06 9.99985140e-01 1.43338952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.29999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.66, Y:-95.03, Z:1.43 [[ 7.39556364e-01 6.73083657e-01 -3.84388139e-03 8.26578429e+01] [-6.73074556e-01 7.39566353e-01 3.50013163e-03 -9.50341788e+01] [ 5.19868674e-03 -1.32585818e-06 9.99986487e-01 1.43402343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.32999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.67, Y:-95.06, Z:1.43 [[ 7.40284716e-01 6.72284940e-01 -3.39102231e-03 8.26749342e+01] [-6.72277857e-01 7.40292483e-01 3.08599318e-03 -9.50568087e+01] [ 4.58501506e-03 -4.80437656e-06 9.99989489e-01 1.43493809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.35999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.69, Y:-95.08, Z:1.44 [[ 7.41157480e-01 6.71325340e-01 -2.80691466e-03 8.26918898e+01] [-6.71320485e-01 7.41162795e-01 2.55296251e-03 -9.50791567e+01] [ 3.79424913e-03 -7.80794746e-06 9.99992802e-01 1.43606004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.39 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.71, Y:-95.11, Z:1.44 [[ 7.42286572e-01 6.70078480e-01 -2.34008842e-03 8.27064906e+01] [-6.70075104e-01 7.42290260e-01 2.12715216e-03 -9.51052222e+01] [ 3.16238372e-03 -1.09214962e-05 9.99995000e-01 1.43680577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.42 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.72, Y:-95.13, Z:1.44 [[ 7.42992558e-01 6.69296696e-01 -1.99765644e-03 8.27243166e+01] [-6.69294236e-01 7.42995244e-01 1.81484303e-03 -9.51276022e+01] [ 2.69891768e-03 -1.13949243e-05 9.99996358e-01 1.43693653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.45 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.74, Y:-95.15, Z:1.44 [[ 7.43550348e-01 6.68676355e-01 -2.19391353e-03 8.27416582e+01] [-6.68673388e-01 7.43553584e-01 1.99199931e-03 -9.51496717e+01] [ 2.96329510e-03 -1.41401868e-05 9.99995609e-01 1.43732084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.48 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.76, Y:-95.17, Z:1.44 [[ 7.44138552e-01 6.68021526e-01 -2.24879700e-03 8.27589903e+01] [-6.68018407e-01 7.44141949e-01 2.04146125e-03 -9.51714308e+01] [ 3.03716424e-03 -1.68922275e-05 9.99995388e-01 1.43685241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.51 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.78, Y:-95.19, Z:1.44 [[ 7.44584405e-01 6.67524428e-01 -2.28087376e-03 8.27778111e+01] [-6.67521218e-01 7.44587898e-01 2.07027541e-03 -9.51941164e+01] [ 3.08027041e-03 -1.89631530e-05 9.99995256e-01 1.43692318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.54 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.79, Y:-95.22, Z:1.44 [[ 7.45066175e-01 6.66985874e-01 -2.49781681e-03 8.27946005e+01] [-6.66982023e-01 7.45070361e-01 2.26677463e-03 -9.52165324e+01] [ 3.37295593e-03 -2.28981972e-05 9.99994311e-01 1.43643705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.81, Y:-95.24, Z:1.44 [[ 7.46495201e-01 6.65384195e-01 -2.96442245e-03 8.28105636e+01] [-6.65378759e-01 7.46501086e-01 2.68983093e-03 -9.52414493e+01] [ 4.00271557e-03 -3.54821538e-05 9.99991988e-01 1.43559702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.6 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.83, Y:-95.26, Z:1.44 [[ 7.47147205e-01 6.64649484e-01 -3.48101141e-03 8.28297299e+01] [-6.64641983e-01 7.47155312e-01 3.15811369e-03 -9.52639442e+01] [ 4.69989480e-03 -4.59494848e-05 9.99988954e-01 1.43511267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.63 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.85, Y:-95.29, Z:1.43 [[ 7.48179107e-01 6.63485730e-01 -3.83547451e-03 8.28483029e+01] [-6.63476610e-01 7.48188935e-01 3.47919607e-03 -9.52858404e+01] [ 5.17805654e-03 -5.83141807e-05 9.99986592e-01 1.43458289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.66 meters Centerline goodness [0,1] 0.9999582245430809 Centerline is valid? [True, True] Translation: X:82.87, Y:-95.31, Z:1.43 [[ 7.49266680e-01 6.62251789e-01 -4.69155988e-03 8.28669871e+01] [-6.62238123e-01 7.49281364e-01 4.25514818e-03 -9.53077828e+01] [ 6.33327788e-03 -8.13109384e-05 9.99979941e-01 1.43282988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.69 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.88, Y:-95.33, Z:1.43 [[ 7.51052719e-01 6.60222951e-01 -5.04652369e-03 8.28840633e+01] [-6.60207096e-01 7.51069666e-01 4.57675656e-03 -9.53337169e+01] [ 6.81197058e-03 -1.05634709e-04 9.99976793e-01 1.43474084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.72 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.90, Y:-95.36, Z:1.43 [[ 7.52110997e-01 6.59017917e-01 -4.94296364e-03 8.29027870e+01] [-6.59002681e-01 7.52127231e-01 4.48267344e-03 -9.53573620e+01] [ 6.67189968e-03 -1.14041701e-04 9.99977736e-01 1.43445056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.92, Y:-95.38, Z:1.44 [[ 7.53235420e-01 6.57733031e-01 -4.86429149e-03 8.29244268e+01] [-6.57718248e-01 7.53251116e-01 4.41164525e-03 -9.53806354e+01] [ 6.56571780e-03 -1.23674195e-04 9.99978438e-01 1.43514976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.78 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.94, Y:-95.40, Z:1.44 [[ 7.54205386e-01 6.56625911e-01 -4.08025177e-03 8.29447985e+01] [-6.56615483e-01 7.54216415e-01 3.70229009e-03 -9.54046856e+01] [ 5.50841246e-03 -1.13130640e-04 9.99984822e-01 1.43532602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.81 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.96, Y:-95.43, Z:1.44 [[ 7.56193713e-01 6.54340283e-01 -3.14040025e-03 8.29616912e+01] [-6.54334087e-01 7.56200227e-01 2.84940720e-03 -9.54294988e+01] [ 4.23925330e-03 -9.98328794e-05 9.99991009e-01 1.43579057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.84 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.99, Y:-95.45, Z:1.44 [[ 7.56549895e-01 6.53930314e-01 -2.72037818e-03 8.29850484e+01] [-6.53925657e-01 7.56554781e-01 2.46954527e-03 -9.54510154e+01] [ 3.67302564e-03 -8.94091234e-05 9.99993250e-01 1.43618929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.87 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.01, Y:-95.47, Z:1.44 [[ 7.56755597e-01 6.53690392e-01 -3.13656671e-03 8.30069701e+01] [-6.53684192e-01 7.56762090e-01 2.84879717e-03 -9.54741295e+01] [ 4.23586611e-03 -1.05519126e-04 9.99991023e-01 1.43580152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.9 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.03, Y:-95.50, Z:1.43 [[ 7.56541727e-01 6.53937324e-01 -3.25448456e-03 8.30286256e+01] [-6.53930645e-01 7.56548719e-01 2.95748308e-03 -9.54975479e+01] [ 4.39618469e-03 -1.09252170e-04 9.99990331e-01 1.43484462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.93 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.05, Y:-95.52, Z:1.43 [[ 7.56213872e-01 6.54315349e-01 -3.46463766e-03 8.30497962e+01] [-6.54307784e-01 7.56221800e-01 3.14847043e-03 -9.55197574e+01] [ 4.68012705e-03 -1.13977628e-04 9.99989042e-01 1.43397654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.95999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.07, Y:-95.54, Z:1.43 [[ 7.55837734e-01 6.54749586e-01 -3.50715808e-03 8.30720024e+01] [-6.54741838e-01 7.55845862e-01 3.18711063e-03 -9.55404026e+01] [ 4.73763029e-03 -1.12655350e-04 9.99988771e-01 1.43377123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.98999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.09, Y:-95.56, Z:1.43 [[ 7.55169553e-01 6.55521164e-01 -3.30924018e-03 8.30928365e+01] [-6.55514275e-01 7.55176796e-01 3.00694401e-03 -9.55599560e+01] [ 4.47017683e-03 -1.01498381e-04 9.99990004e-01 1.43343125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.01999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.11, Y:-95.58, Z:1.43 [[ 7.55214646e-01 6.55469210e-01 -3.30944666e-03 8.31138598e+01] [-6.55462322e-01 7.55221891e-01 3.00671676e-03 -9.55789766e+01] [ 4.47017682e-03 -1.01498945e-04 9.99990004e-01 1.43343218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.04999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.13, Y:-95.60, Z:1.43 [[ 7.54382510e-01 6.56426546e-01 -3.34940725e-03 8.31346038e+01] [-6.56419502e-01 7.54389939e-01 3.04250082e-03 -9.55975364e+01] [ 4.52393743e-03 -9.65931656e-05 9.99989762e-01 1.43309194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.07999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.16, Y:-95.62, Z:1.43 [[ 7.52024035e-01 6.59125868e-01 -3.59738058e-03 8.31594177e+01] [-6.59117765e-01 7.52032634e-01 3.26935528e-03 -9.56177321e+01] [ 4.86026423e-03 -8.75363027e-05 9.99988185e-01 1.43353082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.10999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.18, Y:-95.64, Z:1.43 [[ 7.50767717e-01 6.60558010e-01 -3.30920791e-03 8.31844052e+01] [-6.60551165e-01 7.50775006e-01 3.00801060e-03 -9.56388154e+01] [ 4.47143608e-03 -7.24161071e-05 9.99990000e-01 1.43410534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.14 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.21, Y:-95.66, Z:1.43 [[ 7.49305413e-01 6.62217022e-01 -3.16432279e-03 8.32088896e+01] [-6.62210772e-01 7.49312092e-01 2.87775834e-03 -9.56599425e+01] [ 4.27676589e-03 -6.08712630e-05 9.99990853e-01 1.43415285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.17 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.23, Y:-95.68, Z:1.43 [[ 7.47782088e-01 6.63935854e-01 -3.33629531e-03 8.32338390e+01] [-6.63928921e-01 7.47789528e-01 3.03471418e-03 -9.56809650e+01] [ 4.50970225e-03 -5.42419569e-05 9.99989830e-01 1.43430043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.2 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.26, Y:-95.70, Z:1.43 [[ 7.46169009e-01 6.65748138e-01 -3.35063610e-03 8.32583502e+01] [-6.65741156e-01 7.46176531e-01 3.04930020e-03 -9.57018949e+01] [ 4.53023196e-03 -4.46369574e-05 9.99989737e-01 1.43400339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.23 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.28, Y:-95.72, Z:1.43 [[ 7.43713438e-01 6.68490962e-01 -3.18674050e-03 8.32826361e+01] [-6.68484665e-01 7.43720265e-01 2.90160783e-03 -9.57228109e+01] [ 4.30974210e-03 -2.76775803e-05 9.99990713e-01 1.43413150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.26 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.31, Y:-95.74, Z:1.43 [[ 7.43079826e-01 6.69195840e-01 -3.04953104e-03 8.33057687e+01] [-6.69190079e-01 7.43086083e-01 2.77688381e-03 -9.57437404e+01] [ 4.12434317e-03 -2.27304196e-05 9.99991495e-01 1.43401196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.29 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.33, Y:-95.76, Z:1.43 [[ 7.42665718e-01 6.69655545e-01 -3.01359833e-03 8.33265645e+01] [-6.69649924e-01 7.42671832e-01 2.74387413e-03 -9.57631229e+01] [ 4.07556512e-03 -1.97253582e-05 9.99991695e-01 1.43408190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.32 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.35, Y:-95.78, Z:1.43 [[ 7.42689254e-01 6.69628208e-01 -3.27634213e-03 8.33470619e+01] [-6.69621566e-01 7.42696481e-01 2.98257600e-03 -9.57824696e+01] [ 4.43054479e-03 -2.12177947e-05 9.99990185e-01 1.43408210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.35 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.37, Y:-95.80, Z:1.43 [[ 7.43901427e-01 6.68276624e-01 -4.12568741e-03 8.33666254e+01] [-6.68266074e-01 7.43912867e-01 3.75510903e-03 -9.58029980e+01] [ 5.57860353e-03 -3.63740340e-05 9.99984439e-01 1.43323827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.38 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.39, Y:-95.83, Z:1.43 [[ 7.44772435e-01 6.67304983e-01 -4.25200730e-03 8.33899305e+01] [-6.67293749e-01 7.44784572e-01 3.87232850e-03 -9.58257463e+01] [ 5.75085353e-03 -4.66656392e-05 9.99983463e-01 1.43359523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.41 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.41, Y:-95.85, Z:1.43 [[ 7.46147269e-01 6.65765141e-01 -4.58576056e-03 8.34109986e+01] [-6.65752038e-01 7.46161358e-01 4.17744451e-03 -9.58483582e+01] [ 6.20291426e-03 -6.40093757e-05 9.99980760e-01 1.43312298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.44 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.43, Y:-95.87, Z:1.43 [[ 7.47584994e-01 6.64152562e-01 -4.24872304e-03 8.34331570e+01] [-6.64141278e-01 7.47597064e-01 3.87220829e-03 -9.58710635e+01] [ 5.74806992e-03 -7.30524586e-05 9.99983477e-01 1.43366108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.47 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.45, Y:-95.90, Z:1.44 [[ 7.51100674e-01 6.60178480e-01 -3.48599637e-03 8.34540211e+01] [-6.60170839e-01 7.51108758e-01 3.17753044e-03 -9.58957530e+01] [ 4.71609963e-03 -8.52921065e-05 9.99988876e-01 1.43564757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.48, Y:-95.92, Z:1.44 [[ 7.53007305e-01 6.58004663e-01 -3.14041273e-03 8.34763504e+01] [-6.57998439e-01 7.53013848e-01 2.86327254e-03 -9.59182729e+01] [ 4.24882096e-03 -8.96784633e-05 9.99990970e-01 1.43641044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.53 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.50, Y:-95.94, Z:1.44 [[ 7.55024272e-01 6.55688288e-01 -3.34931620e-03 8.34982203e+01] [-6.55681180e-01 7.55031693e-01 3.05516092e-03 -9.59412140e+01] [ 4.53207311e-03 -1.10637050e-04 9.99989724e-01 1.43660135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.52, Y:-95.96, Z:1.44 [[ 7.59374135e-01 6.50635863e-01 -4.88851773e-03 8.35183807e+01] [-6.50620614e-01 7.59389842e-01 4.45935425e-03 -9.59648590e+01] [ 6.61370651e-03 -2.05747872e-04 9.99978108e-01 1.43526917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.59 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.54, Y:-95.99, Z:1.44 [[ 7.61307473e-01 6.48368011e-01 -5.46392308e-03 8.35414222e+01] [-6.48348885e-01 7.61327037e-01 4.98656516e-03 -9.59865845e+01] [ 7.39296170e-03 -2.53780882e-04 9.99972639e-01 1.43501779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.62 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.56, Y:-96.01, Z:1.43 [[ 7.63043507e-01 6.46321711e-01 -5.73170886e-03 8.35616011e+01] [-6.46300596e-01 7.63064979e-01 5.23226719e-03 -9.60099771e+01] [ 7.75539419e-03 -2.88040654e-04 9.99969885e-01 1.43397774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.65 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.59, Y:-96.03, Z:1.43 [[ 7.64639669e-01 6.44430900e-01 -5.91532005e-03 8.35852969e+01] [-6.44408348e-01 7.64662483e-01 5.40063463e-03 -9.60317450e+01] [ 8.00355916e-03 -3.17657856e-04 9.99967921e-01 1.43411706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.68 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.61, Y:-96.05, Z:1.43 [[ 7.65607279e-01 6.43280579e-01 -5.96588954e-03 8.36108187e+01] [-6.43257593e-01 7.65630450e-01 5.44822152e-03 -9.60508762e+01] [ 8.07240179e-03 -3.33594308e-04 9.99967362e-01 1.43493666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.70999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.63, Y:-96.07, Z:1.44 [[ 7.65949394e-01 6.42881117e-01 -5.03930138e-03 8.36343771e+01] [-6.42864694e-01 7.65965918e-01 4.60418221e-03 -9.60714734e+01] [ 6.81987491e-03 -2.86981637e-04 9.99976703e-01 1.43579291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.73999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.66, Y:-96.09, Z:1.44 [[ 7.65265185e-01 6.43696642e-01 -4.88154937e-03 8.36577482e+01] [-6.43681234e-01 7.65280706e-01 4.46210762e-03 -9.60919862e+01] [ 6.60799924e-03 -2.72533891e-04 9.99978130e-01 1.43583894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.76999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.68, Y:-96.11, Z:1.44 [[ 7.64040246e-01 6.45153515e-01 -4.40971926e-03 8.36837018e+01] [-6.45140953e-01 7.64052935e-01 4.03282443e-03 -9.61112080e+01] [ 5.97104980e-03 -2.36349682e-04 9.99982145e-01 1.43624644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.79999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.71, Y:-96.13, Z:1.44 [[ 7.62523454e-01 6.46946180e-01 -4.31536681e-03 8.37095685e+01] [-6.46934168e-01 7.62535633e-01 3.94851581e-03 -9.61302332e+01] [ 5.84509818e-03 -2.19077674e-04 9.99982893e-01 1.43638096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.82999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.74, Y:-96.15, Z:1.44 [[ 7.59623471e-01 6.50353127e-01 -3.60456392e-03 8.37370460e+01] [-6.50344782e-01 7.59632006e-01 3.29849383e-03 -9.61472481e+01] [ 4.88332790e-03 -1.61403996e-04 9.99988063e-01 1.43645237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.85999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.76, Y:-96.17, Z:1.44 [[ 7.58171436e-01 6.52049111e-01 -2.83381212e-03 8.37635753e+01] [-6.52043960e-01 7.58176722e-01 2.59448338e-03 -9.61662598e+01] [ 3.84026097e-03 -1.19293117e-04 9.99992619e-01 1.43680988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.79, Y:-96.19, Z:1.44 [[ 7.57111499e-01 6.53280513e-01 -2.59808805e-03 8.37874603e+01] [-6.53276187e-01 7.57115949e-01 2.37985484e-03 -9.61871042e+01] [ 3.52176669e-03 -1.04546410e-04 9.99993793e-01 1.43659931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.92 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.82, Y:-96.20, Z:1.44 [[ 7.56082077e-01 6.54472238e-01 -2.44602215e-03 8.38150941e+01] [-6.54468405e-01 7.56086028e-01 2.24170619e-03 -9.62039085e+01] [ 3.31653763e-03 -9.40696565e-05 9.99994496e-01 1.43689235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.95 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.84, Y:-96.22, Z:1.44 [[ 7.55028872e-01 6.55687761e-01 -2.22772438e-03 8.38413410e+01] [-6.55684584e-01 7.55032154e-01 2.04267843e-03 -9.62221427e+01] [ 3.02136279e-03 -8.15966573e-05 9.99995432e-01 1.43620674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.98 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.87, Y:-96.24, Z:1.44 [[ 7.54673989e-01 6.56095978e-01 -2.28872451e-03 8.38651029e+01] [-6.56092624e-01 7.54677454e-01 2.09959274e-03 -9.62421784e+01] [ 3.10478314e-03 -8.28927603e-05 9.99995177e-01 1.43570097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.01 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.89, Y:-96.26, Z:1.44 [[ 7.54258164e-01 6.56572547e-01 -2.66674814e-03 8.38876327e+01] [-6.56567997e-01 7.54262873e-01 2.44613238e-03 -9.62605029e+01] [ 3.61749248e-03 -9.41138327e-05 9.99993452e-01 1.43506874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.04 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.91, Y:-96.28, Z:1.43 [[ 7.53743986e-01 6.57161497e-01 -2.96142098e-03 8.39108325e+01] [-6.57155892e-01 7.53749797e-01 2.71604235e-03 -9.62780191e+01] [ 4.01704892e-03 -1.01085337e-04 9.99991927e-01 1.43466009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.94, Y:-96.29, Z:1.43 [[ 7.51352079e-01 6.59890794e-01 -3.76733658e-03 8.39355155e+01] [-6.59881760e-01 7.51361516e-01 3.45469389e-03 -9.62928615e+01] [ 5.11035242e-03 -1.09694741e-04 9.99986936e-01 1.43339698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.1 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.96, Y:-96.31, Z:1.43 [[ 7.49801899e-01 6.61649136e-01 -4.18728682e-03 8.39588601e+01] [-6.61638006e-01 7.49813583e-01 3.83925385e-03 -9.63096997e+01] [ 5.67992352e-03 -1.08211725e-04 9.99983863e-01 1.43281774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.13 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.98, Y:-96.33, Z:1.43 [[ 7.48032438e-01 6.63648234e-01 -4.30045617e-03 8.39834904e+01] [-6.63636529e-01 7.48044793e-01 3.94258459e-03 -9.63261500e+01] [ 5.83342314e-03 -9.52413527e-05 9.99982981e-01 1.43321019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.16 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.01, Y:-96.34, Z:1.43 [[ 7.44414184e-01 6.67702062e-01 -4.63460563e-03 8.40076955e+01] [-6.67688551e-01 7.44428608e-01 4.24815865e-03 -9.63412265e+01] [ 6.28663730e-03 -6.79164345e-05 9.99980237e-01 1.43243291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.19 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.03, Y:-96.36, Z:1.43 [[ 7.42529849e-01 6.69797526e-01 -4.54945562e-03 8.40308720e+01] [-6.69784550e-01 7.42543784e-01 4.16951700e-03 -9.63586675e+01] [ 6.17090217e-03 -4.88357441e-05 9.99980959e-01 1.43248815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.22 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.05, Y:-96.38, Z:1.43 [[ 7.40927452e-01 6.71571011e-01 -4.34598741e-03 8.40538112e+01] [-6.71559212e-01 7.40940197e-01 3.98108704e-03 -9.63763956e+01] [ 5.89369942e-03 -3.11087977e-05 9.99982632e-01 1.43249007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.25 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.08, Y:-96.39, Z:1.43 [[ 7.39068250e-01 6.73618247e-01 -4.07170629e-03 8.40770271e+01] [-6.73607931e-01 7.39079466e-01 3.72800275e-03 -9.63944368e+01] [ 5.52056519e-03 -1.25148219e-05 9.99984761e-01 1.43255399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.28 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.10, Y:-96.41, Z:1.43 [[ 7.37450816e-01 6.75389104e-01 -3.98138269e-03 8.40989868e+01] [-6.75379278e-01 7.37461564e-01 3.64322852e-03 -9.64118806e+01] [ 5.39671355e-03 2.24152025e-06 9.99985438e-01 1.43287621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.31 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.12, Y:-96.43, Z:1.43 [[ 7.35559834e-01 6.77448504e-01 -3.90566709e-03 8.41202930e+01] [-6.77439081e-01 7.35570203e-01 3.57330490e-03 -9.64293137e+01] [ 5.29362240e-03 1.74719661e-05 9.99985989e-01 1.43288397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.34 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.14, Y:-96.45, Z:1.43 [[ 7.31687035e-01 6.81629677e-01 -3.88157656e-03 8.41420663e+01] [-6.81620431e-01 7.31697329e-01 3.55062449e-03 -9.64474727e+01] [ 5.26035022e-03 4.78159833e-05 9.99986163e-01 1.43285945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.37 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.16, Y:-96.47, Z:1.43 [[ 7.29765233e-01 6.83685614e-01 -4.08472368e-03 8.41632553e+01] [-6.83675418e-01 7.29776662e-01 3.73455340e-03 -9.64665573e+01] [ 5.53419645e-03 6.72779320e-05 9.99984684e-01 1.43284484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.4 meters Centerline goodness [0,1] 0.9998956398321889 Centerline is valid? [True, True] Translation: X:84.18, Y:-96.49, Z:1.43 [[ 7.28152309e-01 6.85400723e-01 -4.47929797e-03 8.41843384e+01] [-6.85388498e-01 7.28166081e-01 4.09454433e-03 -9.64854548e+01] [ 6.06807649e-03 8.86074042e-05 9.99981585e-01 1.42947138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.43 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.20, Y:-96.51, Z:1.43 [[ 7.26342332e-01 6.87324156e-01 -3.51035387e-03 8.42049539e+01] [-6.87316678e-01 7.26350809e-01 3.20718898e-03 -9.65051966e+01] [ 4.75412683e-03 8.32076397e-05 9.99988696e-01 1.43333871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.45999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.23, Y:-96.52, Z:1.43 [[ 7.25143392e-01 6.88592473e-01 -2.73274717e-03 8.42252293e+01] [-6.88587953e-01 7.25148537e-01 2.49605678e-03 -9.65249559e+01] [ 3.70041352e-03 7.17377000e-05 9.99993151e-01 1.43399896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.48999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.24, Y:-96.55, Z:1.44 [[ 7.24117677e-01 6.89674433e-01 -1.66328642e-03 8.42425487e+01] [-6.89672762e-01 7.24119585e-01 1.51895276e-03 -9.65466576e+01] [ 2.25200115e-03 4.72228004e-05 9.99997463e-01 1.43544057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.51999999999998 meters Centerline goodness [0,1] 0.9998329853862213 Centerline is valid? [True, True] Translation: X:84.26, Y:-96.57, Z:1.43 [[ 7.24393340e-01 6.89385110e-01 -1.56845824e-03 8.42608845e+01] [-6.89383623e-01 7.24395036e-01 1.43214666e-03 -9.65688815e+01] [ 2.12348395e-03 4.38319260e-05 9.99997744e-01 1.43133545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.54999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.28, Y:-96.59, Z:1.44 [[ 7.23907434e-01 6.89896329e-01 -1.03993285e-03 8.42797020e+01] [-6.89895677e-01 7.23908181e-01 9.49416958e-04 -9.65911856e+01] [ 1.40781517e-03 3.01551824e-05 9.99999009e-01 1.43614094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.57999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.30, Y:-96.61, Z:1.44 [[ 7.23721764e-01 6.90091315e-01 -8.86510227e-04 8.42985044e+01] [-6.90090841e-01 7.23722306e-01 8.09203083e-04 -9.66119743e+01] [ 1.20001125e-03 2.61347055e-05 9.99999280e-01 1.43642208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.60999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.32, Y:-96.63, Z:1.44 [[ 7.23884795e-01 6.89920283e-01 -8.98186682e-04 8.43164602e+01] [-6.89919797e-01 7.23885351e-01 8.19684042e-04 -9.66335546e+01] [ 1.21570083e-03 2.63199592e-05 9.99999261e-01 1.43649194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.64 meters Centerline goodness [0,1] 0.9999791070346614 Centerline is valid? [True, True] Translation: X:84.33, Y:-96.66, Z:1.44 [[ 7.23882116e-01 6.89923103e-01 -8.90614952e-04 8.43314949e+01] [-6.89922625e-01 7.23882664e-01 8.12596240e-04 -9.66584132e+01] [ 1.20532964e-03 2.62315202e-05 9.99999273e-01 1.43512037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.67 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.35, Y:-96.68, Z:1.44 [[ 7.23631716e-01 6.90185684e-01 -9.27956935e-04 8.43499327e+01] [-6.90185165e-01 7.23632311e-01 8.46512647e-04 -9.66790746e+01] [ 1.25575053e-03 2.78987105e-05 9.99999211e-01 1.43584610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.7 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.37, Y:-96.70, Z:1.44 [[ 7.23461202e-01 6.90364201e-01 -1.07659751e-03 8.43682909e+01] [-6.90363503e-01 7.23462003e-01 9.81966773e-04 -9.67020894e+01] [ 1.45679210e-03 3.28287675e-05 9.99998938e-01 1.43583517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.73 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.38, Y:-96.73, Z:1.44 [[ 7.22746894e-01 6.91110953e-01 -1.60557919e-03 8.43835059e+01] [-6.91109404e-01 7.22748676e-01 1.46424434e-03 -9.67276812e+01] [ 2.17238553e-03 5.13528232e-05 9.99997639e-01 1.43582220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.76 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.40, Y:-96.75, Z:1.44 [[ 7.22390598e-01 6.91483492e-01 -1.55017276e-03 8.44013375e+01] [-6.91482050e-01 7.22392260e-01 1.41351203e-03 -9.67508531e+01] [ 2.09725304e-03 5.08088345e-05 9.99997799e-01 1.43622622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.79 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.42, Y:-96.77, Z:1.44 [[ 7.21997447e-01 6.91893128e-01 -1.89351106e-03 8.44198546e+01] [-6.91890977e-01 7.21999927e-01 1.72633380e-03 -9.67734946e+01] [ 2.56155334e-03 6.36946210e-05 9.99996717e-01 1.43603862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.82 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.44, Y:-96.80, Z:1.44 [[ 7.21801367e-01 6.92096915e-01 -2.15583731e-03 8.44386420e+01] [-6.92094128e-01 7.21804583e-01 1.96535677e-03 -9.67964427e+01] [ 2.91631060e-03 7.34451370e-05 9.99995745e-01 1.43545994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.85 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.46, Y:-96.83, Z:1.43 [[ 7.21782340e-01 6.92114578e-01 -2.76853611e-03 8.44560646e+01] [-6.92109977e-01 7.21787643e-01 2.52536077e-03 -9.68257239e+01] [ 3.74613416e-03 9.33706617e-05 9.99992979e-01 1.43475414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.88 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.48, Y:-96.85, Z:1.43 [[ 7.21880690e-01 6.92010740e-01 -3.06678237e-03 8.44762762e+01] [-6.92005086e-01 7.21887197e-01 2.79904377e-03 -9.68523553e+01] [ 4.15083928e-03 1.01653348e-04 9.99991380e-01 1.43463877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.91 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.50, Y:-96.87, Z:1.43 [[ 7.21679555e-01 6.92220500e-01 -3.06596881e-03 8.45002094e+01] [-6.92214845e-01 7.21686060e-01 2.79993489e-03 -9.68742906e+01] [ 4.15083928e-03 1.01653355e-04 9.99991380e-01 1.43463984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.94 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.52, Y:-96.90, Z:1.43 [[ 7.22000676e-01 6.91883078e-01 -3.58183006e-03 8.45202308e+01] [-6.91875348e-01 7.22009552e-01 3.27270459e-03 -9.69005770e+01] [ 4.85044444e-03 1.15284995e-04 9.99988230e-01 1.43429668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.97 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.54, Y:-96.93, Z:1.43 [[ 7.22436953e-01 6.91428335e-01 -3.42152491e-03 8.45387077e+01] [-6.91421268e-01 7.22445048e-01 3.12787167e-03 -9.69276489e+01] [ 4.63456283e-03 1.06025013e-04 9.99989255e-01 1.43462983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.0 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.56, Y:-96.95, Z:1.43 [[ 7.23156441e-01 6.90673788e-01 -3.80521915e-03 8.45585456e+01] [-6.90665028e-01 7.23166444e-01 3.48031772e-03 -9.69516615e+01] [ 5.15557102e-03 1.11317611e-04 9.99986704e-01 1.43393058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.03 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.58, Y:-96.98, Z:1.43 [[ 7.23934729e-01 6.89854781e-01 -4.34631119e-03 8.45779306e+01] [-6.89843331e-01 7.23947766e-01 3.97634009e-03 -9.69770733e+01] [ 5.88959949e-03 1.19663107e-04 9.99982649e-01 1.43332615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.06 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.59, Y:-97.01, Z:1.43 [[ 7.25187003e-01 6.88537737e-01 -4.42677177e-03 8.45921604e+01] [-6.88525822e-01 7.25200505e-01 4.05203187e-03 -9.70097041e+01] [ 6.00027398e-03 1.09465827e-04 9.99981992e-01 1.43400856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.09 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.61, Y:-97.03, Z:1.43 [[ 7.25630651e-01 6.88070392e-01 -4.39250921e-03 8.46112067e+01] [-6.88058641e-01 7.25643938e-01 4.02257473e-03 -9.70348442e+01] [ 5.95521226e-03 1.03400397e-04 9.99982262e-01 1.43406715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.12 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.63, Y:-97.06, Z:1.43 [[ 7.25684315e-01 6.88015001e-01 -4.19908774e-03 8.46314535e+01] [-6.88004249e-01 7.25696458e-01 3.84768143e-03 -9.70617418e+01] [ 5.69452564e-03 9.67881484e-05 9.99983781e-01 1.43452976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.15 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.65, Y:-97.09, Z:1.43 [[ 7.25689278e-01 6.88010577e-01 -4.06430445e-03 8.46510896e+01] [-6.88000493e-01 7.25700653e-01 3.72619646e-03 -9.70868893e+01] [ 5.51313097e-03 9.21826458e-05 9.99984798e-01 1.43480946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.18 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.67, Y:-97.12, Z:1.44 [[ 7.25228179e-01 6.88500687e-01 -3.30036602e-03 8.46682926e+01] [-6.88494035e-01 7.25235685e-01 3.02743033e-03 -9.71152997e+01] [ 4.47793107e-03 7.67045279e-05 9.99989971e-01 1.43630446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.20999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.69, Y:-97.14, Z:1.44 [[ 7.24472670e-01 6.89297848e-01 -2.79761668e-03 8.46885362e+01] [-6.89293069e-01 7.24478068e-01 2.56773529e-03 -9.71415526e+01] [ 3.79674634e-03 6.81237449e-05 9.99992790e-01 1.43740417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.23999999999998 meters Centerline goodness [0,1] 0.9998542152615795 Centerline is valid? [True, True] Translation: X:84.71, Y:-97.17, Z:1.43 [[ 7.22788507e-01 6.91063588e-01 -2.80919370e-03 8.47065321e+01] [-6.91058777e-01 7.22793962e-01 2.57970268e-03 -9.71689507e+01] [ 3.81320683e-03 7.67385140e-05 9.99992727e-01 1.43484403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.26999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.73, Y:-97.19, Z:1.44 [[ 7.20947199e-01 6.92983860e-01 -2.91642803e-03 8.47277070e+01] [-6.92978686e-01 7.20953092e-01 2.67946060e-03 -9.71922753e+01] [ 3.95943076e-03 8.92728498e-05 9.99992157e-01 1.43707700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.29999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.75, Y:-97.22, Z:1.44 [[ 7.19503960e-01 6.94477838e-01 -3.81891437e-03 8.47487296e+01] [-6.94468978e-01 7.19514084e-01 3.51028741e-03 -9.72153074e+01] [ 5.18557949e-03 1.26451869e-04 9.99986547e-01 1.43591155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.32999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.77, Y:-97.24, Z:1.43 [[ 7.18192829e-01 6.95827837e-01 -4.76251728e-03 8.47694025e+01] [-6.95814074e-01 7.18208600e-01 4.37968049e-03 -9.72382445e+01] [ 6.46798447e-03 1.68371428e-04 9.99979068e-01 1.43487815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.35999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.79, Y:-97.27, Z:1.43 [[ 7.16651764e-01 6.97405173e-01 -6.02271626e-03 8.47861166e+01] [-6.97383195e-01 7.16677035e-01 5.54140710e-03 -9.72670261e+01] [ 8.18094841e-03 2.28881932e-04 9.99966509e-01 1.43446241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.39 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.81, Y:-97.29, Z:1.43 [[ 7.16299198e-01 6.97762475e-01 -6.55652047e-03 8.48061701e+01] [-6.97736428e-01 7.16329160e-01 6.03424006e-03 -9.72911546e+01] [ 8.90709308e-03 2.52401852e-04 9.99960299e-01 1.43439038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.42 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.83, Y:-97.32, Z:1.43 [[ 7.16166139e-01 6.97894017e-01 -7.07117666e-03 8.48262015e+01] [-6.97863694e-01 7.16200996e-01 6.51139120e-03 -9.73158971e+01] [ 9.60864473e-03 2.71479565e-04 9.99953799e-01 1.43423650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.45 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.85, Y:-97.34, Z:1.43 [[ 7.16242430e-01 6.97810258e-01 -7.59117816e-03 8.48468734e+01] [-6.97775264e-01 7.16282599e-01 6.99425810e-03 -9.73427391e+01] [ 1.03180939e-02 2.87351929e-04 9.99946726e-01 1.43412031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.48 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.86, Y:-97.37, Z:1.43 [[ 7.17491405e-01 6.96515177e-01 -8.52595178e-03 8.48622963e+01] [-6.96470896e-01 7.17541998e-01 7.85951514e-03 -9.73734131e+01] [ 1.15920001e-02 2.98942712e-04 9.99932766e-01 1.43390502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.51 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.88, Y:-97.40, Z:1.43 [[ 7.18109371e-01 6.95873699e-01 -8.87281232e-03 8.48811102e+01] [-6.95825641e-01 7.18164123e-01 8.18351765e-03 -9.74008158e+01] [ 1.20668302e-02 2.97269609e-04 9.99927149e-01 1.43453791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.54 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.90, Y:-97.42, Z:1.43 [[ 7.18866757e-01 6.95088029e-01 -9.12232921e-03 8.49010362e+01] [-6.95037117e-01 7.18924577e-01 8.41768030e-03 -9.74247632e+01] [ 1.24092955e-02 2.89166861e-04 9.99922960e-01 1.43385125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.92, Y:-97.45, Z:1.44 [[ 7.19829276e-01 6.94097151e-01 -8.65783855e-03 8.49196948e+01] [-6.94051172e-01 7.19881296e-01 7.99314778e-03 -9.74522617e+01] [ 1.17806371e-02 2.55281217e-04 9.99930573e-01 1.43550738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.6 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.94, Y:-97.48, Z:1.44 [[ 7.20445916e-01 6.93470010e-01 -7.55156378e-03 8.49399232e+01] [-6.93434963e-01 7.20485461e-01 6.97508084e-03 -9.74766194e+01] [ 1.02778013e-02 2.11349844e-04 9.99947160e-01 1.43588984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.63 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.96, Y:-97.51, Z:1.44 [[ 7.21578844e-01 6.92308677e-01 -5.71564059e-03 8.49563082e+01] [-6.92288556e-01 7.21601465e-01 5.28026181e-03 -9.75069779e+01] [ 7.77998569e-03 1.46747357e-04 9.99969725e-01 1.43924101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.66 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.98, Y:-97.53, Z:1.44 [[ 7.21300066e-01 6.92604797e-01 -4.98100148e-03 8.49772049e+01] [-6.92589506e-01 7.21317252e-01 4.60402911e-03 -9.75311311e+01] [ 6.78165495e-03 1.28902855e-04 9.99976996e-01 1.43985916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.69 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.00, Y:-97.56, Z:1.44 [[ 7.20746561e-01 6.93183284e-01 -4.61829748e-03 8.49987838e+01] [-6.93170136e-01 7.20761347e-01 4.27119590e-03 -9.75559379e+01] [ 6.28941192e-03 1.22816136e-04 9.99980214e-01 1.44038260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.72 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.02, Y:-97.58, Z:1.44 [[ 7.19848609e-01 6.94116337e-01 -4.52665111e-03 8.50202358e+01] [-6.94103711e-01 7.19862830e-01 4.18853371e-03 -9.75805966e+01] [ 6.16589756e-03 1.26855171e-04 9.99980983e-01 1.44086587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.75 meters Centerline goodness [0,1] 0.9999564772702544 Centerline is valid? [True, True] Translation: X:85.04, Y:-97.60, Z:1.44 [[ 7.18812380e-01 6.95187800e-01 -4.76288553e-03 8.50413461e+01] [-6.95173832e-01 7.18828146e-01 4.40919292e-03 -9.76042405e+01] [ 6.48891330e-03 1.41650927e-04 9.99978937e-01 1.43976537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.78 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.06, Y:-97.63, Z:1.44 [[ 7.15336549e-01 6.98754799e-01 -5.94577491e-03 8.50624962e+01] [-6.98733148e-01 7.15361226e-01 5.50494362e-03 -9.76281622e+01] [ 8.09998260e-03 2.16622647e-04 9.99967171e-01 1.44000160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.81 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.08, Y:-97.65, Z:1.44 [[ 7.13477582e-01 7.00645521e-01 -6.75233977e-03 8.50848411e+01] [-7.00617655e-01 7.13509482e-01 6.25461454e-03 -9.76498901e+01] [ 9.20012612e-03 2.68281202e-04 9.99957642e-01 1.43900363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.84 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.11, Y:-97.67, Z:1.44 [[ 7.11994158e-01 7.02139854e-01 -7.99655706e-03 8.51072088e+01] [-7.02100853e-01 7.12038981e-01 7.40818629e-03 -9.76727590e+01] [ 1.08954432e-02 3.39804172e-04 9.99940585e-01 1.43800216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.87 meters Centerline goodness [0,1] 0.9998022369201697 Centerline is valid? [True, True] Translation: X:85.13, Y:-97.70, Z:1.43 [[ 7.11070281e-01 7.03054196e-01 -9.68775125e-03 8.51293917e+01] [-7.02996980e-01 7.11136145e-01 8.97939786e-03 -9.76956747e+01] [ 1.32023134e-02 4.25476917e-04 9.99912755e-01 1.43298271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.9 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.15, Y:-97.72, Z:1.44 [[ 7.09320670e-01 7.04820504e-01 -9.60436598e-03 8.51513004e+01] [-7.04764373e-01 7.09385546e-01 8.90652154e-03 -9.77187379e+01] [ 1.30906974e-02 4.51235136e-04 9.99914211e-01 1.43628797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.93 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.17, Y:-97.74, Z:1.44 [[ 7.08377055e-01 7.05763156e-01 -1.00158079e-02 8.51726359e+01] [-7.05702142e-01 7.08447692e-01 9.29270854e-03 -9.77424676e+01] [ 1.36541273e-02 4.85435612e-04 9.99906660e-01 1.43599446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.95999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.19, Y:-97.77, Z:1.44 [[ 7.07856509e-01 7.06280850e-01 -1.03210313e-02 8.51924714e+01] [-7.06216054e-01 7.07931567e-01 9.58029922e-03 -9.77670978e+01] [ 1.40729657e-02 5.07400830e-04 9.99900842e-01 1.43505653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.98999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.21, Y:-97.79, Z:1.44 [[ 7.08279013e-01 7.05855259e-01 -1.04495631e-02 8.52125670e+01] [-7.05788723e-01 7.08355915e-01 9.70445821e-03 -9.77924333e+01] [ 1.42519527e-02 5.01719728e-04 9.99898310e-01 1.43541010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.01999999999998 meters Centerline goodness [0,1] 0.9998886687003185 Centerline is valid? [True, True] Translation: X:85.23, Y:-97.82, Z:1.43 [[ 7.09461041e-01 7.04665777e-01 -1.05438790e-02 8.52328520e+01] [-7.04597832e-01 7.09539226e-01 9.79701390e-03 -9.78175876e+01] [ 1.43849161e-02 4.78594573e-04 9.99896417e-01 1.43295347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.04999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.25, Y:-97.85, Z:1.44 [[ 7.12393046e-01 7.01713861e-01 -9.68534927e-03 8.52483045e+01] [-7.01656231e-01 7.12458778e-01 9.00125295e-03 -9.78453699e+01] [ 1.32167161e-02 3.83355668e-04 9.99912582e-01 1.43716664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.07999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.27, Y:-97.87, Z:1.44 [[ 7.14284384e-01 6.99797608e-01 -9.00698402e-03 8.52672723e+01] [-6.99747572e-01 7.14341098e-01 8.37438263e-03 -9.78711136e+01] [ 1.22944318e-02 3.20924462e-04 9.99924369e-01 1.43881970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.10999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.29, Y:-97.90, Z:1.44 [[ 7.16293729e-01 6.97748065e-01 -8.42208463e-03 8.52869975e+01] [-6.97704134e-01 7.16343191e-01 7.83416171e-03 -9.78956638e+01] [ 1.14993742e-02 2.64562356e-04 9.99933845e-01 1.43959992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.14 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.31, Y:-97.92, Z:1.44 [[ 7.18733276e-01 6.95239403e-01 -8.04061608e-03 8.53068191e+01] [-6.95199163e-01 7.18778219e-01 7.48302467e-03 -9.79218636e+01] [ 1.09819133e-02 2.11530731e-04 9.99939675e-01 1.44048894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.17 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.33, Y:-97.95, Z:1.44 [[ 7.21029206e-01 6.92861100e-01 -7.77045546e-03 8.53268087e+01] [-6.92823342e-01 7.21071057e-01 7.23521063e-03 -9.79476633e+01] [ 1.06160465e-02 1.66754746e-04 9.99943634e-01 1.44097139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.2 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.34, Y:-97.98, Z:1.44 [[ 7.25997479e-01 6.87666167e-01 -6.55016403e-03 8.53440736e+01] [-6.87639115e-01 7.26027023e-01 6.10002813e-03 -9.79758466e+01] [ 8.95037905e-03 7.55439579e-05 9.99959942e-01 1.44188002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.23 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.36, Y:-98.00, Z:1.44 [[ 7.27765417e-01 6.85798954e-01 -6.10679204e-03 8.53646934e+01] [-6.85775351e-01 7.27791037e-01 5.68997114e-03 -9.80002014e+01] [ 8.34664476e-03 4.69232372e-05 9.99965165e-01 1.44274760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.26 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.39, Y:-98.02, Z:1.44 [[ 7.29423636e-01 6.84037577e-01 -5.80962140e-03 8.53864338e+01] [-6.84016138e-01 7.29446771e-01 5.41577862e-03 -9.80238492e+01] [ 7.94240565e-03 2.34778604e-05 9.99968458e-01 1.44331727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.29 meters Centerline goodness [0,1] 0.9998405975315389 Centerline is valid? [True, True] Translation: X:85.41, Y:-98.05, Z:1.44 [[ 7.31001829e-01 6.82349652e-01 -5.93965156e-03 8.54094064e+01] [-6.82327160e-01 7.31025959e-01 5.54018394e-03 -9.80470100e+01] [ 8.12238206e-03 2.90099228e-06 9.99967013e-01 1.43997046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.32 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.43, Y:-98.07, Z:1.44 [[ 7.31492140e-01 6.81821662e-01 -6.20241153e-03 8.54343325e+01] [-6.81797089e-01 7.31518435e-01 5.78858099e-03 -9.80691363e+01] [ 8.48395828e-03 -5.51536875e-06 9.99964011e-01 1.44233706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.35 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.46, Y:-98.09, Z:1.44 [[ 7.30747066e-01 6.82616898e-01 -6.54946373e-03 8.54591493e+01] [-6.82589499e-01 7.30776416e-01 6.11602237e-03 -9.80900877e+01] [ 8.96109385e-03 1.32975908e-06 9.99959849e-01 1.44166337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.38 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.48, Y:-98.11, Z:1.44 [[ 7.29675684e-01 6.83753208e-01 -7.41258994e-03 8.54835311e+01] [-6.83718137e-01 7.29713334e-01 6.92526117e-03 -9.81095320e+01] [ 1.01442353e-02 1.49275024e-05 9.99948546e-01 1.44051973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.41 meters Centerline goodness [0,1] 0.999818713317773 Centerline is valid? [True, True] Translation: X:85.51, Y:-98.13, Z:1.44 [[ 7.28702916e-01 6.84776477e-01 -8.55782888e-03 8.55082809e+01] [-6.84729755e-01 7.28753165e-01 7.99921983e-03 -9.81295106e+01] [ 1.17142225e-02 3.07452568e-05 9.99931386e-01 1.43621585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.44 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.53, Y:-98.15, Z:1.44 [[ 7.25551883e-01 6.88105957e-01 -9.20095323e-03 8.55348647e+01] [-6.88052160e-01 7.25610215e-01 8.60467171e-03 -9.81483878e+01] [ 1.25972315e-02 8.75999851e-05 9.99920648e-01 1.43879552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.47 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.56, Y:-98.17, Z:1.44 [[ 7.24621491e-01 6.89086945e-01 -9.10363748e-03 8.55599889e+01] [-6.89034297e-01 7.24678668e-01 8.51855132e-03 -9.81699876e+01] [ 1.24672344e-02 9.99930896e-05 9.99922276e-01 1.43878429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.5 meters Centerline goodness [0,1] 0.9999098510288251 Centerline is valid? [True, True] Translation: X:85.58, Y:-98.19, Z:1.44 [[ 7.24107468e-01 6.89622611e-01 -9.43558833e-03 8.55846208e+01] [-6.89566033e-01 7.24168933e-01 8.83419182e-03 -9.81917988e+01] [ 1.29252184e-02 1.09556951e-04 9.99916460e-01 1.43656157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.53 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.61, Y:-98.21, Z:1.44 [[ 7.24045933e-01 6.89694236e-01 -8.90770250e-03 8.56086344e+01] [-6.89643767e-01 7.24100719e-01 8.34406761e-03 -9.82136011e+01] [ 1.22049291e-02 1.01653297e-04 9.99925512e-01 1.43870630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.56 meters Centerline goodness [0,1] 0.9999548654991876 Centerline is valid? [True, True] Translation: X:85.63, Y:-98.24, Z:1.44 [[ 7.24762150e-01 6.88942172e-01 -8.86055607e-03 8.56315146e+01] [-6.88892130e-01 7.24816305e-01 8.30405760e-03 -9.82359688e+01] [ 1.21432910e-02 8.55007019e-05 9.99926264e-01 1.43808062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.59 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.65, Y:-98.26, Z:1.44 [[ 7.25738856e-01 6.87923539e-01 -8.01978961e-03 8.56536150e+01] [-6.87882457e-01 7.25783164e-01 7.51822534e-03 -9.82581090e+01] [ 1.09925925e-02 6.04043246e-05 9.99939578e-01 1.43967311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.62 meters Centerline goodness [0,1] 0.9999323547317865 Centerline is valid? [True, True] Translation: X:85.67, Y:-98.28, Z:1.44 [[ 7.29685394e-01 6.83752957e-01 -6.41244438e-03 8.56744365e+01] [-6.83726506e-01 7.29713569e-01 6.01433498e-03 -9.82830042e+01] [ 8.79156701e-03 -4.21420104e-06 9.99961353e-01 1.44030973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.65 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.70, Y:-98.31, Z:1.44 [[ 7.31603156e-01 6.81710958e-01 -5.19537356e-03 8.56967645e+01] [-6.81693523e-01 7.31621603e-01 4.87555582e-03 -9.83066779e+01] [ 7.12476736e-03 -2.53195216e-05 9.99974618e-01 1.44335080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.68 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.72, Y:-98.33, Z:1.44 [[ 7.33748802e-01 6.79409341e-01 -3.95519794e-03 8.57197326e+01] [-6.79399192e-01 7.33759461e-01 3.71383993e-03 -9.83306719e+01] [ 5.42538144e-03 -3.78673151e-05 9.99985282e-01 1.44498752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.70999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.74, Y:-98.35, Z:1.45 [[ 7.37588404e-01 6.75243728e-01 -3.04196022e-03 8.57415496e+01] [-6.75237683e-01 7.37594675e-01 2.85775143e-03 -9.83548828e+01] [ 4.17341239e-03 -5.37981475e-05 9.99991290e-01 1.44544761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.73999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.76, Y:-98.38, Z:1.44 [[ 7.38888789e-01 6.73818584e-01 -3.44577871e-03 8.57643437e+01] [-6.73810804e-01 7.38896820e-01 3.23872973e-03 -9.83774057e+01] [ 4.72839121e-03 -7.12581680e-05 9.99988819e-01 1.44497192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.76999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.79, Y:-98.40, Z:1.44 [[ 7.39842882e-01 6.72768173e-01 -3.93650460e-03 8.57872300e+01] [-6.72757995e-01 7.39853349e-01 3.70180106e-03 -9.83998232e+01] [ 5.40289005e-03 -9.04362199e-05 9.99985400e-01 1.44385786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.79999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.81, Y:-98.42, Z:1.44 [[ 7.40202148e-01 6.72367508e-01 -4.76594735e-03 8.58102489e+01] [-6.72352566e-01 7.40217482e-01 4.48400547e-03 -9.84215145e+01] [ 6.54273713e-03 -1.14673552e-04 9.99978590e-01 1.44258321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.82999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.83, Y:-98.44, Z:1.44 [[ 7.40012420e-01 6.72576328e-01 -4.76468284e-03 8.58337937e+01] [-6.72561381e-01 7.40027750e-01 4.48534910e-03 -9.84437633e+01] [ 6.54273715e-03 -1.14672373e-04 9.99978590e-01 1.44258428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.85999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.86, Y:-98.46, Z:1.44 [[ 7.39428282e-01 6.73200481e-01 -6.85032392e-03 8.58566368e+01] [-6.73169596e-01 7.39459997e-01 6.45047777e-03 -9.84644005e+01] [ 9.40800524e-03 -1.58235911e-04 9.99955731e-01 1.44020032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.88, Y:-98.49, Z:1.44 [[ 7.38326394e-01 6.74404136e-01 -7.29361238e-03 8.58814968e+01] [-6.74369149e-01 7.38362402e-01 6.87126404e-03 -9.84853493e+01] [ 1.00193380e-02 -1.54648432e-04 9.99949793e-01 1.43941753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.92 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.91, Y:-98.51, Z:1.44 [[ 7.37192522e-01 6.75633134e-01 -8.18859899e-03 8.59064078e+01] [-6.75589060e-01 7.37237983e-01 7.71875447e-03 -9.85066103e+01] [ 1.12519925e-02 -1.58080184e-04 9.99936682e-01 1.43885801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.95 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.93, Y:-98.53, Z:1.44 [[ 7.35647357e-01 6.77314287e-01 -8.26578942e-03 8.59303400e+01] [-6.77269444e-01 7.35693780e-01 7.79503874e-03 -9.85269989e+01] [ 1.13607810e-02 -1.36233042e-04 9.99935455e-01 1.43814522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.98 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.96, Y:-98.55, Z:1.44 [[ 7.32659176e-01 6.80544171e-01 -8.37634686e-03 8.59574237e+01] [-6.80498306e-01 7.32707051e-01 7.90142183e-03 -9.85458291e+01] [ 1.15146750e-02 -8.89593507e-05 9.99933700e-01 1.43922228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.01 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.98, Y:-98.57, Z:1.44 [[ 7.31106951e-01 6.82216817e-01 -7.92726285e-03 8.59811875e+01] [-6.82175799e-01 7.31149924e-01 7.48121156e-03 -9.85663464e+01] [ 1.08998260e-02 -6.17789073e-05 9.99940593e-01 1.43904013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.04 meters Centerline goodness [0,1] 0.9999099180254031 Centerline is valid? [True, True] Translation: X:86.01, Y:-98.59, Z:1.44 [[ 7.29793210e-01 6.83627667e-01 -7.42183922e-03 8.60052075e+01] [-6.83591751e-01 7.29830947e-01 7.00764836e-03 -9.85869909e+01] [ 1.02073102e-02 -4.06261231e-05 9.99947903e-01 1.43735231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.03, Y:-98.61, Z:1.44 [[ 7.28017706e-01 6.85524553e-01 -6.80495769e-03 8.60285970e+01] [-6.85494415e-01 7.28049509e-01 6.42809193e-03 -9.86068476e+01] [ 9.36096095e-03 -1.50042469e-05 9.99956185e-01 1.43985940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.1 meters Centerline goodness [0,1] 0.999955000562493 Centerline is valid? [True, True] Translation: X:86.05, Y:-98.63, Z:1.44 [[ 7.25399440e-01 6.88300381e-01 -6.18373407e-03 8.60541526e+01] [-6.88275568e-01 7.25425796e-01 5.84442890e-03 -9.86277604e+01] [ 8.50856285e-03 1.65676303e-05 9.99963801e-01 1.43890379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.13 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.08, Y:-98.65, Z:1.44 [[ 7.23814326e-01 6.89971027e-01 -5.72742362e-03 8.60786264e+01] [-6.89949769e-01 7.23836985e-01 5.41613776e-03 -9.86491468e+01] [ 7.88269918e-03 3.13565074e-05 9.99968931e-01 1.44145709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.16 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.10, Y:-98.67, Z:1.44 [[ 7.22506202e-01 6.91344929e-01 -5.19387825e-03 8.61028177e+01] [-6.91327464e-01 7.22524870e-01 4.91436201e-03 -9.86707700e+01] [ 7.15022546e-03 4.00136421e-05 9.99974436e-01 1.44219198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.19 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.13, Y:-98.69, Z:1.44 [[ 7.21411196e-01 6.92488011e-01 -5.12264075e-03 8.61264823e+01] [-6.92471032e-01 7.21429381e-01 4.84950287e-03 -9.86916097e+01] [ 7.05384615e-03 4.87946619e-05 9.99975120e-01 1.44199680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.22 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.15, Y:-98.71, Z:1.44 [[ 7.19563263e-01 6.94412693e-01 -4.44087704e-03 8.61509346e+01] [-6.94399957e-01 7.19576965e-01 4.20616722e-03 -9.87120088e+01] [ 6.11636873e-03 5.71414098e-05 9.99981293e-01 1.44175947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.25 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.18, Y:-98.73, Z:1.44 [[ 7.18357495e-01 6.95660931e-01 -4.28689623e-03 8.61752553e+01] [-6.95649073e-01 7.18370284e-01 4.06233917e-03 -9.87336594e+01] [ 5.90558952e-03 6.39635983e-05 9.99982560e-01 1.44174856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.28 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.20, Y:-98.75, Z:1.44 [[ 7.17238894e-01 6.96814054e-01 -4.30616616e-03 8.61987149e+01] [-6.96802098e-01 7.17251817e-01 4.08247890e-03 -9.87548324e+01] [ 5.93333418e-03 7.24329601e-05 9.99982395e-01 1.44145678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.31 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.22, Y:-98.78, Z:1.44 [[ 7.16247121e-01 6.97834443e-01 -4.14150807e-03 8.62227091e+01] [-6.97823390e-01 7.16259090e-01 3.92830485e-03 -9.87761795e+01] [ 5.70769923e-03 7.64041562e-05 9.99983708e-01 1.44107226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.34 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.25, Y:-98.80, Z:1.44 [[ 7.15439362e-01 6.98661373e-01 -4.33663452e-03 8.62462095e+01] [-6.98649257e-01 7.15452500e-01 4.11541694e-03 -9.87976923e+01] [ 5.97793886e-03 8.54552176e-05 9.99982128e-01 1.44052078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.37 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.27, Y:-98.82, Z:1.44 [[ 7.14631500e-01 6.99487077e-01 -4.43270321e-03 8.62703727e+01] [-6.99474421e-01 7.14645241e-01 4.20864305e-03 -9.88194226e+01] [ 6.11170168e-03 9.29336196e-05 9.99981319e-01 1.44003911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.4 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.29, Y:-98.84, Z:1.44 [[ 7.13836979e-01 7.00296047e-01 -4.71314970e-03 8.62939736e+01] [-7.00281745e-01 7.13852530e-01 4.47693491e-03 -9.88400782e+01] [ 6.49967366e-03 1.04731002e-04 9.99978871e-01 1.43872667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.43 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.32, Y:-98.86, Z:1.44 [[ 7.13383769e-01 7.00754595e-01 -5.15708527e-03 8.63172571e+01] [-7.00737465e-01 7.13402400e-01 4.90115570e-03 -9.88618717e+01] [ 7.11358439e-03 1.17357930e-04 9.99974691e-01 1.43810369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.45999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.34, Y:-98.88, Z:1.44 [[ 7.13131352e-01 7.01011303e-01 -5.17950334e-03 8.63410029e+01] [-7.00994011e-01 7.13150152e-01 4.92516760e-03 -9.88846635e+01] [ 7.14636175e-03 1.18509389e-04 9.99974457e-01 1.43736364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.48999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.36, Y:-98.91, Z:1.44 [[ 7.13002252e-01 7.01138100e-01 -5.75789022e-03 8.63645004e+01] [-7.01116711e-01 7.13025489e-01 5.47814038e-03 -9.89076402e+01] [ 7.94645543e-03 1.31026627e-04 9.99968418e-01 1.43650686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.51999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.39, Y:-98.93, Z:1.44 [[ 7.12984588e-01 7.01150244e-01 -6.42748588e-03 8.63882002e+01] [-7.01123562e-01 7.13013545e-01 6.11851487e-03 -9.89306209e+01] [ 8.87288268e-03 1.44054991e-04 9.99960625e-01 1.43553225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.54999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.41, Y:-98.95, Z:1.43 [[ 7.13009207e-01 7.01120043e-01 -6.96814771e-03 8.64106809e+01] [-7.01088650e-01 7.13043239e-01 6.63653585e-03 -9.89528301e+01] [ 9.62159892e-03 1.53378103e-04 9.99953700e-01 1.43426610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.57999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.43, Y:-98.98, Z:1.43 [[ 7.13841389e-01 7.00263614e-01 -7.83208104e-03 8.64312700e+01] [-7.00223867e-01 7.13884336e-01 7.46257886e-03 -9.89760415e+01] [ 1.08169724e-02 1.57112412e-04 9.99941483e-01 1.43284762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.60999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.45, Y:-99.00, Z:1.43 [[ 7.14531696e-01 6.99560118e-01 -7.75217885e-03 8.64533714e+01] [-6.99521100e-01 7.14573734e-01 7.38987428e-03 -9.89999691e+01] [ 1.07091647e-02 1.42513273e-04 9.99942645e-01 1.43333970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.64 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.47, Y:-99.02, Z:1.43 [[ 7.15234458e-01 6.98841769e-01 -7.73647883e-03 8.64749482e+01] [-6.98802830e-01 7.15276286e-01 7.37830141e-03 -9.90232694e+01] [ 1.06899851e-02 1.29057891e-04 9.99942852e-01 1.43382146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.67 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.50, Y:-99.05, Z:1.43 [[ 7.16072101e-01 6.97986964e-01 -7.41241218e-03 8.64968475e+01] [-6.97951140e-01 7.16110457e-01 7.07249304e-03 -9.90472451e+01] [ 1.02446138e-02 1.09086579e-04 9.99947517e-01 1.43459323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.7 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.52, Y:-99.07, Z:1.44 [[ 7.17846989e-01 6.96164777e-01 -7.09248314e-03 8.65165172e+01] [-6.96131861e-01 7.17882022e-01 6.77010904e-03 -9.90712414e+01] [ 9.80467759e-03 7.74011007e-05 9.99951930e-01 1.43559570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.73 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.54, Y:-99.10, Z:1.44 [[ 7.18659034e-01 6.95330681e-01 -6.66610165e-03 8.65377841e+01] [-6.95301540e-01 7.18689948e-01 6.36616198e-03 -9.90953572e+01] [ 9.21744799e-03 5.98509224e-05 9.99957517e-01 1.43722637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.76 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.56, Y:-99.12, Z:1.44 [[ 7.19461261e-01 6.94501304e-01 -6.59039145e-03 8.65598589e+01] [-6.94472760e-01 7.19491443e-01 6.29664953e-03 -9.91177040e+01] [ 9.11476156e-03 4.66519311e-05 9.99958459e-01 1.43605524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.79 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.58, Y:-99.14, Z:1.44 [[ 7.20114253e-01 6.93826513e-01 -6.34292136e-03 8.65821011e+01] [-6.93800018e-01 7.20142186e-01 6.06349394e-03 -9.91422883e+01] [ 8.77481812e-03 3.43105539e-05 9.99961500e-01 1.43752555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.82 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.61, Y:-99.17, Z:1.44 [[ 7.20829263e-01 6.93084182e-01 -6.28412014e-03 8.66051670e+01] [-6.93058119e-01 7.20856655e-01 6.01053381e-03 -9.91663286e+01] [ 8.69575573e-03 2.26918304e-05 9.99962191e-01 1.43780854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.85 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.63, Y:-99.19, Z:1.44 [[ 7.21897149e-01 6.91976057e-01 -5.80024174e-03 8.66261835e+01] [-6.91953806e-01 7.21920451e-01 5.54919463e-03 -9.91891193e+01] [ 8.02722294e-03 7.55156047e-06 9.99967781e-01 1.43827063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.88 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.65, Y:-99.21, Z:1.44 [[ 7.21955339e-01 6.91918551e-01 -5.40438031e-03 8.66500349e+01] [-6.91899211e-01 7.21975567e-01 5.17332334e-03 -9.92123996e+01] [ 7.48134893e-03 4.37806823e-06 9.99972014e-01 1.43904040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.91 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.67, Y:-99.24, Z:1.44 [[ 7.22065278e-01 6.91804735e-01 -5.28603604e-03 8.66741802e+01] [-6.91786209e-01 7.22084627e-01 5.06283858e-03 -9.92353739e+01] [ 7.31946107e-03 1.10688561e-06 9.99973212e-01 1.43900529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.94 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.70, Y:-99.26, Z:1.44 [[ 7.21692004e-01 6.92196221e-01 -5.00428089e-03 8.66983110e+01] [-6.92179608e-01 7.21709354e-01 4.79560365e-03 -9.92577794e+01] [ 6.93113505e-03 2.91237556e-06 9.99975979e-01 1.43913530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.97 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.72, Y:-99.28, Z:1.44 [[ 7.20685024e-01 6.93247693e-01 -4.55332544e-03 8.67230763e+01] [-6.93233947e-01 7.20699407e-01 4.36567760e-03 -9.92778454e+01] [ 6.30807488e-03 1.02413036e-05 9.99980104e-01 1.43900547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.0 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.75, Y:-99.30, Z:1.44 [[ 7.19945768e-01 6.94016879e-01 -4.32004795e-03 8.67467980e+01] [-6.94004506e-01 7.19958729e-01 4.14408983e-03 -9.92985820e+01] [ 5.98632453e-03 1.46128095e-05 9.99982082e-01 1.43894246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.03 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.77, Y:-99.32, Z:1.44 [[ 7.19164926e-01 6.94824363e-01 -4.57308745e-03 8.67713803e+01] [-6.94810500e-01 7.19179466e-01 4.38915295e-03 -9.93203736e+01] [ 6.33856099e-03 2.09043221e-05 9.99979911e-01 1.43860001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.06 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.80, Y:-99.34, Z:1.44 [[ 7.17976457e-01 6.96049721e-01 -4.95915564e-03 8.67957253e+01] [-6.96033432e-01 7.17993583e-01 4.76205038e-03 -9.93409051e+01] [ 6.87526576e-03 3.26980610e-05 9.99976365e-01 1.43781206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.09 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.82, Y:-99.36, Z:1.44 [[ 7.17410469e-01 6.96629299e-01 -5.46246566e-03 8.68196661e+01] [-6.96609532e-01 7.17431263e-01 5.24809607e-03 -9.93627969e+01] [ 7.57492113e-03 4.01665829e-05 9.99971309e-01 1.43713834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.12 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.84, Y:-99.39, Z:1.44 [[ 7.16866831e-01 6.97183273e-01 -6.11797691e-03 8.68440809e+01] [-6.97158471e-01 7.16892935e-01 5.88093404e-03 -9.93853009e+01] [ 8.48602327e-03 4.93528743e-05 9.99963992e-01 1.43635355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.15 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.87, Y:-99.41, Z:1.44 [[ 7.16647684e-01 6.97404040e-01 -6.61071585e-03 8.68673340e+01] [-6.97375063e-01 7.16678172e-01 6.35765761e-03 -9.94070460e+01] [ 9.17161185e-03 5.39477701e-05 9.99957938e-01 1.43542285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.18 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.89, Y:-99.43, Z:1.44 [[ 7.16404602e-01 6.97653364e-01 -6.65054689e-03 8.68917524e+01] [-6.97624017e-01 7.16435469e-01 6.39922970e-03 -9.94298324e+01] [ 9.22913181e-03 5.51436285e-05 9.99957409e-01 1.43509517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.20999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.92, Y:-99.45, Z:1.44 [[ 7.16238531e-01 6.97828193e-01 -6.17893439e-03 8.69156204e+01] [-6.97802842e-01 7.16265181e-01 5.94846031e-03 -9.94522930e+01] [ 8.57675887e-03 5.11615084e-05 9.99963218e-01 1.43579441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.23999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.94, Y:-99.47, Z:1.44 [[ 7.16774017e-01 6.97287418e-01 -5.02642445e-03 8.69378733e+01] [-6.97270614e-01 7.16791640e-01 4.84091722e-03 -9.94735784e+01] [ 6.97840970e-03 3.49343829e-05 9.99975650e-01 1.43724768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.26999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.96, Y:-99.50, Z:1.44 [[ 7.17141598e-01 6.96913495e-01 -4.41700713e-03 8.69603393e+01] [-6.96900500e-01 7.17155200e-01 4.25583718e-03 -9.94961517e+01] [ 6.13362999e-03 2.61766101e-05 9.99981189e-01 1.43855140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.29999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.98, Y:-99.52, Z:1.44 [[ 7.17905082e-01 6.96132443e-01 -3.45184941e-03 8.69821215e+01] [-6.96124494e-01 7.17913380e-01 3.32671343e-03 -9.95182077e+01] [ 4.79396203e-03 1.46524475e-05 9.99988509e-01 1.44063830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.32999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.01, Y:-99.54, Z:1.44 [[ 7.17968032e-01 6.96066899e-01 -3.57453457e-03 8.70057054e+01] [-6.96058365e-01 7.17976930e-01 3.44685392e-03 -9.95417558e+01] [ 4.96567428e-03 1.33537674e-05 9.99987671e-01 1.44209658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.35999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.03, Y:-99.56, Z:1.44 [[ 7.17968858e-01 6.96065620e-01 -3.65678003e-03 8.70291375e+01] [-6.96056682e-01 7.17978170e-01 3.52737958e-03 -9.95629908e+01] [ 5.08077588e-03 1.27774916e-05 9.99987093e-01 1.44063065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.39 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.05, Y:-99.59, Z:1.44 [[ 7.17696680e-01 6.96344184e-01 -4.03156731e-03 8.70526139e+01] [-6.96333312e-01 7.17708003e-01 3.89102177e-03 -9.95859719e+01] [ 5.60297850e-03 1.47412081e-05 9.99984303e-01 1.44142645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.42 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.08, Y:-99.61, Z:1.44 [[ 7.17409731e-01 6.96637040e-01 -4.48464333e-03 8.70764247e+01] [-6.96623579e-01 7.17423748e-01 4.33065903e-03 -9.96087982e+01] [ 6.23428711e-03 1.72513626e-05 9.99980567e-01 1.44124243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.45 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.10, Y:-99.63, Z:1.44 [[ 7.17028862e-01 6.97027869e-01 -4.66488295e-03 8.71001071e+01] [-6.97013297e-01 7.17044036e-01 4.50718536e-03 -9.96313159e+01] [ 6.48656031e-03 1.97034516e-05 9.99978962e-01 1.44111698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.48 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.12, Y:-99.65, Z:1.44 [[ 7.16499881e-01 6.97565525e-01 -5.50079063e-03 8.71236124e+01] [-6.97545257e-01 7.16520996e-01 5.31755786e-03 -9.96523027e+01] [ 7.65077702e-03 2.70208398e-05 9.99970732e-01 1.43986204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.51 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.15, Y:-99.67, Z:1.44 [[ 7.16326949e-01 6.97740539e-01 -5.81742338e-03 8.71472261e+01] [-6.97717852e-01 7.16350570e-01 5.62672972e-03 -9.96746514e+01] [ 8.09331198e-03 2.83420121e-05 9.99967248e-01 1.43973197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.54 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.17, Y:-99.70, Z:1.44 [[ 7.16286154e-01 6.97778717e-01 -6.24561853e-03 8.71714393e+01] [-6.97752539e-01 7.16313382e-01 6.04420304e-03 -9.96975269e+01] [ 8.69133638e-03 2.85172315e-05 9.99962229e-01 1.43915949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.20, Y:-99.72, Z:1.44 [[ 7.16222917e-01 6.97838728e-01 -6.77074143e-03 8.71952165e+01] [-6.97807931e-01 7.16254919e-01 6.55608735e-03 -9.97206964e+01] [ 9.42466851e-03 2.90570691e-05 9.99955586e-01 1.43912791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.6 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.22, Y:-99.74, Z:1.44 [[ 7.16510892e-01 6.97536960e-01 -7.37094567e-03 8.72178581e+01] [-6.97500407e-01 7.16548804e-01 7.14100829e-03 -9.97429097e+01] [ 1.02627595e-02 2.46273837e-05 9.99947336e-01 1.43811533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.63 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.24, Y:-99.77, Z:1.44 [[ 7.16774160e-01 6.97253240e-01 -8.52777511e-03 8.72407286e+01] [-6.97204244e-01 7.16824887e-01 8.26580156e-03 -9.97659800e+01] [ 1.18762784e-02 2.08880250e-05 9.99929474e-01 1.43775540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.66 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.26, Y:-99.79, Z:1.44 [[ 7.17852970e-01 6.96126676e-01 -9.73472770e-03 8.72623029e+01] [-6.96062661e-01 7.17918973e-01 9.44033812e-03 -9.97895582e+01] [ 1.35604169e-02 -7.94286811e-07 9.99908053e-01 1.43745300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.69 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.29, Y:-99.81, Z:1.44 [[ 7.18215178e-01 6.95747708e-01 -1.01036667e-02 8.72854700e+01] [-6.95678635e-01 7.18286243e-01 9.80362959e-03 -9.98133988e+01] [ 1.40781776e-02 -1.22105297e-05 9.99900897e-01 1.43757428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.72 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.31, Y:-99.84, Z:1.44 [[ 7.18019756e-01 6.95949425e-01 -1.01009128e-02 8.73086681e+01] [-6.95880331e-01 7.18090801e-01 9.80646701e-03 -9.98360133e+01] [ 1.40781776e-02 -1.22105342e-05 9.99900897e-01 1.43757535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.33, Y:-99.86, Z:1.44 [[ 7.18873472e-01 6.95066910e-01 -1.01450269e-02 8.73316637e+01] [-6.94997045e-01 7.18945053e-01 9.85487536e-03 -9.98598730e+01] [ 1.41435147e-02 -3.36447466e-05 9.99899975e-01 1.43878312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.78 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.36, Y:-99.88, Z:1.44 [[ 7.19142394e-01 6.94791933e-01 -9.91908167e-03 8.73553755e+01] [-6.94725043e-01 7.19210796e-01 9.64082558e-03 -9.98832860e+01] [ 1.38322785e-02 -4.20919374e-05 9.99904329e-01 1.43908028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.81 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.38, Y:-99.91, Z:1.44 [[ 7.19527631e-01 6.94397247e-01 -9.61513865e-03 8.73789321e+01] [-6.94334289e-01 7.19591871e-01 9.35066440e-03 -9.99064434e+01] [ 1.34120512e-02 -5.19409459e-05 9.99910053e-01 1.43919450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.84 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.40, Y:-99.93, Z:1.44 [[ 7.19700267e-01 6.94218534e-01 -9.59959886e-03 8.74023849e+01] [-6.94155693e-01 7.19764283e-01 9.34084211e-03 -9.99294376e+01] [ 1.33940341e-02 -5.89903602e-05 9.99910294e-01 1.43982391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.87 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.43, Y:-99.95, Z:1.44 [[ 7.19674829e-01 6.94249634e-01 -9.25129943e-03 8.74258149e+01] [-6.94191206e-01 7.19734286e-01 9.00704983e-03 -9.99525696e+01] [ 1.29116184e-02 -5.99763428e-05 9.99916640e-01 1.44078391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.9 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.45, Y:-99.98, Z:1.44 [[ 7.19557164e-01 6.94376099e-01 -8.90621873e-03 8.74486962e+01] [-6.94321902e-01 7.19612277e-01 8.67565969e-03 -9.99754564e+01] [ 1.24331951e-02 -5.88503574e-05 9.99922703e-01 1.44121772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.93 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.47, Y:-100.00, Z:1.44 [[ 7.18941776e-01 6.95022210e-01 -8.17619348e-03 8.74707649e+01] [-6.94976535e-01 7.18988265e-01 7.96813261e-03 -9.99970168e+01] [ 1.14166163e-02 -4.63607954e-05 9.99934827e-01 1.44290444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.95999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.49, Y:-100.02, Z:1.44 [[ 7.18287975e-01 6.95699938e-01 -7.99879967e-03 8.74948084e+01] [-6.95656217e-01 7.18332510e-01 7.79960843e-03 -1.00019297e+02] [ 1.11719849e-02 -3.79502273e-05 9.99937591e-01 1.44307221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.98999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.52, Y:-100.04, Z:1.44 [[ 7.17201735e-01 6.96816136e-01 -8.30324245e-03 8.75190993e+01] [-6.96769044e-01 7.17249797e-01 8.10109408e-03 -1.00041199e+02] [ 1.16004720e-02 -2.46764221e-05 9.99932712e-01 1.44327825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.01999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.54, Y:-100.06, Z:1.44 [[ 7.15830383e-01 6.98220726e-01 -8.64186289e-03 8.75431942e+01] [-6.98169762e-01 7.15882545e-01 8.43595370e-03 -1.00062488e+02] [ 1.20767165e-02 -5.22460908e-06 9.99927074e-01 1.44234128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.04999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.57, Y:-100.08, Z:1.44 [[ 7.14426326e-01 6.99657376e-01 -8.63609450e-03 8.75683196e+01] [-6.99606527e-01 7.14478521e-01 8.43507710e-03 -1.00084418e+02] [ 1.20719679e-02 1.56269421e-05 9.99927131e-01 1.44193346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.07999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.59, Y:-100.11, Z:1.44 [[ 7.12618219e-01 7.01499007e-01 -8.62655533e-03 8.75931817e+01] [-7.01448348e-01 7.12670430e-01 8.43047905e-03 -1.00105897e+02] [ 1.20618636e-02 4.33700203e-05 9.99927252e-01 1.44130144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.10999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.62, Y:-100.12, Z:1.44 [[ 7.09113712e-01 7.05035715e-01 -9.07656445e-03 8.76176620e+01] [-7.04979870e-01 7.09171792e-01 8.87426550e-03 -1.00124955e+02] [ 1.26935176e-02 1.05931876e-04 9.99919428e-01 1.44065893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.14 meters Centerline goodness [0,1] 0.9998434599816625 Centerline is valid? [True, True] Translation: X:87.64, Y:-100.15, Z:1.44 [[ 7.08047171e-01 7.06094757e-01 -9.96988748e-03 8.76416837e+01] [-7.06027417e-01 7.08117347e-01 9.75244321e-03 -1.00146857e+02] [ 1.39459993e-02 1.33824077e-04 9.99902741e-01 1.43741927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.17 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.67, Y:-100.17, Z:1.44 [[ 7.06055116e-01 7.08095902e-01 -9.29337915e-03 8.76653266e+01] [-7.08037532e-01 7.06116257e-01 9.09311542e-03 -1.00166936e+02] [ 1.30010039e-02 1.59820570e-04 9.99915471e-01 1.44011068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.2 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.69, Y:-100.19, Z:1.44 [[ 7.04901550e-01 7.09247189e-01 -9.06802421e-03 8.76891516e+01] [-7.09191656e-01 7.04959853e-01 8.87694278e-03 -1.00188412e+02] [ 1.26885397e-02 1.73596381e-04 9.99919482e-01 1.43991235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.23 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.71, Y:-100.21, Z:1.44 [[ 7.03818668e-01 7.10323582e-01 -8.92698480e-03 8.77119925e+01] [-7.10269808e-01 7.03875254e-01 8.74223010e-03 -1.00208818e+02] [ 1.24932959e-02 1.87623029e-04 9.99921938e-01 1.43971766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.26 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.74, Y:-100.23, Z:1.44 [[ 7.02521020e-01 7.11620031e-01 -7.81976629e-03 8.77359087e+01] [-7.11578806e-01 7.02564516e-01 7.66187427e-03 -1.00229652e+02] [ 1.09462335e-02 1.81752233e-04 9.99940072e-01 1.43941363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.29 meters Centerline goodness [0,1] 0.9998653047480076 Centerline is valid? [True, True] Translation: X:87.76, Y:-100.25, Z:1.44 [[ 7.02659201e-01 7.11479821e-01 -8.15548947e-03 8.77589128e+01] [-7.11434919e-01 7.02706504e-01 7.99536607e-03 -1.00253720e+02] [ 1.14194571e-02 1.84082452e-04 9.99934779e-01 1.43761192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.32 meters Centerline goodness [0,1] 0.9997983870967742 Centerline is valid? [True, True] Translation: X:87.78, Y:-100.28, Z:1.44 [[ 7.02737889e-01 7.11406439e-01 -7.76775665e-03 8.77808540e+01] [-7.11365663e-01 7.02780797e-01 7.61874089e-03 -1.00275234e+02] [ 1.08790515e-02 1.71737464e-04 9.99940807e-01 1.43697099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.35 meters Centerline goodness [0,1] 0.9997980477953551 Centerline is valid? [True, True] Translation: X:87.80, Y:-100.30, Z:1.44 [[ 7.02817403e-01 7.11332035e-01 -7.37792609e-03 8.78033075e+01] [-7.11295208e-01 7.02856109e-01 7.23992941e-03 -1.00297431e+02] [ 1.03356141e-02 1.59535085e-04 9.99946573e-01 1.43681419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.38 meters Centerline goodness [0,1] 0.9998877816680133 Centerline is valid? [True, True] Translation: X:87.83, Y:-100.32, Z:1.44 [[ 7.03164596e-01 7.10995886e-01 -6.66331076e-03 8.78259931e+01] [-7.10965803e-01 7.03196154e-01 6.54189445e-03 -1.00320494e+02] [ 9.33687454e-03 1.37357516e-04 9.99956401e-01 1.43818416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.41 meters Centerline goodness [0,1] 0.9998880956111099 Centerline is valid? [True, True] Translation: X:87.85, Y:-100.34, Z:1.44 [[ 7.04429927e-01 7.09748951e-01 -5.90800449e-03 8.78476447e+01] [-7.09725233e-01 7.04454694e-01 5.80323677e-03 -1.00343855e+02] [ 8.28076270e-03 1.05086210e-04 9.99965708e-01 1.43781931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.44 meters Centerline goodness [0,1] 0.9999104464245735 Centerline is valid? [True, True] Translation: X:87.87, Y:-100.37, Z:1.44 [[ 7.04987643e-01 7.09197153e-01 -5.64112381e-03 8.78699820e+01] [-7.09175492e-01 7.05010206e-01 5.54363751e-03 -1.00365666e+02] [ 7.90858179e-03 9.23508117e-05 9.99968722e-01 1.43743938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.47 meters Centerline goodness [0,1] 0.999820345834269 Centerline is valid? [True, True] Translation: X:87.89, Y:-100.39, Z:1.44 [[ 7.05794900e-01 7.08390867e-01 -5.99488814e-03 8.78918420e+01] [-7.08366350e-01 7.05820354e-01 5.89426131e-03 -1.00389672e+02] [ 8.40675495e-03 8.64374530e-05 9.99964659e-01 1.43638382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.91, Y:-100.41, Z:1.44 [[ 7.06102452e-01 7.08087748e-01 -5.57393509e-03 8.79139909e+01] [-7.08066523e-01 7.06124448e-01 5.48291136e-03 -1.00411634e+02] [ 7.81827419e-03 7.52196827e-05 9.99969434e-01 1.43905021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.53 meters Centerline goodness [0,1] 0.9998428484834878 Centerline is valid? [True, True] Translation: X:87.94, Y:-100.43, Z:1.44 [[ 7.07135700e-01 7.07052814e-01 -5.95149009e-03 8.79357336e+01] [-7.07028556e-01 7.07160741e-01 5.85721524e-03 -1.00434867e+02] [ 8.35002066e-03 6.60274502e-05 9.99965136e-01 1.43561892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.56 meters Centerline goodness [0,1] 0.9998877136248288 Centerline is valid? [True, True] Translation: X:87.96, Y:-100.46, Z:1.44 [[ 7.07993988e-01 7.06193826e-01 -5.89852601e-03 8.79570069e+01] [-7.06169947e-01 7.08018557e-01 5.80775708e-03 -1.00457061e+02] [ 8.27766807e-03 5.35046995e-05 9.99965738e-01 1.43594282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.59 meters Centerline goodness [0,1] 0.999842844955323 Centerline is valid? [True, True] Translation: X:87.98, Y:-100.48, Z:1.44 [[ 7.10046914e-01 7.04127595e-01 -6.14078792e-03 8.79781431e+01] [-7.04101610e-01 7.10073467e-01 6.04927902e-03 -1.00481148e+02] [ 8.61987486e-03 2.84667625e-05 9.99962848e-01 1.43522103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.62 meters Centerline goodness [0,1] 0.9997529089357114 Centerline is valid? [True, True] Translation: X:88.00, Y:-100.51, Z:1.43 [[ 7.11034048e-01 7.03129718e-01 -6.25949589e-03 8.80004330e+01] [-7.03102649e-01 7.11061600e-01 6.16971840e-03 -1.00505018e+02] [ 8.78899952e-03 1.41882878e-05 9.99961376e-01 1.43410032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.65 meters Centerline goodness [0,1] 0.9998426789526913 Centerline is valid? [True, True] Translation: X:88.02, Y:-100.53, Z:1.43 [[ 7.11757538e-01 7.02397413e-01 -6.25154180e-03 8.80232059e+01] [-7.02370354e-01 7.11784992e-01 6.16536535e-03 -1.00529189e+02] [ 8.78029030e-03 2.65235977e-06 9.99961453e-01 1.43477813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.68 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.05, Y:-100.55, Z:1.44 [[ 7.12402224e-01 7.01750617e-01 -5.39840690e-03 8.80450723e+01] [-7.01730403e-01 7.12422677e-01 5.32641652e-03 -1.00551803e+02] [ 7.58376358e-03 -6.32472399e-06 9.99971243e-01 1.43779698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.70999999999998 meters Centerline goodness [0,1] 0.9997977800745966 Centerline is valid? [True, True] Translation: X:88.07, Y:-100.58, Z:1.43 [[ 7.13581927e-01 7.00548667e-01 -5.69192910e-03 8.80671981e+01] [-7.00526131e-01 7.13604628e-01 5.61914998e-03 -1.00576257e+02] [ 7.99827498e-03 -2.23788004e-05 9.99968013e-01 1.43424687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.73999999999998 meters Centerline goodness [0,1] 0.9999100193458407 Centerline is valid? [True, True] Translation: X:88.09, Y:-100.60, Z:1.44 [[ 7.14990679e-01 6.99115100e-01 -5.13867109e-03 8.80887617e+01] [-6.99096683e-01 7.15009143e-01 5.07472519e-03 -1.00600370e+02] [ 7.22201382e-03 -3.59532977e-05 9.99973920e-01 1.43606194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.76999999999998 meters Centerline goodness [0,1] 0.9997977982475849 Centerline is valid? [True, True] Translation: X:88.11, Y:-100.62, Z:1.43 [[ 7.15494156e-01 6.98598214e-01 -5.35237300e-03 8.81117940e+01] [-6.98578196e-01 7.15514174e-01 5.28870446e-03 -1.00624181e+02] [ 7.52437823e-03 -4.49860575e-05 9.99971690e-01 1.43480898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.79999999999998 meters Centerline goodness [0,1] 0.9997977891614991 Centerline is valid? [True, True] Translation: X:88.14, Y:-100.65, Z:1.44 [[ 7.15895307e-01 6.98187073e-01 -5.35923929e-03 8.81352483e+01] [-6.98166969e-01 7.15915365e-01 5.29857759e-03 -1.00646922e+02] [ 7.53616013e-03 -5.15829797e-05 9.99971601e-01 1.43508527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.82999999999998 meters Centerline goodness [0,1] 0.9997750888399083 Centerline is valid? [True, True] Translation: X:88.16, Y:-100.67, Z:1.43 [[ 7.15982297e-01 6.98094891e-01 -5.73354269e-03 8.81586423e+01] [-6.98071852e-01 7.16005251e-01 5.67192834e-03 -1.00670494e+02] [ 8.06479087e-03 -5.85755152e-05 9.99967477e-01 1.43397815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.85999999999999 meters Centerline goodness [0,1] 0.9998872426313059 Centerline is valid? [True, True] Translation: X:88.18, Y:-100.69, Z:1.43 [[ 7.16136362e-01 6.97937338e-01 -5.67304296e-03 8.81810979e+01] [-6.97914753e-01 7.16158829e-01 5.61510622e-03 -1.00693067e+02] [ 7.98179209e-03 -6.18813629e-05 9.99968143e-01 1.43423294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.89 meters Centerline goodness [0,1] 0.9998874304883265 Centerline is valid? [True, True] Translation: X:88.20, Y:-100.72, Z:1.43 [[ 7.15955062e-01 6.98120062e-01 -6.06032032e-03 8.82032425e+01] [-6.98094269e-01 7.15980708e-01 6.00142278e-03 -1.00715332e+02] [ 8.52878607e-03 -6.60741351e-05 9.99963627e-01 1.43347127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.92 meters Centerline goodness [0,1] 0.9998423991354467 Centerline is valid? [True, True] Translation: X:88.23, Y:-100.74, Z:1.43 [[ 7.15798114e-01 6.98283401e-01 -5.77510127e-03 8.82266240e+01] [-6.98259957e-01 7.15821408e-01 5.72222117e-03 -1.00738473e+02] [ 8.12967319e-03 -6.34331566e-05 9.99966952e-01 1.43324727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.95 meters Centerline goodness [0,1] 0.9998423458931105 Centerline is valid? [True, True] Translation: X:88.25, Y:-100.76, Z:1.43 [[ 7.15338383e-01 6.98758251e-01 -5.28243396e-03 8.82500879e+01] [-6.98738627e-01 7.15357885e-01 5.23705710e-03 -1.00761438e+02] [ 7.43826764e-03 -5.52273050e-05 9.99972334e-01 1.43406446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.98 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.27, Y:-100.78, Z:1.44 [[ 7.14579044e-01 6.99542751e-01 -4.09011333e-03 8.82734709e+01] [-6.99530988e-01 7.14590749e-01 4.05699143e-03 -1.00783381e+02] [ 5.76079609e-03 -3.78800399e-05 9.99983406e-01 1.43771453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.01 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.30, Y:-100.81, Z:1.44 [[ 7.14110709e-01 7.00024437e-01 -3.41804449e-03 8.82970932e+01] [-7.00016218e-01 7.14118888e-01 3.39228253e-03 -1.00806019e+02] [ 4.81557080e-03 -2.97787104e-05 9.99988405e-01 1.43812227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.04 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.32, Y:-100.83, Z:1.44 [[ 7.12408785e-01 7.01758652e-01 -2.91852297e-03 8.83215313e+01] [-7.01752671e-01 7.12414763e-01 2.89730266e-03 -1.00827681e+02] [ 4.11240606e-03 -1.59825752e-05 9.99991544e-01 1.43816057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.07 meters Centerline goodness [0,1] 0.9999325645694248 Centerline is valid? [True, True] Translation: X:88.35, Y:-100.85, Z:1.44 [[ 7.11295391e-01 7.02884122e-01 -3.57448946e-03 8.83457499e+01] [-7.02875155e-01 7.11304372e-01 3.55049397e-03 -1.00850571e+02] [ 5.03813582e-03 -1.30301615e-05 9.99987308e-01 1.43583345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.1 meters Centerline goodness [0,1] 0.9997756992575645 Centerline is valid? [True, True] Translation: X:88.37, Y:-100.87, Z:1.43 [[ 7.10095132e-01 7.04092599e-01 -4.30297575e-03 8.83690005e+01] [-7.04079613e-01 7.10108169e-01 4.27633443e-03 -1.00872398e+02] [ 6.06651366e-03 -6.96676159e-06 9.99981599e-01 1.43288293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.13 meters Centerline goodness [0,1] 0.9997981519691397 Centerline is valid? [True, True] Translation: X:88.39, Y:-100.89, Z:1.43 [[ 7.06919390e-01 7.07274052e-01 -5.32826355e-03 8.83942614e+01] [-7.07254210e-01 7.06939470e-01 5.29789602e-03 -1.00892650e+02] [ 7.51382420e-03 2.32514003e-05 9.99971771e-01 1.43158750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.16 meters Centerline goodness [0,1] 0.9999104263704766 Centerline is valid? [True, True] Translation: X:88.42, Y:-100.91, Z:1.43 [[ 7.04787932e-01 7.09392403e-01 -6.03238514e-03 8.84187454e+01] [-7.09367023e-01 7.04813746e-01 6.00095978e-03 -1.00913773e+02] [ 8.50874324e-03 4.97710515e-05 9.99963799e-01 1.43198783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.19 meters Centerline goodness [0,1] 0.9998209289311696 Centerline is valid? [True, True] Translation: X:88.44, Y:-100.94, Z:1.43 [[ 7.03157074e-01 7.11002213e-01 -6.78103233e-03 8.84427243e+01] [-7.10970184e-01 7.03189767e-01 6.74903687e-03 -1.00935220e+02] [ 9.56693269e-03 7.54787843e-05 9.99954233e-01 1.42951079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.22 meters Centerline goodness [0,1] 0.9999552192020061 Centerline is valid? [True, True] Translation: X:88.47, Y:-100.96, Z:1.43 [[ 7.01340726e-01 7.12791759e-01 -7.00677712e-03 8.84662596e+01] [-7.12757616e-01 7.01375719e-01 6.97720077e-03 -1.00956639e+02] [ 9.88767454e-03 1.00738703e-04 9.99951111e-01 1.43122282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.25 meters Centerline goodness [0,1] 0.9999105645612074 Centerline is valid? [True, True] Translation: X:88.49, Y:-100.98, Z:1.43 [[ 7.00500903e-01 7.13614697e-01 -7.24913239e-03 8.84896552e+01] [-7.13578159e-01 7.00538401e-01 7.22215865e-03 -1.00979103e+02] [ 1.02321342e-02 1.13693891e-04 9.99947644e-01 1.43019834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.28 meters Centerline goodness [0,1] 0.999798414191641 Centerline is valid? [True, True] Translation: X:88.51, Y:-101.00, Z:1.43 [[ 6.99783056e-01 7.14314381e-01 -7.65767757e-03 8.85122991e+01] [-7.14273609e-01 6.99824942e-01 7.63298722e-03 -1.01001380e+02] [ 1.08113863e-02 1.28241871e-04 9.99941547e-01 1.42882174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.31 meters Centerline goodness [0,1] 0.9997535124476213 Centerline is valid? [True, True] Translation: X:88.54, Y:-101.02, Z:1.43 [[ 6.98542031e-01 7.15535103e-01 -6.96754579e-03 8.85354228e+01] [-7.15501371e-01 6.98576767e-01 6.94905840e-03 -1.01024287e+02] [ 9.83966083e-03 1.31079200e-04 9.99951581e-01 1.42950810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.34 meters Centerline goodness [0,1] 0.9998432040139772 Centerline is valid? [True, True] Translation: X:88.56, Y:-101.05, Z:1.43 [[ 6.97764890e-01 7.16293697e-01 -6.89192942e-03 8.85586924e+01] [-7.16260691e-01 6.97798912e-01 6.87756466e-03 -1.01046909e+02] [ 9.73553706e-03 1.37494987e-04 9.99952599e-01 1.43056314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.37 meters Centerline goodness [0,1] 0.9998654104979812 Centerline is valid? [True, True] Translation: X:88.58, Y:-101.07, Z:1.43 [[ 6.97237479e-01 7.16805559e-01 -7.04897642e-03 8.85824531e+01] [-7.16771018e-01 6.97273096e-01 7.03830082e-03 -1.01070298e+02] [ 9.96015476e-03 1.45134879e-04 9.99950386e-01 1.43070069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.4 meters Centerline goodness [0,1] 0.9998657267539443 Centerline is valid? [True, True] Translation: X:88.61, Y:-101.09, Z:1.43 [[ 6.96987191e-01 7.17047556e-01 -7.18736678e-03 8.86050193e+01] [-7.17011620e-01 6.97024233e-01 7.18028000e-03 -1.01093203e+02] [ 1.01583710e-02 1.48862308e-04 9.99948391e-01 1.42978933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.43 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.63, Y:-101.12, Z:1.43 [[ 6.96435594e-01 7.17585042e-01 -7.01218021e-03 8.86277542e+01] [-7.17550824e-01 6.96470879e-01 7.00926108e-03 -1.01117456e+02] [ 9.91352022e-03 1.50096786e-04 9.99950849e-01 1.43330122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.45999999999998 meters Centerline goodness [0,1] 0.9998202408772245 Centerline is valid? [True, True] Translation: X:88.65, Y:-101.14, Z:1.43 [[ 6.97644585e-01 7.16407904e-01 -7.19363089e-03 8.86487710e+01] [-7.16371793e-01 6.97681659e-01 7.19423874e-03 -1.01141527e+02] [ 1.01728738e-02 1.34292556e-04 9.99948246e-01 1.43035487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.48999999999998 meters Centerline goodness [0,1] 0.9998430809926248 Centerline is valid? [True, True] Translation: X:89.32, Y:-100.62, Z:2.26 [[ 7.67121586e-01 -6.41456006e-01 -7.65926119e-03 8.93151335e+01] [-6.41422455e-01 -7.67159813e-01 6.56168078e-03 -1.00623814e+02] [-1.00849069e-02 -1.20784849e-04 -9.99949139e-01 2.25658463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.51999999999998 meters Centerline goodness [0,1] 0.9998879325802402 Centerline is valid? [True, True] Translation: X:89.31, Y:-100.63, Z:2.26 [[ 8.14113787e-01 -5.80650735e-01 -7.96652765e-03 8.93114314e+01] [-5.80621669e-01 -8.14152758e-01 5.81068558e-03 -1.00628222e+02] [-9.85994931e-03 -1.05020660e-04 -9.99951384e-01 2.25531441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.54999999999998 meters Centerline goodness [0,1] 0.9999103038457227 Centerline is valid? [True, True] Translation: X:89.31, Y:-100.63, Z:2.25 [[ 8.56240473e-01 -5.16505100e-01 -8.64488074e-03 8.93068862e+01] [-5.16477676e-01 -8.56284108e-01 5.32328545e-03 -1.00632144e+02] [-1.01519781e-02 -9.31245442e-05 -9.99948463e-01 2.25477119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.57999999999998 meters Centerline goodness [0,1] 0.9997746224926752 Centerline is valid? [True, True] Translation: X:89.30, Y:-100.63, Z:2.26 [[ 8.92317795e-01 -4.51307104e-01 -9.53160183e-03 8.93024887e+01] [-4.51280658e-01 -8.92368699e-01 4.88598872e-03 -1.00634361e+02] [-1.07107845e-02 -5.84271315e-05 -9.99942636e-01 2.25645521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.60999999999999 meters Centerline goodness [0,1] 0.9998194986575213 Centerline is valid? [True, True] Translation: X:89.30, Y:-100.64, Z:2.26 [[ 9.24294381e-01 -3.81547696e-01 -1.00624974e-02 8.92966037e+01] [-3.81524579e-01 -9.24349152e-01 4.20020035e-03 -1.00639329e+02] [-1.09038377e-02 -4.31314948e-05 -9.99940550e-01 2.25658822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.64 meters Centerline goodness [0,1] 0.9998194986575213 Centerline is valid? [True, True] Translation: X:89.29, Y:-100.65, Z:2.26 [[ 9.51299786e-01 -3.08093140e-01 -1.03602379e-02 8.92905745e+01] [-3.08074377e-01 -9.51356198e-01 3.40046639e-03 -1.00645964e+02] [-1.09039370e-02 -4.31390975e-05 -9.99940549e-01 2.25658924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.67 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.29, Y:-100.65, Z:2.25 [[ 9.72370048e-01 -2.33190469e-01 -1.08947616e-02 8.92852517e+01] [-2.33175372e-01 -9.72431079e-01 2.65374145e-03 -1.00651231e+02] [-1.12132320e-02 -4.00286062e-05 -9.99937129e-01 2.25321955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.7 meters Centerline goodness [0,1] 0.9997735866144406 Centerline is valid? [True, True] Translation: X:89.28, Y:-100.65, Z:2.26 [[ 9.87117863e-01 -1.59533630e-01 -1.21386191e-02 8.92784980e+01] [-1.59521512e-01 -9.87192494e-01 1.96634268e-03 -1.00654514e+02] [-1.22968514e-02 -4.64111845e-06 -9.99924391e-01 2.25770769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.73 meters Centerline goodness [0,1] 0.9999319650754054 Centerline is valid? [True, True] Translation: X:89.27, Y:-100.66, Z:2.26 [[ 9.96489624e-01 -8.27867838e-02 -1.24409998e-02 8.92717009e+01] [-8.27804314e-02 -9.96567282e-01 1.02557498e-03 -1.00659202e+02] [-1.24831974e-02 7.89650217e-06 -9.99922082e-01 2.25571185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.76 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.26, Y:-100.67, Z:2.25 [[ 9.99905272e-01 -5.18066491e-03 -1.27517372e-02 8.92648223e+01] [-5.18046129e-03 -9.99986580e-01 4.89992288e-05 -1.00666759e+02] [-1.27518199e-02 1.70652937e-05 -9.99918692e-01 2.25339611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.79 meters Centerline goodness [0,1] 0.9999092949953514 Centerline is valid? [True, True] Translation: X:89.26, Y:-100.67, Z:2.26 [[ 9.97501961e-01 6.93215788e-02 -1.35778088e-02 8.92571926e+01] [ 6.93141991e-02 -9.97594363e-01 -1.01391446e-03 -1.00671268e+02] [-1.36154317e-02 7.02467181e-05 -9.99907303e-01 2.25575771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.82 meters Centerline goodness [0,1] 0.9997277676950999 Centerline is valid? [True, True] Translation: X:89.25, Y:-100.68, Z:2.26 [[ 9.89325646e-01 1.45067413e-01 -1.37917678e-02 8.92493054e+01] [ 1.45051875e-01 -9.89421768e-01 -2.12564961e-03 -1.00677640e+02] [-1.39542378e-02 1.02437895e-04 -9.99902630e-01 2.25809199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.85 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.24, Y:-100.69, Z:2.25 [[ 9.74990312e-01 2.21887600e-01 -1.26406086e-02 8.92436415e+01] [ 2.21867655e-01 -9.75072245e-01 -2.97664857e-03 -1.00686772e+02] [-1.29859880e-02 9.76613385e-05 -9.99915674e-01 2.25231216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.88 meters Centerline goodness [0,1] 0.9998638653174207 Centerline is valid? [True, True] Translation: X:89.24, Y:-100.70, Z:2.26 [[ 9.55354086e-01 2.95230113e-01 -1.17367491e-02 8.92383570e+01] [ 2.95206255e-01 -9.55426169e-01 -3.75522648e-03 -1.00695065e+02] [-1.23222531e-02 1.22809223e-04 -9.99924071e-01 2.25514535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.91 meters Centerline goodness [0,1] 0.9999318367717895 Centerline is valid? [True, True] Translation: X:89.23, Y:-100.71, Z:2.25 [[ 9.29602576e-01 3.68420718e-01 -1.02579167e-02 8.92340320e+01] [ 3.68396868e-01 -9.29659164e-01 -4.19371167e-03 -1.00706293e+02] [-1.10814166e-02 1.19500770e-04 -9.99938592e-01 2.25252202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.94 meters Centerline goodness [0,1] 0.9997731345992422 Centerline is valid? [True, True] Translation: X:89.23, Y:-100.72, Z:2.25 [[ 8.98701799e-01 4.38455120e-01 -9.60124692e-03 8.92292773e+01] [ 4.38428484e-01 -8.98753075e-01 -4.83482111e-03 -1.00715820e+02] [-1.07490023e-02 1.35602301e-04 -9.99942219e-01 2.25451606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.97 meters Centerline goodness [0,1] 0.9998415895358573 Centerline is valid? [True, True] Translation: X:89.23, Y:-100.73, Z:2.25 [[ 8.62015505e-01 5.06820592e-01 -7.88389279e-03 8.92275388e+01] [ 5.06798081e-01 -8.62051548e-01 -4.77843366e-03 -1.00727962e+02] [-9.21813057e-03 1.23542175e-04 -9.99957505e-01 2.25188972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.0 meters Centerline goodness [0,1] 0.9999095411474705 Centerline is valid? [True, True] Translation: X:89.23, Y:-100.74, Z:2.25 [[ 8.19193618e-01 5.73470408e-01 -7.31485377e-03 8.92260841e+01] [ 5.73446309e-01 -8.19226268e-01 -5.25858609e-03 -1.00740023e+02] [-9.00816387e-03 1.13124271e-04 -9.99959419e-01 2.25116347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.03 meters Centerline goodness [0,1] 0.9998194497731838 Centerline is valid? [True, True] Translation: X:89.23, Y:-100.75, Z:2.25 [[ 7.71469820e-01 6.36220431e-01 -7.60789645e-03 8.92261509e+01] [ 6.36187952e-01 -7.71507323e-01 -6.42964948e-03 -1.00753132e+02] [-9.96022218e-03 1.20228463e-04 -9.99950389e-01 2.25338100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.06 meters Centerline goodness [0,1] 0.9998646606365461 Centerline is valid? [True, True] Translation: X:89.23, Y:-100.77, Z:2.25 [[ 7.18071608e-01 6.95926533e-01 -7.70886370e-03 8.92258950e+01] [ 6.95884748e-01 -7.18112978e-01 -7.62685197e-03 -1.00766443e+02] [-1.08435637e-02 1.12145186e-04 -9.99941201e-01 2.25361764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.09 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.23, Y:-100.78, Z:2.25 [[ 6.57669796e-01 7.53262578e-01 -8.11957385e-03 8.92278300e+01] [ 7.53203909e-01 -6.57719913e-01 -9.40147078e-03 -1.00780871e+02] [-1.24221815e-02 6.73686025e-05 -9.99922839e-01 2.25234082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.12 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.23, Y:-100.79, Z:2.25 [[ 5.94864406e-01 8.03789198e-01 -7.69827388e-03 8.92285852e+01] [ 8.03720993e-01 -5.94914215e-01 -1.04710386e-02 -1.00791387e+02] [-1.29963203e-02 4.15838560e-05 -9.99915543e-01 2.25306365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.15 meters Centerline goodness [0,1] 0.9998202449163015 Centerline is valid? [True, True] Translation: X:89.23, Y:-100.80, Z:2.26 [[ 5.28953026e-01 8.48618026e-01 -7.49276535e-03 8.92325246e+01] [ 8.48532202e-01 -5.29006091e-01 -1.20688786e-02 -1.00803035e+02] [-1.42055864e-02 2.60171589e-05 -9.99899095e-01 2.25677310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.18 meters Centerline goodness [0,1] 0.9999326417890341 Centerline is valid? [True, True] Translation: X:89.24, Y:-100.82, Z:2.26 [[ 4.58583938e-01 8.88628063e-01 -6.39819810e-03 8.92366465e+01] [ 8.88541901e-01 -4.58628570e-01 -1.23743992e-02 -1.00815140e+02] [-1.39306348e-02 -1.03663843e-05 -9.99902964e-01 2.25538689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.20999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.24, Y:-100.83, Z:2.25 [[ 3.84761186e-01 9.23000910e-01 -5.30561824e-03 8.92407661e+01] [ 9.22915026e-01 -3.84797761e-01 -1.25912072e-02 -1.00826398e+02] [-1.36632858e-02 -5.20269709e-05 -9.99906652e-01 2.25414355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.23999999999998 meters Centerline goodness [0,1] 0.9998208487291457 Centerline is valid? [True, True] Translation: X:89.25, Y:-100.84, Z:2.26 [[ 3.08059572e-01 9.51357197e-01 -4.33406874e-03 8.92474310e+01] [ 9.51267546e-01 -3.08090042e-01 -1.30607162e-02 -1.00836664e+02] [-1.37606897e-02 -9.93803008e-05 -9.99905312e-01 2.25675311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.26999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.25, Y:-100.85, Z:2.25 [[ 2.29850853e-01 9.73221474e-01 -2.92362008e-03 8.92528512e+01] [ 9.73149392e-01 -2.29869413e-01 -1.18453783e-02 -1.00847123e+02] [-1.22002273e-02 -1.22448803e-04 -9.99925567e-01 2.25268997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.29999999999998 meters Centerline goodness [0,1] 0.9998208647752973 Centerline is valid? [True, True] Translation: X:89.26, Y:-100.86, Z:2.26 [[ 1.52082470e-01 9.88365694e-01 -2.04407158e-03 8.92568009e+01] [ 9.88288060e-01 -1.52096145e-01 -1.23883999e-02 -1.00855328e+02] [-1.25551649e-02 -1.36073082e-04 -9.99921172e-01 2.25634018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.32999999999998 meters Centerline goodness [0,1] 0.9998208005734381 Centerline is valid? [True, True] Translation: X:89.26, Y:-100.86, Z:2.25 [[ 7.29414368e-02 9.97335742e-01 -9.82178144e-04 8.92627277e+01] [ 9.97269249e-01 -7.29479160e-02 -1.15172174e-02 -1.00863701e+02] [-1.15581804e-02 -1.39413673e-04 -9.99933192e-01 2.25477915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.35999999999999 meters Centerline goodness [0,1] 0.9999327218497006 Centerline is valid? [True, True] Translation: X:89.27, Y:-100.87, Z:2.25 [[-7.52552321e-03 9.99971681e-01 -5.98283648e-05 8.92707201e+01] [ 9.99930399e-01 7.52466885e-03 -9.08718626e-03 -1.00871587e+02] [-9.08647873e-03 -1.28210032e-04 -9.99958709e-01 2.25157753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.39 meters Centerline goodness [0,1] 0.9997983735466093 Centerline is valid? [True, True] Translation: X:89.28, Y:-100.88, Z:2.25 [[-8.58924520e-02 9.96304197e-01 6.58182969e-04 8.92766088e+01] [ 9.96262256e-01 8.58948761e-02 -9.14263269e-03 -1.00878273e+02] [-9.16537787e-03 -1.29560291e-04 -9.99957989e-01 2.25398120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.42 meters Centerline goodness [0,1] 0.9998659457527146 Centerline is valid? [True, True] Translation: X:89.29, Y:-100.88, Z:2.25 [[-1.64238857e-01 9.86419774e-01 1.27556700e-03 8.92862647e+01] [ 9.86383818e-01 1.64243762e-01 -8.42318075e-03 -1.00883855e+02] [-8.51829598e-03 -1.25214929e-04 -9.99963711e-01 2.25239496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.45 meters Centerline goodness [0,1] 0.999843561435659 Centerline is valid? [True, True] Translation: X:89.30, Y:-100.89, Z:2.25 [[-2.41302867e-01 9.70447950e-01 1.92423457e-03 8.92977490e+01] [ 9.70412765e-01 2.41310506e-01 -8.26473990e-03 -1.00889997e+02] [-8.48483791e-03 -1.27003643e-04 -9.99963995e-01 2.25363987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.48 meters Centerline goodness [0,1] 0.9998211491169238 Centerline is valid? [True, True] Translation: X:89.31, Y:-100.90, Z:2.25 [[-3.16473506e-01 9.48597928e-01 2.54773202e-03 8.93062573e+01] [ 9.48563937e-01 3.16483736e-01 -8.03129207e-03 -1.00895152e+02] [-8.42478277e-03 -1.25004447e-04 -9.99964503e-01 2.25378640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.51 meters Centerline goodness [0,1] 0.9998882281933206 Centerline is valid? [True, True] Translation: X:89.32, Y:-100.90, Z:2.25 [[-3.90040551e-01 9.20791537e-01 3.36348485e-03 8.93175249e+01] [ 9.20754256e-01 3.90055030e-01 -8.28700548e-03 -1.00899688e+02] [-8.94254870e-03 -1.35325197e-04 -9.99960005e-01 2.25433944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.54 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.33, Y:-100.90, Z:2.25 [[-4.60727739e-01 8.87528880e-01 4.73682862e-03 8.93261011e+01] [ 8.87478414e-01 4.60752062e-01 -9.46584682e-03 -1.00902920e+02] [-1.05837160e-02 -1.57345049e-04 -9.99943979e-01 2.25205455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.57 meters Centerline goodness [0,1] 0.9999103802119508 Centerline is valid? [True, True] Translation: X:89.34, Y:-100.91, Z:2.26 [[-5.27686997e-01 8.49414579e-01 6.42696768e-03 8.93362439e+01] [ 8.49347649e-01 5.27726107e-01 -1.06643052e-02 -1.00905019e+02] [-1.24500949e-02 -1.68685287e-04 -9.99922480e-01 2.25586903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.6 meters Centerline goodness [0,1] 0.9998879175072853 Centerline is valid? [True, True] Translation: X:89.35, Y:-100.91, Z:2.26 [[-5.91506787e-01 8.06259153e-01 8.11777095e-03 8.93474238e+01] [ 8.06179252e-01 5.91562464e-01 -1.13518717e-02 -1.00906233e+02] [-1.39547190e-02 -1.70330624e-04 -9.99902614e-01 2.25759910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.63 meters Centerline goodness [0,1] 0.9999105665608371 Centerline is valid? [True, True] Translation: X:89.36, Y:-100.91, Z:2.26 [[-6.52015595e-01 7.58145403e-01 9.55049092e-03 8.93581381e+01] [ 7.58060356e-01 6.52085517e-01 -1.13567689e-02 -1.00907005e+02] [-1.48378189e-02 -1.64941889e-04 -9.99889900e-01 2.25841983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.66 meters Centerline goodness [0,1] 0.9997981836528759 Centerline is valid? [True, True] Translation: X:89.37, Y:-100.91, Z:2.26 [[-7.06853392e-01 7.07267198e-01 1.14626803e-02 8.93657391e+01] [ 7.07171383e-01 7.06946317e-01 -1.16421443e-02 -1.00908844e+02] [-1.63376064e-02 -1.23209712e-04 -9.99866525e-01 2.26056344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.69 meters Centerline goodness [0,1] 0.9997990219066122 Centerline is valid? [True, True] Translation: X:89.37, Y:-100.91, Z:2.26 [[-7.58764348e-01 6.51245253e-01 1.25013992e-02 8.93746819e+01] [ 6.51154883e-01 7.58867322e-01 -1.08492519e-02 -1.00908845e+02] [-1.65524271e-02 -9.16784471e-05 -9.99862995e-01 2.25965045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.72 meters Centerline goodness [0,1] 0.9997537552327013 Centerline is valid? [True, True] Translation: X:89.39, Y:-100.89, Z:2.26 [[-8.01481549e-01 5.97876960e-01 1.30563041e-02 8.93948544e+01] [ 5.97796607e-01 8.01587885e-01 -9.80200191e-03 -1.00892784e+02] [-1.63261663e-02 -5.11093859e-05 -9.99866718e-01 2.25905929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.75 meters Centerline goodness [0,1] 0.999887907456396 Centerline is valid? [True, True] Translation: X:89.42, Y:-100.88, Z:2.26 [[-8.40513283e-01 5.41645936e-01 1.25340381e-02 8.94195757e+01] [ 5.41585529e-01 8.40606733e-01 -8.08914028e-03 -1.00879382e+02] [-1.49176467e-02 -1.07762174e-05 -9.99888726e-01 2.25666075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.78 meters Centerline goodness [0,1] 0.9998877715927456 Centerline is valid? [True, True] Translation: X:89.44, Y:-100.86, Z:2.26 [[-8.75412063e-01 4.83217669e-01 1.24259793e-02 8.94382685e+01] [ 4.83169444e-01 8.75500248e-01 -6.82675305e-03 -1.00861594e+02] [-1.41777556e-02 2.76315210e-05 -9.99899490e-01 2.25508097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.81 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.46, Y:-100.85, Z:2.25 [[-9.05509586e-01 4.24189430e-01 1.07571357e-02 8.94589463e+01] [ 4.24160522e-01 9.05573476e-01 -4.95287123e-03 -1.00845485e+02] [-1.18423324e-02 7.78799153e-05 -9.99929874e-01 2.25057941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.84 meters Centerline goodness [0,1] 0.9997978209592272 Centerline is valid? [True, True] Translation: X:89.83, Y:-100.08, Z:1.43 [[-8.82263732e-01 -4.70626578e-01 1.10150602e-02 8.98283419e+01] [ 4.70589287e-01 -8.82332489e-01 -5.92460880e-03 -1.00075980e+02] [ 1.25072239e-02 -4.34981363e-05 9.99921781e-01 1.43311199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.87 meters Centerline goodness [0,1] 0.9998198522788687 Centerline is valid? [True, True] Translation: X:89.42, Y:-100.83, Z:2.25 [[-9.05331727e-01 4.24579472e-01 1.03313132e-02 8.94218677e+01] [ 4.24553347e-01 9.05390665e-01 -4.71152013e-03 -1.00833287e+02] [-1.13542892e-02 1.20704928e-04 -9.99935531e-01 2.25336974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.9 meters Centerline goodness [0,1] 0.999932313523758 Centerline is valid? [True, True] Translation: X:89.44, Y:-100.81, Z:2.25 [[-9.32869615e-01 3.60076387e-01 9.96383322e-03 8.94393872e+01] [ 3.60057229e-01 9.32922816e-01 -3.71623574e-03 -1.00811177e+02] [-1.06336161e-02 1.20786779e-04 -9.99943454e-01 2.25085720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.93 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:89.46, Y:-100.79, Z:2.25 [[-9.55869567e-01 2.93625092e-01 9.88311103e-03 8.94553635e+01] [ 2.93610730e-01 9.55920650e-01 -2.90675148e-03 -1.00788042e+02] [-1.03009651e-02 1.23312164e-04 -9.99946936e-01 2.24912132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.95999999999998 meters Centerline goodness [0,1] 0.9998873391766747 Centerline is valid? [True, True] Translation: X:89.47, Y:-100.76, Z:2.25 [[-9.74185093e-01 2.25501593e-01 1.06036089e-02 8.94657159e+01] [ 2.25489730e-01 9.74242790e-01 -2.31689516e-03 -1.00762121e+02] [-1.08529531e-02 1.33920178e-04 -9.99941096e-01 2.25160297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.98999999999998 meters Centerline goodness [0,1] 0.9998427319703438 Centerline is valid? [True, True] Translation: X:89.48, Y:-100.74, Z:2.25 [[-9.87749578e-01 1.55615451e-01 1.16018624e-02 8.94755055e+01] [ 1.55606407e-01 9.87817701e-01 -1.68379927e-03 -1.00736032e+02] [-1.17225502e-02 1.42152092e-04 -9.99931278e-01 2.25267346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.01999999999998 meters Centerline goodness [0,1] 0.9997978073328541 Centerline is valid? [True, True] Translation: X:89.48, Y:-100.71, Z:2.25 [[-9.96315353e-01 8.49030653e-02 1.21320678e-02 8.94840828e+01] [ 8.48985407e-02 9.96389205e-01 -8.88405243e-04 -1.00708732e+02] [-1.21636897e-02 1.44863068e-04 -9.99926009e-01 2.25323765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.04999999999998 meters Centerline goodness [0,1] 0.9999325827546687 Centerline is valid? [True, True] Translation: X:89.49, Y:-100.68, Z:2.25 [[-9.99847273e-01 1.28414907e-02 1.18543792e-02 8.94874696e+01] [ 1.28421173e-02 9.99917536e-01 -2.32691248e-05 -1.00679701e+02] [-1.18537005e-02 1.28969757e-04 -9.99929734e-01 2.25094168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.07999999999998 meters Centerline goodness [0,1] 0.9998880179171332 Centerline is valid? [True, True] Translation: X:89.49, Y:-99.83, Z:1.44 [[-9.98088530e-01 -6.05314000e-02 1.24593769e-02 8.94949635e+01] [ 6.05255227e-02 -9.98166289e-01 -8.48590924e-04 -9.98259174e+01] [ 1.24878964e-02 -9.28585681e-05 9.99922019e-01 1.43518250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.10999999999999 meters Centerline goodness [0,1] 0.9999106305018097 Centerline is valid? [True, True] Translation: X:89.39, Y:-100.67, Z:2.25 [[-9.99910875e-01 3.81792283e-03 1.27931599e-02 8.93874834e+01] [ 3.81892572e-03 9.99992706e-01 5.39642740e-05 -1.00674413e+02] [-1.27928606e-02 1.02815592e-04 -9.99918163e-01 2.25191699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.14 meters Centerline goodness [0,1] 0.9997768604261966 Centerline is valid? [True, True] Translation: X:89.39, Y:-100.65, Z:2.25 [[-9.97606376e-01 -6.77985618e-02 1.35968186e-02 8.93865201e+01] [-6.77908584e-02 9.97699025e-01 1.02718271e-03 -1.00645674e+02] [-1.36351742e-02 1.02984019e-04 -9.99907031e-01 2.25386852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.17 meters Centerline goodness [0,1] 0.9997544533238091 Centerline is valid? [True, True] Translation: X:89.38, Y:-100.62, Z:2.25 [[-9.90116412e-01 -1.39562163e-01 1.38525662e-02 8.93800772e+01] [-1.39547145e-01 9.90213307e-01 2.04960521e-03 -1.00617729e+02] [-1.40030427e-02 9.62616938e-05 -9.99901948e-01 2.25444401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.2 meters Centerline goodness [0,1] 0.9999777565228997 Centerline is valid? [True, True] Translation: X:89.24, Y:-99.79, Z:1.44 [[-9.96413239e-01 8.36625618e-02 1.26977548e-02 8.92446642e+01] [-8.36580120e-02 -9.96494127e-01 8.89981645e-04 -9.97876685e+01] [ 1.27276962e-02 -1.75479430e-04 9.99918984e-01 1.43688862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.23 meters Centerline goodness [0,1] 0.9998001066098081 Centerline is valid? [True, True] Translation: X:89.24, Y:-100.63, Z:2.25 [[-9.88798392e-01 -1.48654215e-01 1.34039227e-02 8.92377055e+01] [-1.48639662e-01 9.88889235e-01 2.08107649e-03 -1.00633819e+02] [-1.35643557e-02 6.54105423e-05 -9.99907998e-01 2.25281869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.26 meters Centerline goodness [0,1] 0.999822032390105 Centerline is valid? [True, True] Translation: X:89.22, Y:-100.61, Z:2.25 [[-9.75381588e-01 -2.20154773e-01 1.27528178e-02 8.92184002e+01] [-2.20135233e-01 9.75464952e-01 2.93369178e-03 -1.00608716e+02] [-1.30857930e-02 5.41244329e-05 -9.99914376e-01 2.25178111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.29 meters Centerline goodness [0,1] 0.9998221629432033 Centerline is valid? [True, True] Translation: X:89.17, Y:-100.59, Z:2.25 [[-9.56495023e-01 -2.91501901e-01 1.19963297e-02 8.91707387e+01] [-2.91478388e-01 9.56570248e-01 3.70267471e-03 -1.00591922e+02] [-1.25546688e-02 4.49191018e-05 -9.99921186e-01 2.25187518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.32 meters Centerline goodness [0,1] 0.9998890811482319 Centerline is valid? [True, True] Translation: X:89.11, Y:-100.58, Z:2.25 [[-9.32060953e-01 -3.62141976e-01 1.07502995e-02 8.91104311e+01] [-3.62117514e-01 9.32122947e-01 4.20926501e-03 -1.00582009e+02] [-1.15449524e-02 3.04198228e-05 -9.99933354e-01 2.25049488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.35 meters Centerline goodness [0,1] 0.9999115259560727 Centerline is valid? [True, True] Translation: X:89.04, Y:-100.58, Z:2.25 [[-9.02131638e-01 -4.31354762e-01 9.56955162e-03 8.90417292e+01] [-4.31330282e-01 9.02182392e-01 4.59555143e-03 -1.00580054e+02] [-1.06157940e-02 1.81549447e-05 -9.99943651e-01 2.24943000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.38 meters Centerline goodness [0,1] 0.9998016441496044 Centerline is valid? [True, True] Translation: X:88.96, Y:-100.59, Z:2.25 [[-8.66484556e-01 -4.99109097e-01 9.72741655e-03 8.89611010e+01] [-4.99077648e-01 8.66539156e-01 5.60285592e-03 -1.00588198e+02] [-1.12256237e-02 5.19518262e-08 -9.99936991e-01 2.25157876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.41 meters Centerline goodness [0,1] 0.9998013332744691 Centerline is valid? [True, True] Translation: X:88.88, Y:-100.61, Z:2.25 [[-8.25690996e-01 -5.64046155e-01 9.29051204e-03 8.88753028e+01] [-5.64010661e-01 8.25743262e-01 6.32770141e-03 -1.00607526e+02] [-1.12406934e-02 -1.52217571e-05 -9.99936821e-01 2.25066199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.44 meters Centerline goodness [0,1] 0.9998677190352309 Centerline is valid? [True, True] Translation: X:88.79, Y:-100.63, Z:2.25 [[-7.79632493e-01 -6.26177215e-01 8.67595846e-03 8.87883668e+01] [-6.26138921e-01 7.79680765e-01 6.92506433e-03 -1.00634917e+02] [-1.11007954e-02 -3.33501031e-05 -9.99938384e-01 2.24990982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.47 meters Centerline goodness [0,1] 0.9998903580904765 Centerline is valid? [True, True] Translation: X:88.70, Y:-100.67, Z:2.25 [[-7.28664629e-01 -6.84821104e-01 8.24099122e-03 8.86971265e+01] [-6.84778139e-01 7.28711227e-01 7.67118217e-03 -1.00674396e+02] [-1.12586903e-02 -5.35315298e-05 -9.99936618e-01 2.25003724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.5 meters Centerline goodness [0,1] 0.9998458455372283 Centerline is valid? [True, True] Translation: X:88.60, Y:-100.72, Z:2.25 [[-6.71902941e-01 -7.40589913e-01 8.54511873e-03 8.86030413e+01] [-7.40531958e-01 6.71957268e-01 9.26542646e-03 -1.00723655e+02] [-1.26038360e-02 -1.02466226e-04 -9.99920563e-01 2.25135301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.53 meters Centerline goodness [0,1] 0.9998458455372283 Centerline is valid? [True, True] Translation: X:88.52, Y:-100.78, Z:2.25 [[-6.13338508e-01 -7.89781518e-01 7.81201670e-03 8.85160132e+01] [-7.89719580e-01 6.13388248e-01 9.89149854e-03 -1.00783352e+02] [-1.26039220e-02 -1.02465588e-04 -9.99920562e-01 2.25135697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.43, Y:-100.85, Z:2.25 [[-5.48901197e-01 -8.35860780e-01 6.65079106e-03 8.84280081e+01] [-8.35802233e-01 5.48941473e-01 9.89375326e-03 -1.00853246e+02] [-1.19206954e-02 -1.28053012e-04 -9.99928938e-01 2.24851270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.59 meters Centerline goodness [0,1] 0.9999123633415857 Centerline is valid? [True, True] Translation: X:88.35, Y:-100.93, Z:2.25 [[-4.82198373e-01 -8.76039792e-01 6.24596885e-03 8.83480404e+01] [-8.75970267e-01 4.82238800e-01 1.10377175e-02 -1.00926829e+02] [-1.26815282e-02 -1.48913594e-04 -9.99919575e-01 2.25120356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.62 meters Centerline goodness [0,1] 0.9998243803920708 Centerline is valid? [True, True] Translation: X:88.27, Y:-101.01, Z:2.25 [[-4.12377592e-01 -9.10996613e-01 5.46741040e-03 8.82725954e+01] [-9.10921795e-01 4.12413802e-01 1.16764792e-02 -1.01010366e+02] [-1.28920685e-02 -1.65264899e-04 -9.99916880e-01 2.25208390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.65 meters Centerline goodness [0,1] 0.9997808843507603 Centerline is valid? [True, True] Translation: X:88.20, Y:-101.10, Z:2.25 [[-3.39311715e-01 -9.40663682e-01 4.40423168e-03 8.82007897e+01] [-9.40591284e-01 3.39340248e-01 1.16719014e-02 -1.01102735e+02] [-1.24738668e-02 -1.82169062e-04 -9.99922182e-01 2.25238311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.68 meters Centerline goodness [0,1] 0.9998686744878305 Centerline is valid? [True, True] Translation: X:88.14, Y:-101.20, Z:2.25 [[-2.65257353e-01 -9.64171968e-01 3.30933842e-03 8.81367848e+01] [-9.64105142e-01 2.65277936e-01 1.13530789e-02 -1.01204498e+02] [-1.18242149e-02 -1.79062531e-04 -9.99930076e-01 2.25153009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.70999999999998 meters Centerline goodness [0,1] 0.9997813442952727 Centerline is valid? [True, True] Translation: X:88.08, Y:-101.31, Z:2.25 [[-1.89953109e-01 -9.81789673e-01 2.61793807e-03 8.80824200e+01] [-9.81710037e-01 1.89971049e-01 1.25061296e-02 -1.01307656e+02] [-1.27757213e-02 -1.94477883e-04 -9.99918368e-01 2.25282377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.73999999999998 meters Centerline goodness [0,1] 0.9998248264687206 Centerline is valid? [True, True] Translation: X:88.04, Y:-101.42, Z:2.25 [[-1.13803270e-01 -9.93501965e-01 1.63157957e-03 8.80357299e+01] [-9.93422320e-01 1.13814808e-01 1.25810816e-02 -1.01417386e+02] [-1.26850272e-02 -1.89079339e-04 -9.99919524e-01 2.25262273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.76999999999998 meters Centerline goodness [0,1] 0.9999561682263473 Centerline is valid? [True, True] Translation: X:88.00, Y:-101.53, Z:2.25 [[-3.62232698e-02 -9.99343531e-01 6.18136792e-04 8.79972948e+01] [-9.99271744e-01 3.62280775e-02 1.19795206e-02 -1.01529094e+02] [-1.19940503e-02 -1.83749224e-04 -9.99928052e-01 2.25050169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.79999999999998 meters Centerline goodness [0,1] 0.9997591574891074 Centerline is valid? [True, True] Translation: X:87.97, Y:-101.65, Z:2.25 [[ 4.02361273e-02 -9.99190142e-01 -3.37114528e-04 8.79686834e+01] [-9.99105375e-01 -4.02371054e-02 1.30163387e-02 -1.01650569e+02] [-1.30193618e-02 -1.86914123e-04 -9.99915227e-01 2.25385541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.82999999999998 meters Centerline goodness [0,1] 0.9998684873857484 Centerline is valid? [True, True] Translation: X:87.95, Y:-101.76, Z:2.25 [[ 1.17159761e-01 -9.93112139e-01 -1.36721731e-03 8.79490000e+01] [-9.93024731e-01 -1.17167590e-01 1.31771970e-02 -1.01764552e+02] [-1.32466279e-02 -1.86156651e-04 -9.99912242e-01 2.25261582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.85999999999999 meters Centerline goodness [0,1] 0.9998468773925407 Centerline is valid? [True, True] Translation: X:87.94, Y:-101.88, Z:2.25 [[ 1.93017015e-01 -9.81192231e-01 -2.49749108e-03 8.79387103e+01] [-9.81097134e-01 -1.93033082e-01 1.36617094e-02 -1.01883137e+02] [-1.38868615e-02 -1.86661015e-04 -9.99903555e-01 2.25341943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.89 meters Centerline goodness [0,1] 0.9998026964814206 Centerline is valid? [True, True] Translation: X:87.94, Y:-102.00, Z:2.25 [[ 2.67215045e-01 -9.63629860e-01 -3.68947683e-03 8.79382392e+01] [-9.63528580e-01 -2.67240454e-01 1.39719278e-02 -1.02003714e+02] [-1.44497443e-02 -1.78592935e-04 -9.99895581e-01 2.25419531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.92 meters Centerline goodness [0,1] 0.9998684556695606 Centerline is valid? [True, True] Translation: X:87.95, Y:-102.13, Z:2.25 [[ 3.40469398e-01 -9.40243699e-01 -4.73027345e-03 8.79475912e+01] [-9.40145865e-01 -3.40502213e-01 1.35644947e-02 -1.02125967e+02] [-1.43645992e-02 -1.71148301e-04 -9.99896809e-01 2.25338403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.95 meters Centerline goodness [0,1] 0.9997593787597069 Centerline is valid? [True, True] Translation: X:87.97, Y:-102.24, Z:2.25 [[ 4.10401176e-01 -9.11884560e-01 -6.11745860e-03 8.79653090e+01] [-9.11777644e-01 -4.10446738e-01 1.39643575e-02 -1.02239962e+02] [-1.52447729e-02 -1.53226744e-04 -9.99883780e-01 2.25446116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.98 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.99, Y:-102.35, Z:2.25 [[ 4.79630621e-01 -8.77444778e-01 -6.71773030e-03 8.79902705e+01] [-8.77354484e-01 -4.79677642e-01 1.25884537e-02 -1.02353473e+02] [-1.42680180e-02 -1.43977058e-04 -9.99898196e-01 2.25036093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.01 meters Centerline goodness [0,1] 0.9997804272884966 Centerline is valid? [True, True] Translation: X:88.03, Y:-102.46, Z:2.25 [[ 5.44100434e-01 -8.38978958e-01 -8.30814708e-03 8.80259049e+01] [-8.38877664e-01 -5.44163847e-01 1.30373194e-02 -1.02464370e+02] [-1.54590299e-02 -1.24092112e-04 -9.99880494e-01 2.25420802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.04 meters Centerline goodness [0,1] 0.9998023194517659 Centerline is valid? [True, True] Translation: X:88.07, Y:-102.57, Z:2.25 [[ 6.06016471e-01 -7.95397526e-01 -9.31731255e-03 8.80683079e+01] [-7.95300868e-01 -6.06088083e-01 1.24001956e-02 -1.02571047e+02] [-1.55101970e-02 -1.04656022e-04 -9.99879704e-01 2.25439932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.07 meters Centerline goodness [0,1] 0.9998241796883585 Centerline is valid? [True, True] Translation: X:88.12, Y:-102.67, Z:2.25 [[ 6.63011147e-01 -7.48536923e-01 -1.04256801e-02 8.81153767e+01] [-7.48443028e-01 -6.63093110e-01 1.18558978e-02 -1.02666375e+02] [-1.57877739e-02 -5.75648602e-05 -9.99875364e-01 2.25354597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.1 meters Centerline goodness [0,1] 0.9997143108298172 Centerline is valid? [True, True] Translation: X:88.17, Y:-102.76, Z:2.25 [[ 7.17056319e-01 -6.96928341e-01 -1.10056013e-02 8.81726602e+01] [-6.96845720e-01 -7.17140772e-01 1.07310392e-02 -1.02763645e+02] [-1.53713308e-02 -2.55533120e-05 -9.99881854e-01 2.25413152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.13 meters Centerline goodness [0,1] 0.9997800167187294 Centerline is valid? [True, True] Translation: X:88.17, Y:-102.77, Z:2.25 [[ 7.68155976e-01 -6.40158660e-01 -1.15449441e-02 8.81693476e+01] [-6.40086410e-01 -7.68242728e-01 9.61761817e-03 -1.02768897e+02] [-1.50261209e-02 1.93095964e-06 -9.99887101e-01 2.25317790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.16 meters Centerline goodness [0,1] 0.9998678705131029 Centerline is valid? [True, True] Translation: X:88.17, Y:-102.77, Z:2.25 [[ 8.14646773e-01 -5.79844074e-01 -1.14666988e-02 8.81651706e+01] [-5.79787185e-01 -8.14727469e-01 8.12224048e-03 -1.02772282e+02] [-1.40518675e-02 3.14879921e-05 -9.99901267e-01 2.25183127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.19 meters Centerline goodness [0,1] 0.9999119136754019 Centerline is valid? [True, True] Translation: X:88.16, Y:-102.78, Z:2.25 [[ 8.56421552e-01 -5.16158007e-01 -1.10921835e-02 8.81612694e+01] [-5.16115568e-01 -8.56493379e-01 6.61907888e-03 -1.02775432e+02] [-1.29168723e-02 5.61268019e-05 -9.99916572e-01 2.24988915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.22 meters Centerline goodness [0,1] 0.9997790006408982 Centerline is valid? [True, True] Translation: X:88.16, Y:-102.78, Z:2.25 [[ 8.91721845e-01 -4.52458781e-01 -1.06396690e-02 8.81569464e+01] [-4.52428127e-01 -8.91785310e-01 5.26797921e-03 -1.02779630e+02] [-1.18718440e-02 1.16113388e-04 -9.99929520e-01 2.24939543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.25 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.15, Y:-102.79, Z:2.24 [[ 9.23717897e-01 -3.82941793e-01 -1.00413964e-02 8.81517523e+01] [-3.82920627e-01 -9.23772466e-01 4.02810668e-03 -1.02785222e+02] [-1.08184959e-02 1.24223569e-04 -9.99941471e-01 2.24491917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.28 meters Centerline goodness [0,1] 0.999823145794186 Centerline is valid? [True, True] Translation: X:88.15, Y:-102.79, Z:2.25 [[ 9.49636220e-01 -3.13196087e-01 -9.96302229e-03 8.81473129e+01] [-3.13180611e-01 -9.49688468e-01 3.11753843e-03 -1.02788200e+02] [-1.04381682e-02 1.59697999e-04 -9.99945508e-01 2.24870222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.31 meters Centerline goodness [0,1] 0.99988937563609 Centerline is valid? [True, True] Translation: X:88.14, Y:-102.79, Z:2.25 [[ 9.70624870e-01 -2.40406847e-01 -9.58696209e-03 8.81443299e+01] [-2.40396903e-01 -9.70672199e-01 2.19362911e-03 -1.02790773e+02] [-9.83316102e-03 1.75485024e-04 -9.99951638e-01 2.24713902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.34 meters Centerline goodness [0,1] 0.9998445204566656 Centerline is valid? [True, True] Translation: X:88.14, Y:-102.80, Z:2.25 [[ 9.85995401e-01 -1.66474729e-01 -9.96160599e-03 8.81367510e+01] [-1.66468364e-01 -9.86045699e-01 1.47050961e-03 -1.02795467e+02] [-1.00674014e-02 2.08376539e-04 -9.99949301e-01 2.24741964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.37 meters Centerline goodness [0,1] 0.9997999510991575 Centerline is valid? [True, True] Translation: X:88.13, Y:-102.80, Z:2.25 [[ 9.95522351e-01 -9.39412423e-02 -1.05019543e-02 8.81300105e+01] [-9.39388953e-02 -9.95577706e-01 7.17629695e-04 -1.02799576e+02] [-1.05229266e-02 2.72125581e-04 -9.99944595e-01 2.24832991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.4 meters Centerline goodness [0,1] 0.9997776295307983 Centerline is valid? [True, True] Translation: X:88.12, Y:-102.81, Z:2.25 [[ 9.99780650e-01 -1.79489313e-02 -1.07929311e-02 8.81227838e+01] [-1.79511550e-02 -9.99838859e-01 -1.09189828e-04 -1.02807944e+02] [-1.07892321e-02 3.02911457e-04 -9.99941749e-01 2.24871243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.43 meters Centerline goodness [0,1] 0.9998442540883302 Centerline is valid? [True, True] Translation: X:88.12, Y:-102.82, Z:2.25 [[ 9.98227501e-01 5.85147083e-02 -1.08575385e-02 8.81167791e+01] [ 5.85076854e-02 -9.98286493e-01 -9.63608820e-04 -1.02819768e+02] [-1.08953193e-02 3.26651379e-04 -9.99940591e-01 2.24770290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.45999999999998 meters Centerline goodness [0,1] 0.9997777283840854 Centerline is valid? [True, True] Translation: X:88.11, Y:-102.83, Z:2.25 [[ 9.91044055e-01 1.33025963e-01 -1.16522469e-02 8.81107106e+01] [ 1.33012072e-01 -9.91112474e-01 -1.96254971e-03 -1.02829162e+02] [-1.18097574e-02 3.95083710e-04 -9.99930184e-01 2.24922326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.48999999999998 meters Centerline goodness [0,1] 0.9998889135747612 Centerline is valid? [True, True] Translation: X:88.10, Y:-102.84, Z:2.25 [[ 9.77835781e-01 2.09066210e-01 -1.13359910e-02 8.81045817e+01] [ 2.09047351e-01 -9.77901404e-01 -2.83704952e-03 -1.02838329e+02] [-1.16786127e-02 4.04409657e-04 -9.99931721e-01 2.24823945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.51999999999998 meters Centerline goodness [0,1] 0.9998890565367888 Centerline is valid? [True, True] Translation: X:88.10, Y:-102.85, Z:2.25 [[ 9.58820052e-01 2.83791107e-01 -1.12568081e-02 8.81003726e+01] [ 2.83766316e-01 -9.58886034e-01 -3.77507420e-03 -1.02848908e+02] [-1.18653286e-02 4.25313868e-04 -9.99929514e-01 2.24810086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.54999999999998 meters Centerline goodness [0,1] 0.9999778088453942 Centerline is valid? [True, True] Translation: X:88.10, Y:-102.86, Z:2.25 [[ 9.33814916e-01 3.57584295e-01 -1.10984032e-02 8.80994464e+01] [ 3.57553441e-01 -9.33880764e-01 -4.71767617e-03 -1.02864606e+02] [-1.20515522e-02 4.37164118e-04 -9.99927282e-01 2.24545465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.57999999999998 meters Centerline goodness [0,1] 0.999911343587925 Centerline is valid? [True, True] Translation: X:88.10, Y:-102.88, Z:2.25 [[ 9.03348100e-01 4.28776755e-01 -1.06162414e-02 8.80973831e+01] [ 4.28741309e-01 -9.03410370e-01 -5.53109949e-03 -1.02876972e+02] [-1.19624295e-02 4.44886958e-04 -9.99928349e-01 2.24676690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.60999999999999 meters Centerline goodness [0,1] 0.999822852081488 Centerline is valid? [True, True] Translation: X:88.10, Y:-102.89, Z:2.25 [[ 8.67285721e-01 4.97708432e-01 -1.00893793e-02 8.80964898e+01] [ 4.97668665e-01 -8.67344289e-01 -6.30756241e-03 -1.02889647e+02] [-1.18902925e-02 4.49290876e-04 -9.99929207e-01 2.24773555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.64 meters Centerline goodness [0,1] 0.9998235281141773 Centerline is valid? [True, True] Translation: X:88.10, Y:-102.90, Z:2.25 [[ 8.24854358e-01 5.65263489e-01 -9.61646485e-03 8.80985721e+01] [ 5.65218858e-01 -8.24910298e-01 -7.11645833e-03 -1.02904590e+02] [-1.19553950e-02 4.34634389e-04 -9.99928437e-01 2.24781434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.67 meters Centerline goodness [0,1] 0.9998453380468405 Centerline is valid? [True, True] Translation: X:88.10, Y:-102.92, Z:2.25 [[ 7.76900987e-01 6.29564473e-01 -8.56918830e-03 8.81017319e+01] [ 6.29520539e-01 -7.76948145e-01 -7.44785858e-03 -1.02919426e+02] [-1.13467221e-02 3.91768648e-04 -9.99935547e-01 2.24692498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.7 meters Centerline goodness [0,1] 0.9998461775111521 Centerline is valid? [True, True] Translation: X:88.10, Y:-102.93, Z:2.25 [[ 7.23724528e-01 6.90046431e-01 -7.66361021e-03 8.81043285e+01] [ 6.90002488e-01 -7.23765016e-01 -7.79542125e-03 -1.02933408e+02] [-1.09258556e-02 3.53827452e-04 -9.99940248e-01 2.24701131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.73 meters Centerline goodness [0,1] 0.9999561393890217 Centerline is valid? [True, True] Translation: X:88.11, Y:-102.95, Z:2.25 [[ 6.62485985e-01 7.49044062e-01 -6.73140169e-03 8.81131365e+01] [ 7.49001216e-01 -6.62520128e-01 -8.01609835e-03 -1.02949699e+02] [-1.04641000e-02 2.68724760e-04 -9.99945214e-01 2.24514333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.76 meters Centerline goodness [0,1] 0.999825201564446 Centerline is valid? [True, True] Translation: X:88.12, Y:-102.96, Z:2.25 [[ 5.99726016e-01 8.00179293e-01 -6.46560902e-03 8.81192721e+01] [ 8.00128105e-01 -5.99760813e-01 -9.05446693e-03 -1.02962133e+02] [-1.11230159e-02 2.56883895e-04 -9.99938104e-01 2.24788373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.79 meters Centerline goodness [0,1] 0.9998690756742603 Centerline is valid? [True, True] Translation: X:88.13, Y:-102.97, Z:2.25 [[ 5.31629740e-01 8.46956609e-01 -5.85854862e-03 8.81276722e+01] [ 8.46900687e-01 -5.31661977e-01 -9.73496094e-03 -1.02974674e+02] [-1.13598570e-02 2.13785907e-04 -9.99935452e-01 2.24785523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.82 meters Centerline goodness [0,1] 0.9998262569225758 Centerline is valid? [True, True] Translation: X:88.14, Y:-102.99, Z:2.25 [[ 4.59851044e-01 8.87979952e-01 -5.35006542e-03 8.81360730e+01] [ 8.87915410e-01 -4.59882132e-01 -1.07074760e-02 -1.02986162e+02] [-1.19684235e-02 1.73438472e-04 -9.99928361e-01 2.24911034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.85 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.15, Y:-103.00, Z:2.25 [[ 3.78210362e-01 9.25708612e-01 -4.52637054e-03 8.81518985e+01] [ 9.25641215e-01 -3.78237445e-01 -1.11703149e-02 -1.02998843e+02] [-1.20524995e-02 3.49337051e-05 -9.99927365e-01 2.24593249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.88 meters Centerline goodness [0,1] 0.9998270681567627 Centerline is valid? [True, True] Translation: X:88.16, Y:-103.01, Z:2.25 [[ 3.00820037e-01 9.53673838e-01 -3.67650067e-03 8.81627019e+01] [ 9.53603148e-01 -3.00842502e-01 -1.16114001e-02 -1.03007809e+02] [-1.21795361e-02 -1.29808090e-05 -9.99925827e-01 2.25025491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.91 meters Centerline goodness [0,1] 0.9997626752966559 Centerline is valid? [True, True] Translation: X:88.17, Y:-103.01, Z:2.25 [[ 2.20370402e-01 9.75412731e-01 -2.62478548e-03 8.81746791e+01] [ 9.75347268e-01 -2.20386022e-01 -1.13007886e-02 -1.03014896e+02] [-1.16013991e-02 -6.97180201e-05 -9.99932699e-01 2.25074641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.94 meters Centerline goodness [0,1] 0.9998491834360322 Centerline is valid? [True, True] Translation: X:88.19, Y:-103.02, Z:2.25 [[ 1.38108664e-01 9.90415621e-01 -1.70155943e-03 8.81859647e+01] [ 9.90351477e-01 -1.38119086e-01 -1.12725042e-02 -1.03021116e+02] [-1.13994821e-02 -1.28311395e-04 -9.99935016e-01 2.24974839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.97 meters Centerline goodness [0,1] 0.9998276827639685 Centerline is valid? [True, True] Translation: X:88.20, Y:-103.03, Z:2.25 [[ 5.62240056e-02 9.98417860e-01 -7.98195609e-04 8.81968852e+01] [ 9.98355498e-01 -5.62294160e-02 -1.11602924e-02 -1.03026048e+02] [-1.11875174e-02 -1.69406630e-04 -9.99937403e-01 2.25009995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.0 meters Centerline goodness [0,1] 0.999763445947399 Centerline is valid? [True, True] Translation: X:88.21, Y:-103.03, Z:2.25 [[-2.53503691e-02 9.99678625e-01 7.89971146e-05 8.82069542e+01] [ 9.99614935e-01 2.53496459e-02 -1.12861951e-02 -1.03029645e+02] [-1.12845706e-02 -2.07142516e-04 -9.99936306e-01 2.25109615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.03 meters Centerline goodness [0,1] 0.9998494979682225 Centerline is valid? [True, True] Translation: X:88.22, Y:-103.03, Z:2.25 [[-1.08256473e-01 9.94122622e-01 8.64610543e-04 8.82188992e+01] [ 9.94071350e-01 1.08259673e-01 -1.00992549e-02 -1.03032240e+02] [-1.01335002e-02 -2.33825148e-04 -9.99948627e-01 2.24847951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.06 meters Centerline goodness [0,1] 0.999763867422291 Centerline is valid? [True, True] Translation: X:88.23, Y:-103.03, Z:2.25 [[-1.86717287e-01 9.82412379e-01 1.60366687e-03 8.82281786e+01] [ 9.82364502e-01 1.86724024e-01 -9.70177397e-03 -1.03033545e+02] [-9.83058598e-03 -2.36103504e-04 -9.99951651e-01 2.24926213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.09 meters Centerline goodness [0,1] 0.9997851818435695 Centerline is valid? [True, True] Translation: X:88.24, Y:-103.04, Z:2.25 [[-2.63601270e-01 9.64628894e-01 2.33809589e-03 8.82368492e+01] [ 9.64582521e-01 2.63611531e-01 -9.46152584e-03 -1.03035082e+02] [-9.74321025e-03 -2.38783807e-04 -9.99952505e-01 2.24892523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.12 meters Centerline goodness [0,1] 0.9998065514573123 Centerline is valid? [True, True] Translation: X:88.25, Y:-103.04, Z:2.25 [[-3.38321723e-01 9.41025954e-01 2.92661498e-03 8.82451179e+01] [ 9.40984729e-01 3.38334305e-01 -8.81123976e-03 -1.03035142e+02] [-9.28177954e-03 -2.27133817e-04 -9.99956898e-01 2.24832499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.15 meters Centerline goodness [0,1] 0.9998071235694999 Centerline is valid? [True, True] Translation: X:88.25, Y:-103.04, Z:2.25 [[-4.10810302e-01 9.11713205e-01 3.73200662e-03 8.82542799e+01] [ 9.11670286e-01 4.10827187e-01 -8.84937069e-03 -1.03035069e+02] [-9.60129790e-03 -2.33053093e-04 -9.99953879e-01 2.24880844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.18 meters Centerline goodness [0,1] 0.9998708733267335 Centerline is valid? [True, True] Translation: X:88.26, Y:-103.04, Z:2.25 [[-4.79712907e-01 8.77412709e-01 4.73967262e-03 8.82626100e+01] [ 8.77364929e-01 4.79736263e-01 -9.15962547e-03 -1.03035217e+02] [-1.03105646e-02 -2.35568024e-04 -9.99946817e-01 2.24935244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.20999999999998 meters Centerline goodness [0,1] 0.9997416354476166 Centerline is valid? [True, True] Translation: X:88.27, Y:-103.04, Z:2.25 [[-5.45616961e-01 8.38012865e-01 6.04725710e-03 8.82686560e+01] [ 8.37956359e-01 5.45650418e-01 -9.73456794e-03 -1.03035523e+02] [-1.14573815e-02 -2.44007831e-04 -9.99934332e-01 2.25156213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.23999999999998 meters Centerline goodness [0,1] 0.9999353239193705 Centerline is valid? [True, True] Translation: X:88.27, Y:-103.04, Z:2.25 [[-6.09288834e-01 7.92919046e-01 6.81928404e-03 8.82745567e+01] [ 7.92864903e-01 6.09326947e-01 -9.26920639e-03 -1.03035051e+02] [-1.15049038e-02 -2.40852977e-04 -9.99933787e-01 2.24885620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.26999999999998 meters Centerline goodness [0,1] 0.9998490273044903 Centerline is valid? [True, True] Translation: X:88.28, Y:-103.03, Z:2.25 [[-6.67863114e-01 7.44238474e-01 8.24341953e-03 8.82803038e+01] [ 7.44177384e-01 6.67913945e-01 -9.53848706e-03 -1.03034532e+02] [-1.26048039e-02 -2.35837294e-04 -9.99920529e-01 2.25123587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.29999999999998 meters Centerline goodness [0,1] 0.9999784301460279 Centerline is valid? [True, True] Translation: X:88.29, Y:-103.03, Z:2.25 [[-7.23792378e-01 6.89956950e-01 9.16517902e-03 8.82860622e+01] [ 6.89897488e-01 7.23850366e-01 -9.06114314e-03 -1.03032866e+02] [-1.28860169e-02 -2.35352368e-04 -9.99916944e-01 2.24783634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.32999999999998 meters Centerline goodness [0,1] 0.9998918029948931 Centerline is valid? [True, True] Translation: X:88.30, Y:-103.02, Z:2.25 [[-7.67093695e-01 6.41441288e-01 1.09698430e-02 8.83045748e+01] [ 6.41372310e-01 7.67172107e-01 -9.40839136e-03 -1.03020501e+02] [-1.44506883e-02 -1.81364115e-04 -9.99895567e-01 2.25184648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.35999999999999 meters Centerline goodness [0,1] 0.999804894968458 Centerline is valid? [True, True] Translation: X:88.32, Y:-103.00, Z:2.25 [[-8.08819356e-01 5.87934338e-01 1.20192975e-02 8.83241673e+01] [ 5.87866769e-01 8.08908643e-01 -8.91453858e-03 -1.03004938e+02] [-1.49636770e-02 -1.44505782e-04 -9.99888027e-01 2.25363880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.39 meters Centerline goodness [0,1] 0.9998262040798592 Centerline is valid? [True, True] Translation: X:88.34, Y:-102.99, Z:2.25 [[-8.47203001e-01 5.31119104e-01 1.26321903e-02 8.83426968e+01] [ 5.31058115e-01 8.47297165e-01 -8.04940873e-03 -1.02988108e+02] [-1.49784138e-02 -1.11056054e-04 -9.99887811e-01 2.25339621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.42 meters Centerline goodness [0,1] 0.999825962103248 Centerline is valid? [True, True] Translation: X:88.36, Y:-102.97, Z:2.25 [[-8.81463129e-01 4.72075006e-01 1.29592075e-02 8.83590090e+01] [ 4.72022811e-01 8.81558383e-01 -7.02017294e-03 -1.02969624e+02] [-1.47383462e-02 -7.09820543e-05 -9.99891382e-01 2.25347235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.45 meters Centerline goodness [0,1] 0.999825962103248 Centerline is valid? [True, True] Translation: X:88.37, Y:-102.95, Z:2.25 [[-9.12672058e-01 4.08472173e-01 1.34237941e-02 8.83746333e+01] [ 4.08426852e-01 9.12770770e-01 -6.08501692e-03 -1.02946879e+02] [-1.47384070e-02 -7.09869262e-05 -9.99891381e-01 2.25347296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.48 meters Centerline goodness [0,1] 0.999739204137961 Centerline is valid? [True, True] Translation: X:88.39, Y:-102.93, Z:2.25 [[-9.38356033e-01 3.45409189e-01 1.34330635e-02 8.83913162e+01] [ 3.45373366e-01 9.38452179e-01 -4.97459664e-03 -1.02927898e+02] [-1.43245591e-02 -2.85204156e-05 -9.99897398e-01 2.25351699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.51 meters Centerline goodness [0,1] 0.9997392381407679 Centerline is valid? [True, True] Translation: X:88.40, Y:-102.90, Z:2.25 [[-9.59762614e-01 2.80526862e-01 1.26650637e-02 8.83976496e+01] [ 2.80502551e-01 9.59846175e-01 -3.69311694e-03 -1.02904491e+02] [-1.31925315e-02 8.06711120e-06 -9.99912975e-01 2.25318759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.54 meters Centerline goodness [0,1] 0.9998036263664332 Centerline is valid? [True, True] Translation: X:88.63, Y:-102.16, Z:1.44 [[-9.40630408e-01 -3.39275230e-01 1.03321857e-02 8.86327492e+01] [ 3.39253209e-01 -9.40687143e-01 -3.86771404e-03 -1.02160464e+02] [ 1.10315738e-02 -1.32862281e-04 9.99939142e-01 1.43685636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.36, Y:-102.90, Z:2.25 [[-9.59373852e-01 2.81978127e-01 9.49459759e-03 8.83594113e+01] [ 2.81964936e-01 9.59420832e-01 -2.72811327e-03 -1.02903003e+02] [-9.87858299e-03 5.98630658e-05 -9.99951204e-01 2.24565881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.6 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.37, Y:-102.88, Z:2.25 [[-9.76088147e-01 2.17189761e-01 8.97422985e-03 8.83673188e+01] [ 2.17181459e-01 9.76129397e-01 -1.90124871e-03 -1.02881379e+02] [-9.17294133e-03 9.32500031e-05 -9.99957923e-01 2.24511786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.63 meters Centerline goodness [0,1] 0.9999343027330063 Centerline is valid? [True, True] Translation: X:88.55, Y:-102.10, Z:1.44 [[-9.65355337e-01 -2.60789912e-01 8.81452503e-03 8.85464333e+01] [ 2.60778150e-01 -9.65395573e-01 -2.47862617e-03 -1.02099193e+02] [ 9.15590415e-03 -9.41194698e-05 9.99958079e-01 1.44065236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.66 meters Centerline goodness [0,1] 0.9998904229673461 Centerline is valid? [True, True] Translation: X:88.32, Y:-102.88, Z:2.25 [[-9.75978715e-01 2.17690929e-01 8.72966805e-03 8.83202545e+01] [ 2.17683425e-01 9.76017747e-01 -1.81230208e-03 -1.02876194e+02] [-8.91483266e-03 1.31535786e-04 -9.99960253e-01 2.24759952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.69 meters Centerline goodness [0,1] 0.999912319158264 Centerline is valid? [True, True] Translation: X:88.33, Y:-102.85, Z:2.25 [[-9.88693688e-01 1.49706581e-01 8.52818288e-03 8.83302894e+01] [ 1.49702258e-01 9.88730458e-01 -1.14672457e-03 -1.02852134e+02] [-8.60374638e-03 1.42928881e-04 -9.99962977e-01 2.24731908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.72 meters Centerline goodness [0,1] 0.9998684008510078 Centerline is valid? [True, True] Translation: X:88.44, Y:-102.04, Z:1.44 [[-9.83315634e-01 -1.81692600e-01 8.84102316e-03 8.84441855e+01] [ 1.81684119e-01 -9.83355370e-01 -1.75982458e-03 -1.02044954e+02] [ 9.01361471e-03 -1.24189517e-04 9.99959369e-01 1.43963781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.75 meters Centerline goodness [0,1] 0.9998463766843699 Centerline is valid? [True, True] Translation: X:88.27, Y:-102.85, Z:2.25 [[-9.88776200e-01 1.49140298e-01 8.87679321e-03 8.82683376e+01] [ 1.49135965e-01 9.88816028e-01 -1.15176079e-03 -1.02847643e+02] [-8.94928935e-03 1.85015464e-04 -9.99959937e-01 2.24784980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.78 meters Centerline goodness [0,1] 0.9998679199594954 Centerline is valid? [True, True] Translation: X:88.38, Y:-102.03, Z:1.44 [[-9.85074024e-01 -1.71890967e-01 9.09195213e-03 8.83829584e+01] [ 1.71882028e-01 -9.85115966e-01 -1.76145036e-03 -1.02032434e+02] [ 9.25940461e-03 -1.72415825e-04 9.99957116e-01 1.44063307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.81 meters Centerline goodness [0,1] 0.9999559684734269 Centerline is valid? [True, True] Translation: X:88.20, Y:-102.85, Z:2.25 [[-9.88784006e-01 1.49069000e-01 9.19908209e-03 8.82045551e+01] [ 1.49064743e-01 9.88826769e-01 -1.15058104e-03 -1.02845067e+02] [-9.26781458e-03 2.33582678e-04 -9.99957026e-01 2.24579753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.84 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.21, Y:-102.82, Z:2.24 [[-9.96773996e-01 7.96867609e-02 9.57193110e-03 8.82083574e+01] [ 7.96855267e-02 9.96819921e-01 -5.10857102e-04 -1.02818135e+02] [-9.58220015e-03 2.53535297e-04 -9.99954058e-01 2.24470609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.87 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.26, Y:-101.99, Z:1.44 [[-9.95582456e-01 -9.33683757e-02 9.89541482e-03 8.82646988e+01] [ 9.33613752e-02 -9.95631603e-01 -1.16804788e-03 -1.01986611e+02] [ 9.96124646e-03 -2.39038445e-04 9.99950357e-01 1.44239821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.9 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.12, Y:-102.81, Z:2.24 [[-9.96986700e-01 7.69240668e-02 1.00103944e-02 8.81205839e+01] [ 7.69231694e-02 9.97036910e-01 -4.75206612e-04 -1.02814890e+02] [-1.00172876e-02 2.96256595e-04 -9.99949782e-01 2.24496568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.93 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:88.17, Y:-101.98, Z:1.44 [[-9.96349972e-01 -8.48325935e-02 9.49546507e-03 8.81665990e+01] [ 8.48257472e-02 -9.96395169e-01 -1.12216581e-03 -1.01978380e+02] [ 9.55643176e-03 -3.12609950e-04 9.99954287e-01 1.44250913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.95999999999998 meters Centerline goodness [0,1] 0.9998453346295765 Centerline is valid? [True, True] Translation: X:88.02, Y:-102.81, Z:2.25 [[-9.97300896e-01 7.28061557e-02 9.49669196e-03 8.80246303e+01] [ 7.28057183e-02 9.97346065e-01 -3.92225756e-04 -1.02812133e+02] [-9.50004481e-03 3.00246382e-04 -9.99954828e-01 2.24779500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.98999999999998 meters Centerline goodness [0,1] 0.999779725979118 Centerline is valid? [True, True] Translation: X:88.07, Y:-101.97, Z:1.44 [[-9.96981985e-01 -7.70572762e-02 9.43917749e-03 8.80681417e+01] [ 7.70509652e-02 -9.97026622e-01 -1.03097835e-03 -1.01970692e+02] [ 9.49055564e-03 -3.00569101e-04 9.99954919e-01 1.43916634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.01999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.93, Y:-102.81, Z:2.24 [[-9.97812406e-01 6.55115773e-02 8.86771275e-03 8.79295630e+01] [ 6.55113843e-02 9.97851773e-01 -3.12546303e-04 -1.02809299e+02] [-8.86913829e-03 2.69073560e-04 -9.99960632e-01 2.24418543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.04999999999998 meters Centerline goodness [0,1] 0.9998453107044992 Centerline is valid? [True, True] Translation: X:87.96, Y:-101.97, Z:1.44 [[-9.97214816e-01 -7.40630559e-02 8.79058564e-03 8.79640752e+01] [ 7.40577862e-02 -9.97253524e-01 -9.23923178e-04 -1.01967144e+02] [ 8.83487108e-03 -2.70338570e-04 9.99960935e-01 1.44018398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.07999999999998 meters Centerline goodness [0,1] 0.9999115787612184 Centerline is valid? [True, True] Translation: X:87.83, Y:-102.80, Z:2.25 [[-9.98419067e-01 5.55639100e-02 8.48639906e-03 8.78309034e+01] [ 5.55638104e-02 9.98455107e-01 -2.47695012e-04 -1.02802400e+02] [-8.48705139e-03 2.24233246e-04 -9.99963959e-01 2.24659981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.10999999999999 meters Centerline goodness [0,1] 0.9998676957001102 Centerline is valid? [True, True] Translation: X:87.86, Y:-101.97, Z:1.44 [[-9.97309440e-01 -7.28705731e-02 7.98497457e-03 8.78613103e+01] [ 7.28662799e-02 -9.97341376e-01 -8.27658883e-04 -1.01966321e+02] [ 8.02405751e-03 -2.43596625e-04 9.99967777e-01 1.44069792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.14 meters Centerline goodness [0,1] 0.9998455973178049 Centerline is valid? [True, True] Translation: X:87.73, Y:-102.79, Z:2.25 [[-9.98985730e-01 4.42267217e-02 8.45624655e-03 8.77341261e+01] [ 4.42266414e-02 9.99021504e-01 -1.96593261e-04 -1.02794445e+02] [-8.45666683e-03 1.77597521e-04 -9.99964226e-01 2.24733746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.17 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.73, Y:-102.76, Z:2.24 [[-9.99350226e-01 -3.51531184e-02 7.96142862e-03 8.77290503e+01] [-3.51511878e-02 9.99381933e-01 3.82332858e-04 -1.02762263e+02] [-7.96994811e-03 1.02230755e-04 -9.99968234e-01 2.24410034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.2 meters Centerline goodness [0,1] 0.9998238195912614 Centerline is valid? [True, True] Translation: X:87.69, Y:-101.94, Z:1.44 [[-9.99910999e-01 -1.03661268e-02 8.39868231e-03 8.76942882e+01] [ 1.03651090e-02 -9.99946267e-01 -1.64700749e-04 -1.01944404e+02] [ 8.39993833e-03 -7.76328326e-05 9.99964717e-01 1.43903640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.23 meters Centerline goodness [0,1] 0.999934133971502 Centerline is valid? [True, True] Translation: X:87.62, Y:-102.76, Z:2.25 [[-9.98725168e-01 -4.97541253e-02 8.51852372e-03 8.76245767e+01] [-4.97519915e-02 9.98761496e-01 4.62348555e-04 -1.02759803e+02] [-8.53097724e-03 3.79456186e-05 -9.99963610e-01 2.24756009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.26 meters Centerline goodness [0,1] 0.9998465686167065 Centerline is valid? [True, True] Translation: X:87.62, Y:-102.73, Z:2.25 [[-9.92071278e-01 -1.25355591e-01 8.97524458e-03 8.76173021e+01] [-1.25350476e-01 9.92111877e-01 1.13243224e-03 -1.02729212e+02] [-9.04640346e-03 -1.59767746e-06 -9.99959080e-01 2.24993044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.29 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.52, Y:-101.94, Z:1.44 [[-9.98835367e-01 4.73237865e-02 9.40042664e-03 8.75169009e+01] [-4.73214095e-02 -9.98879602e-01 4.75244821e-04 -1.01940694e+02] [ 9.41238480e-03 2.98498965e-05 9.99955702e-01 1.44119676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.32 meters Centerline goodness [0,1] 0.9998684152813719 Centerline is valid? [True, True] Translation: X:87.50, Y:-102.73, Z:2.25 [[-9.89373351e-01 -1.45075937e-01 9.66147380e-03 8.74976800e+01] [-1.45070314e-01 9.89420515e-01 1.28402124e-03 -1.02732209e+02] [-9.74554097e-03 -1.31216639e-04 -9.99952502e-01 2.25122487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.35 meters Centerline goodness [0,1] 0.999824975934191 Centerline is valid? [True, True] Translation: X:87.49, Y:-102.70, Z:2.25 [[-9.75784743e-01 -2.18518567e-01 9.68352143e-03 8.74860664e+01] [-2.18509464e-01 9.75832777e-01 2.00118933e-03 -1.02704391e+02] [-9.88679464e-03 -1.63211059e-04 -9.99951111e-01 2.25173212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.38 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.46, Y:-102.68, Z:2.25 [[-9.56545991e-01 -2.91436812e-01 9.18429319e-03 8.74581406e+01] [-2.91425285e-01 9.56590063e-01 2.59900833e-03 -1.02681190e+02] [-9.54305030e-03 -1.90464262e-04 -9.99954446e-01 2.24748699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.41 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.41, Y:-102.67, Z:2.25 [[-9.31917048e-01 -3.62555066e-01 9.18910944e-03 8.74068687e+01] [-3.62539694e-01 9.31962327e-01 3.34544081e-03 -1.02667592e+02] [-9.77681033e-03 -2.13743606e-04 -9.99952183e-01 2.24769248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.44 meters Centerline goodness [0,1] 0.9998246229393195 Centerline is valid? [True, True] Translation: X:87.35, Y:-102.66, Z:2.25 [[-9.02168847e-01 -4.31264319e-01 1.01221792e-02 8.73452428e+01] [-4.31240325e-01 9.02225594e-01 4.55622221e-03 -1.02664246e+02] [-1.10974252e-02 -2.54610111e-04 -9.99938389e-01 2.25175817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.47 meters Centerline goodness [0,1] 0.9999342018686669 Centerline is valid? [True, True] Translation: X:87.27, Y:-102.67, Z:2.25 [[-8.67284055e-01 -4.97722364e-01 9.52978585e-03 8.72727200e+01] [-4.97695542e-01 8.67336372e-01 5.17345479e-03 -1.02669979e+02] [-1.08404740e-02 -2.56077088e-04 -9.99941208e-01 2.25001721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.5 meters Centerline goodness [0,1] 0.9999780941949616 Centerline is valid? [True, True] Translation: X:87.20, Y:-102.68, Z:2.25 [[-8.27549107e-01 -5.61324646e-01 8.78166210e-03 8.71977795e+01] [-5.61296184e-01 8.27595663e-01 5.65795548e-03 -1.02683405e+02] [-1.04436153e-02 -2.46877425e-04 -9.99945433e-01 2.24876476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.53 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:87.12, Y:-102.71, Z:2.25 [[-7.83857028e-01 -6.20874765e-01 9.09318969e-03 8.71151027e+01] [-6.20836692e-01 7.83909728e-01 6.88037562e-03 -1.02711158e+02] [-1.14000915e-02 -2.52155026e-04 -9.99934985e-01 2.24900812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.56 meters Centerline goodness [0,1] 0.999758034359121 Centerline is valid? [True, True] Translation: X:87.03, Y:-102.75, Z:2.25 [[-7.36003503e-01 -6.76903108e-01 1.00511704e-02 8.70304261e+01] [-6.76844933e-01 7.36072083e-01 8.87836902e-03 -1.02748197e+02] [-1.34081815e-02 -2.68573026e-04 -9.99910070e-01 2.25474013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.59 meters Centerline goodness [0,1] 0.9997799295774648 Centerline is valid? [True, True] Translation: X:86.95, Y:-102.80, Z:2.26 [[-6.83381258e-01 -7.29992657e-01 1.00387939e-02 8.69451202e+01] [-7.29919623e-01 6.83454935e-01 1.03293367e-02 -1.02795755e+02] [-1.44014032e-02 -2.68637533e-04 -9.99896258e-01 2.25515386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.62 meters Centerline goodness [0,1] 0.9998018363167976 Centerline is valid? [True, True] Translation: X:86.86, Y:-102.85, Z:2.25 [[-6.26817113e-01 -7.79109428e-01 9.42369213e-03 8.68616714e+01] [-7.79027365e-01 6.26887898e-01 1.13105404e-02 -1.02851685e+02] [-1.47197472e-02 -2.51673753e-04 -9.99891627e-01 2.25472178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.65 meters Centerline goodness [0,1] 0.999757238700565 Centerline is valid? [True, True] Translation: X:86.78, Y:-102.92, Z:2.25 [[-5.67691676e-01 -8.23197697e-01 8.46838319e-03 8.67808124e+01] [-8.23111522e-01 5.67754796e-01 1.19127147e-02 -1.02921676e+02] [-1.46144845e-02 -2.07674813e-04 -9.99893181e-01 2.25398545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.68 meters Centerline goodness [0,1] 0.9998453380468405 Centerline is valid? [True, True] Translation: X:86.70, Y:-102.99, Z:2.25 [[-5.03824280e-01 -8.63774107e-01 7.44231060e-03 8.67035522e+01] [-8.63685335e-01 5.03879209e-01 1.23848539e-02 -1.02993920e+02] [-1.44477417e-02 -1.88024427e-04 -9.99895608e-01 2.25303780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.70999999999998 meters Centerline goodness [0,1] 0.9998232395766588 Centerline is valid? [True, True] Translation: X:86.63, Y:-103.08, Z:2.25 [[-4.36798917e-01 -8.99536283e-01 6.41731293e-03 8.66283965e+01] [-8.99444908e-01 4.36846021e-01 1.28222953e-02 -1.03079643e+02] [-1.43374975e-02 -1.71254747e-04 -9.99897198e-01 2.25303039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.73999999999998 meters Centerline goodness [0,1] 0.9997786092231398 Centerline is valid? [True, True] Translation: X:86.56, Y:-103.17, Z:2.25 [[-3.67201076e-01 -9.30126075e-01 5.37165542e-03 8.65600670e+01] [-9.30032593e-01 3.67240332e-01 1.31876825e-02 -1.03170390e+02] [-1.42388959e-02 -1.53283395e-04 -9.99898610e-01 2.25327736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.76999999999998 meters Centerline goodness [0,1] 0.9997779110311591 Centerline is valid? [True, True] Translation: X:86.50, Y:-103.27, Z:2.25 [[-2.96206588e-01 -9.55115319e-01 4.04787438e-03 8.64999960e+01] [-9.55031397e-01 2.96234223e-01 1.26616133e-02 -1.03270741e+02] [-1.32924198e-02 -1.15393829e-04 -9.99911645e-01 2.25332971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.79999999999998 meters Centerline goodness [0,1] 0.9997997997997998 Centerline is valid? [True, True] Translation: X:86.45, Y:-103.38, Z:2.25 [[-2.22166571e-01 -9.75004081e-01 3.00937127e-03 8.64453006e+01] [-9.74920825e-01 2.22186928e-01 1.27418181e-02 -1.03376736e+02] [-1.30919676e-02 -1.03092684e-04 -9.99914291e-01 2.25288898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.82999999999998 meters Centerline goodness [0,1] 0.9998883704315599 Centerline is valid? [True, True] Translation: X:86.40, Y:-103.48, Z:2.25 [[-1.46663819e-01 -9.89184564e-01 1.90320857e-03 8.64001180e+01] [-9.89108912e-01 1.46676141e-01 1.22339769e-02 -1.03481775e+02] [-1.23808164e-02 -8.81987774e-05 -9.99923351e-01 2.25106704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.85999999999999 meters Centerline goodness [0,1] 0.9998880129009138 Centerline is valid? [True, True] Translation: X:86.36, Y:-103.60, Z:2.25 [[-7.02345005e-02 -9.97530113e-01 8.87493069e-04 8.63617458e+01] [-9.97463334e-01 7.02400680e-02 1.15425661e-02 -1.03602058e+02] [-1.15763948e-02 -7.45554309e-05 -9.99932989e-01 2.25039271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.89 meters Centerline goodness [0,1] 0.9997536394176931 Centerline is valid? [True, True] Translation: X:86.33, Y:-103.72, Z:2.25 [[ 6.77205890e-03 -9.99977069e-01 -1.08757312e-05 8.63326314e+01] [-9.99905042e-01 -6.77170165e-03 1.20021592e-02 -1.03720208e+02] [-1.20019576e-02 -7.04046306e-05 -9.99927971e-01 2.25208595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.92 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.31, Y:-103.83, Z:2.25 [[ 8.52575544e-02 -9.96358582e-01 -8.52023251e-04 8.63119929e+01] [-9.96299900e-01 -8.52617803e-02 1.08137487e-02 -1.03834743e+02] [-1.08470164e-02 -7.30830915e-05 -9.99941167e-01 2.24620439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.95 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.30, Y:-103.96, Z:2.25 [[ 1.62887074e-01 -9.86643363e-01 -1.63560633e-03 8.63002109e+01] [-9.86588830e-01 -1.62895267e-01 1.03736799e-02 -1.03956855e+02] [-1.05015549e-02 -7.60674243e-05 -9.99944854e-01 2.24597804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.98 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.30, Y:-104.09, Z:2.25 [[ 2.41369637e-01 -9.70430070e-01 -2.48538091e-03 8.62999087e+01] [-9.70374073e-01 -2.41382409e-01 1.04255370e-02 -1.04087531e+02] [-1.07171818e-02 -1.04658865e-04 -9.99942564e-01 2.24561749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.01 meters Centerline goodness [0,1] 0.9998643914566617 Centerline is valid? [True, True] Translation: X:86.30, Y:-104.20, Z:2.25 [[ 3.16736536e-01 -9.48507470e-01 -3.39811093e-03 8.63026859e+01] [-9.48448783e-01 -3.16754741e-01 1.05517362e-02 -1.04195669e+02] [-1.10847684e-02 -1.19186204e-04 -9.99938555e-01 2.24967337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.04 meters Centerline goodness [0,1] 0.9998415644380064 Centerline is valid? [True, True] Translation: X:86.32, Y:-104.32, Z:2.25 [[ 3.90604849e-01 -9.20547844e-01 -4.41805604e-03 8.63187696e+01] [-9.20484798e-01 -3.90629808e-01 1.07745025e-02 -1.04321166e+02] [-1.16442695e-02 -1.41819517e-04 -9.99932193e-01 2.25149550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.07 meters Centerline goodness [0,1] 0.9998414962751625 Centerline is valid? [True, True] Translation: X:86.34, Y:-104.43, Z:2.25 [[ 4.61187667e-01 -8.87284568e-01 -5.65967841e-03 8.63408859e+01] [-8.87213478e-01 -4.61222366e-01 1.12326646e-02 -1.04431701e+02] [-1.25769402e-02 -1.59023418e-04 -9.99920895e-01 2.25133727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.1 meters Centerline goodness [0,1] 0.999886484891139 Centerline is valid? [True, True] Translation: X:86.38, Y:-104.56, Z:2.25 [[ 5.27954105e-01 -8.49243821e-01 -7.02823044e-03 8.63785215e+01] [-8.49164388e-01 -5.28000858e-01 1.16161995e-02 -1.04556621e+02] [-1.35758974e-02 -1.64697212e-04 -9.99907830e-01 2.25217592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.13 meters Centerline goodness [0,1] 0.999932025195994 Centerline is valid? [True, True] Translation: X:86.41, Y:-104.65, Z:2.25 [[ 5.91878241e-01 -8.05989397e-01 -7.82561413e-03 8.64085985e+01] [-8.05915329e-01 -5.91929951e-01 1.09277895e-02 -1.04654273e+02] [-1.34398978e-02 -1.61138413e-04 -9.99909668e-01 2.25201905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.16 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.46, Y:-104.76, Z:2.25 [[ 6.52229573e-01 -7.57973120e-01 -8.56357560e-03 8.64562945e+01] [-7.57904581e-01 -6.52285769e-01 1.01941610e-02 -1.04760617e+02] [-1.33127985e-02 -1.58560081e-04 -9.99911368e-01 2.24927784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.19 meters Centerline goodness [0,1] 0.9997963893036514 Centerline is valid? [True, True] Translation: X:86.51, Y:-104.86, Z:2.25 [[ 7.07553542e-01 -7.06594397e-01 -9.60953813e-03 8.65112751e+01] [-7.06526481e-01 -7.07618780e-01 9.79761370e-03 -1.04862788e+02] [-1.37228286e-02 -1.42943116e-04 -9.99905827e-01 2.25429183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.22 meters Centerline goodness [0,1] 0.9997966331487967 Centerline is valid? [True, True] Translation: X:86.56, Y:-104.95, Z:2.25 [[ 7.59084088e-01 -6.50923381e-01 -9.49206991e-03 8.65614265e+01] [-6.50870542e-01 -7.59143424e-01 8.29454668e-03 -1.04948456e+02] [-1.26049568e-02 -1.18149716e-04 -9.99920547e-01 2.25323542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.25 meters Centerline goodness [0,1] 0.9998418043345613 Centerline is valid? [True, True] Translation: X:86.56, Y:-104.96, Z:2.25 [[ 8.07575691e-01 -5.89682190e-01 -9.81929386e-03 8.65564644e+01] [-5.89636871e-01 -8.07635377e-01 7.31149752e-03 -1.04955270e+02] [-1.22418690e-02 -1.14769952e-04 -9.99925059e-01 2.25180636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.28 meters Centerline goodness [0,1] 0.9998642257473241 Centerline is valid? [True, True] Translation: X:86.55, Y:-104.96, Z:2.25 [[ 8.51240091e-01 -5.24679703e-01 -1.00755077e-02 8.65512723e+01] [-5.24641375e-01 -8.51299710e-01 6.34285881e-03 -1.04960148e+02] [-1.19052461e-02 -1.13267472e-04 -9.99929124e-01 2.25082146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.31 meters Centerline goodness [0,1] 0.9998192417190113 Centerline is valid? [True, True] Translation: X:86.54, Y:-104.96, Z:2.25 [[ 8.89687777e-01 -4.56462940e-01 -9.86123332e-03 8.65435275e+01] [-4.56433570e-01 -8.89742419e-01 5.17916662e-03 -1.04964521e+02] [-1.11380552e-02 -1.06843303e-04 -9.99937964e-01 2.25202438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.34 meters Centerline goodness [0,1] 0.9998192417190113 Centerline is valid? [True, True] Translation: X:86.54, Y:-104.97, Z:2.25 [[ 9.22635924e-01 -3.85536223e-01 -1.02358863e-02 8.65385538e+01] [-3.85511211e-01 -9.22692695e-01 4.39273994e-03 -1.04966349e+02] [-1.11381379e-02 -1.06850753e-04 -9.99937963e-01 2.25202524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.37 meters Centerline goodness [0,1] 0.9999774062358789 Centerline is valid? [True, True] Translation: X:86.53, Y:-104.97, Z:2.25 [[ 9.49975299e-01 -3.12213218e-01 -8.35693542e-03 8.65325632e+01] [-3.12200353e-01 -9.50012052e-01 2.83553287e-03 -1.04972047e+02] [-8.82448021e-03 -8.46480014e-05 -9.99961060e-01 2.24658619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.4 meters Centerline goodness [0,1] 0.9998192662208567 Centerline is valid? [True, True] Translation: X:86.53, Y:-104.98, Z:2.25 [[ 9.71246144e-01 -2.37937564e-01 -8.16359460e-03 8.65267735e+01] [-2.37928530e-01 -9.71280449e-01 2.07465560e-03 -1.04979274e+02] [-8.42277832e-03 -7.26491875e-05 -9.99964525e-01 2.24941775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.42999999999998 meters Centerline goodness [0,1] 0.9997965779897385 Centerline is valid? [True, True] Translation: X:86.52, Y:-104.99, Z:2.25 [[ 9.86743676e-01 -1.62119947e-01 -7.35125004e-03 8.65168421e+01] [-1.62115019e-01 -9.86771057e-01 1.26535854e-03 -1.04985622e+02] [-7.45914064e-03 -5.68365040e-05 -9.99972179e-01 2.24884556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.45999999999998 meters Centerline goodness [0,1] 0.999819110930222 Centerline is valid? [True, True] Translation: X:86.51, Y:-104.99, Z:2.25 [[ 9.96346448e-01 -8.50933243e-02 -7.27197095e-03 8.65089240e+01] [-8.50906892e-02 -9.96372984e-01 6.71552996e-04 -1.04991795e+02] [-7.30274008e-03 -5.03224219e-05 -9.99973333e-01 2.24818995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.48999999999998 meters Centerline goodness [0,1] 0.9999773837524878 Centerline is valid? [True, True] Translation: X:86.50, Y:-105.00, Z:2.24 [[ 9.99951026e-01 -6.91465175e-03 -7.08055214e-03 8.65011138e+01] [-6.91413977e-03 -9.99976092e-01 9.67839280e-05 -1.04999621e+02] [-7.08105208e-03 -4.78232610e-05 -9.99974928e-01 2.24447684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.51999999999998 meters Centerline goodness [0,1] 0.9999547234736151 Centerline is valid? [True, True] Translation: X:86.49, Y:-105.01, Z:2.25 [[ 9.97519052e-01 6.99198208e-02 -8.18292249e-03 8.64928968e+01] [ 6.99178291e-02 -9.97552614e-01 -5.29555610e-04 -1.05006479e+02] [-8.19992215e-03 -4.38903666e-05 -9.99966379e-01 2.24649517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.54999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.49, Y:-105.01, Z:2.25 [[ 9.89033076e-01 1.47462444e-01 -8.27061769e-03 8.64863415e+01] [ 1.47457642e-01 -9.89067655e-01 -1.19075603e-03 -1.05012931e+02] [-8.35579224e-03 -4.18686880e-05 -9.99965089e-01 2.24525076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.57999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.48, Y:-105.02, Z:2.25 [[ 9.74519166e-01 2.24137819e-01 -8.63906201e-03 8.64804004e+01] [ 2.24129391e-01 -9.74557457e-01 -1.94412569e-03 -1.05021120e+02] [-8.85501439e-03 -4.16799627e-05 -9.99960793e-01 2.24561553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.60999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.48, Y:-105.03, Z:2.25 [[ 9.54135387e-01 2.99243240e-01 -8.89640385e-03 8.64756034e+01] [ 2.99230611e-01 -9.54176861e-01 -2.74950909e-03 -1.05029567e+02] [-9.31151471e-03 -3.86724388e-05 -9.99956646e-01 2.24640950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.64 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.47, Y:-105.04, Z:2.25 [[ 9.28534752e-01 3.71125208e-01 -9.44955097e-03 8.64713640e+01] [ 3.71106225e-01 -9.28582834e-01 -3.75370177e-03 -1.05037835e+02] [-1.01677842e-02 -2.13446492e-05 -9.99948307e-01 2.24840049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.67 meters Centerline goodness [0,1] 0.9999092517809338 Centerline is valid? [True, True] Translation: X:86.47, Y:-105.05, Z:2.25 [[ 8.97386561e-01 4.41126815e-01 -1.02222253e-02 8.64673407e+01] [ 4.41098254e-01 -8.97444780e-01 -5.01966549e-03 -1.05045550e+02] [-1.13881917e-02 -4.42536599e-06 -9.99935152e-01 2.25173353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.7 meters Centerline goodness [0,1] 0.9998185653051505 Centerline is valid? [True, True] Translation: X:86.46, Y:-105.06, Z:2.25 [[ 8.60788687e-01 5.08849925e-01 -1.07046685e-02 8.64642326e+01] [ 5.08810412e-01 -8.60855246e-01 -6.34118156e-03 -1.05055681e+02] [-1.24418798e-02 1.17705352e-05 -9.99922597e-01 2.25307640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.73 meters Centerline goodness [0,1] 0.9997277182791795 Centerline is valid? [True, True] Translation: X:86.46, Y:-105.07, Z:2.25 [[ 8.18892800e-01 5.73851678e-01 -1.04323797e-02 8.64604383e+01] [ 5.73804728e-01 -8.18959249e-01 -7.34049229e-03 -1.05066303e+02] [-1.27560477e-02 2.49274694e-05 -9.99918638e-01 2.25380838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.76 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.46, Y:-105.08, Z:2.25 [[ 7.71447706e-01 6.36244635e-01 -7.82319182e-03 8.64596029e+01] [ 6.36211663e-01 -7.71487372e-01 -6.47730274e-03 -1.05077347e+02] [-1.01566428e-02 1.96944638e-05 -9.99948420e-01 2.24584900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.79 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.46, Y:-105.09, Z:2.25 [[ 7.19172654e-01 6.94799591e-01 -6.65003030e-03 8.64578268e+01] [ 6.94769669e-01 -7.19203398e-01 -6.44814799e-03 -1.05088741e+02] [-9.26289498e-03 1.70923491e-05 -9.99957098e-01 2.24502976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.82 meters Centerline goodness [0,1] 0.9998864410629117 Centerline is valid? [True, True] Translation: X:86.46, Y:-105.10, Z:2.25 [[ 6.62597631e-01 7.48951896e-01 -5.95292114e-03 8.64578219e+01] [ 7.48921444e-01 -6.62624371e-01 -6.75373413e-03 -1.05100227e+02] [-9.00277261e-03 1.67379340e-05 -9.99959474e-01 2.24739714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.85 meters Centerline goodness [0,1] 0.9997961725738874 Centerline is valid? [True, True] Translation: X:86.46, Y:-105.11, Z:2.25 [[ 6.01665738e-01 7.98729436e-01 -5.44322993e-03 8.64594576e+01] [ 7.98696543e-01 -6.01690359e-01 -7.24873631e-03 -1.05112757e+02] [-9.06491804e-03 1.38273532e-05 -9.99958913e-01 2.24845570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.88 meters Centerline goodness [0,1] 0.9997963432295438 Centerline is valid? [True, True] Translation: X:86.46, Y:-105.13, Z:2.25 [[ 5.35831582e-01 8.44312403e-01 -4.59156935e-03 8.64629150e+01] [ 8.44281430e-01 -5.35851255e-01 -7.23182697e-03 -1.05125439e+02] [-8.56631940e-03 -1.53544781e-06 -9.99963308e-01 2.24833593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.91 meters Centerline goodness [0,1] 0.9998643270622286 Centerline is valid? [True, True] Translation: X:86.47, Y:-105.14, Z:2.25 [[ 4.65956556e-01 8.84798616e-01 -3.98713351e-03 8.64665318e+01] [ 8.84766623e-01 -4.65973614e-01 -7.52421015e-03 -1.05138071e+02] [-8.51530974e-03 -2.17276043e-05 -9.99963744e-01 2.24841113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.94 meters Centerline goodness [0,1] 0.9997962141110407 Centerline is valid? [True, True] Translation: X:86.47, Y:-105.15, Z:2.25 [[ 3.94670583e-01 9.18814826e-01 -3.80080577e-03 8.64699509e+01] [ 9.18772963e-01 -3.94688883e-01 -8.77088561e-03 -1.05149112e+02] [-9.55895552e-03 -3.04670455e-05 -9.99954312e-01 2.25023053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.97 meters Centerline goodness [0,1] 0.9999094940718617 Centerline is valid? [True, True] Translation: X:86.47, Y:-105.16, Z:2.25 [[ 3.20275101e-01 9.47318190e-01 -3.47935178e-03 8.64747945e+01] [ 9.47263912e-01 -3.20293996e-01 -1.01408812e-02 -1.05159669e+02] [-1.07210567e-02 -4.79926213e-05 -9.99942527e-01 2.24985749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.0 meters Centerline goodness [0,1] 0.9998868061215249 Centerline is valid? [True, True] Translation: X:86.48, Y:-105.17, Z:2.25 [[ 2.44456025e-01 9.69655850e-01 -2.96386543e-03 8.64794471e+01] [ 9.69587585e-01 -2.44473984e-01 -1.15058996e-02 -1.05170348e+02] [-1.18813509e-02 -6.10406375e-05 -9.99929412e-01 2.25046891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.03 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.48, Y:-105.18, Z:2.25 [[ 1.65680267e-01 9.86177599e-01 -1.94732685e-03 8.64849236e+01] [ 9.86115162e-01 -1.65691690e-01 -1.10973155e-02 -1.05180193e+02] [-1.12665799e-02 -8.16823363e-05 -9.99936527e-01 2.24656895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.06 meters Centerline goodness [0,1] 0.9998652472712573 Centerline is valid? [True, True] Translation: X:86.49, Y:-105.19, Z:2.25 [[ 8.75670432e-02 9.96158030e-01 -1.09223999e-03 8.64899935e+01] [ 9.96092477e-01 -8.75738113e-02 -1.14282676e-02 -1.05190454e+02] [-1.14800122e-02 -8.72324298e-05 -9.99934099e-01 2.25010540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.09 meters Centerline goodness [0,1] 0.9998652472712573 Centerline is valid? [True, True] Translation: X:86.49, Y:-105.20, Z:2.25 [[ 9.23479201e-03 9.99957340e-01 -1.93263799e-04 8.64946169e+01] [ 9.99891457e-01 -9.23640210e-03 -1.14787938e-02 -1.05199844e+02] [-1.14800892e-02 -8.72385484e-05 -9.99934098e-01 2.25010606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.12 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.50, Y:-105.21, Z:2.25 [[-7.06718886e-02 9.97499415e-01 6.33869911e-04 8.65036274e+01] [ 9.97446494e-01 7.06746688e-02 -1.02753597e-02 -1.05208171e+02] [-1.02944638e-02 -9.39277564e-05 -9.99947006e-01 2.24600207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.15 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.51, Y:-105.22, Z:2.25 [[-1.48585987e-01 9.88898448e-01 1.43680854e-03 8.65116223e+01] [ 9.88845907e-01 1.48592904e-01 -1.01942123e-02 -1.05216376e+02] [-1.02945403e-02 -9.39348455e-05 -9.99947005e-01 2.24600272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.17999999999998 meters Centerline goodness [0,1] 0.999842086266017 Centerline is valid? [True, True] Translation: X:86.52, Y:-105.22, Z:2.25 [[-2.26896981e-01 9.73916206e-01 2.23234542e-03 8.65225073e+01] [ 9.73864284e-01 2.26907936e-01 -1.00571100e-02 -1.05222556e+02] [-1.03013193e-02 -1.07926414e-04 -9.99946934e-01 2.24945860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.20999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.53, Y:-105.23, Z:2.25 [[-3.03780452e-01 9.52737902e-01 2.81556774e-03 8.65323788e+01] [ 9.52693448e-01 3.03793479e-01 -9.20415426e-03 -1.05228485e+02] [-9.62449774e-03 -1.13669205e-04 -9.99953677e-01 2.24584721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.23999999999998 meters Centerline goodness [0,1] 0.9998650016874789 Centerline is valid? [True, True] Translation: X:86.54, Y:-105.23, Z:2.25 [[-3.77204084e-01 9.26122379e-01 3.79717549e-03 8.65411077e+01] [ 9.26072212e-01 3.77223177e-01 -9.64019574e-03 -1.05233929e+02] [-1.03603836e-02 -1.19862506e-04 -9.99946323e-01 2.24943421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.26999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.55, Y:-105.24, Z:2.25 [[-4.49583956e-01 8.93226808e-01 4.48733991e-03 8.65514012e+01] [ 8.93179401e-01 4.49606331e-01 -9.20358960e-03 -1.05238235e+02] [-1.02384294e-02 -1.29786644e-04 -9.99947577e-01 2.24609522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.29999999999998 meters Centerline goodness [0,1] 0.9998873061666066 Centerline is valid? [True, True] Translation: X:86.56, Y:-105.24, Z:2.25 [[-5.17873250e-01 8.55437641e-01 5.80857019e-03 8.65616903e+01] [ 8.55380746e-01 5.17905804e-01 -9.86694285e-03 -1.05241725e+02] [-1.14488465e-02 -1.41286651e-04 -9.99934450e-01 2.24945246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.32999999999998 meters Centerline goodness [0,1] 0.9998873391766747 Centerline is valid? [True, True] Translation: X:86.57, Y:-105.25, Z:2.25 [[-5.83252397e-01 8.12264671e-01 6.53804562e-03 8.65729659e+01] [ 8.12210935e-01 5.83289023e-01 -9.34411868e-03 -1.05245691e+02] [-1.14034677e-02 -1.39707471e-04 -9.99934969e-01 2.25039874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.35999999999999 meters Centerline goodness [0,1] 0.9998650229460991 Centerline is valid? [True, True] Translation: X:86.58, Y:-105.25, Z:2.25 [[-6.44986087e-01 7.64156803e-01 7.57151530e-03 8.65816881e+01] [ 7.64101504e-01 6.45030510e-01 -9.19411311e-03 -1.05248792e+02] [-1.19096025e-02 -1.44668805e-04 -9.99929068e-01 2.25087579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.39 meters Centerline goodness [0,1] 0.9997754322928363 Centerline is valid? [True, True] Translation: X:86.59, Y:-105.25, Z:2.25 [[-7.02876575e-01 7.11255701e-01 8.93576676e-03 8.65909433e+01] [ 7.11195369e-01 7.02933356e-01 -9.26524261e-03 -1.05250626e+02] [-1.28712051e-02 -1.57246055e-04 -9.99917150e-01 2.25214841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.42 meters Centerline goodness [0,1] 0.9999324385190523 Centerline is valid? [True, True] Translation: X:86.60, Y:-105.25, Z:2.25 [[-7.57000315e-01 6.53345998e-01 9.46201131e-03 8.66029546e+01] [ 6.53292224e-01 7.57059429e-01 -8.38395237e-03 -1.05248210e+02] [-1.26409266e-02 -1.65196168e-04 -9.99920087e-01 2.24867652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.45 meters Centerline goodness [0,1] 0.9997980749814902 Centerline is valid? [True, True] Translation: X:86.62, Y:-105.22, Z:2.25 [[-8.01334232e-01 5.98115151e-01 1.10324724e-02 8.66156193e+01] [ 5.98055305e-01 8.01410153e-01 -8.46280079e-03 -1.05220416e+02] [-1.39032648e-02 -1.83503322e-04 -9.99903328e-01 2.25296899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.48 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.65, Y:-105.21, Z:2.25 [[-8.41904574e-01 5.39508124e-01 1.12992162e-02 8.66508363e+01] [ 5.39456561e-01 8.41980374e-01 -7.46115453e-03 -1.05213436e+02] [-1.35390718e-02 -1.86143801e-04 -9.99908325e-01 2.24698964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.51 meters Centerline goodness [0,1] 0.9998875418906458 Centerline is valid? [True, True] Translation: X:86.67, Y:-105.19, Z:2.25 [[-8.77571434e-01 4.79283564e-01 1.24757051e-02 8.66695882e+01] [ 4.79232122e-01 8.77660089e-01 -7.02437840e-03 -1.05193122e+02] [-1.43160976e-02 -1.85635178e-04 -9.99897502e-01 2.25064165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.54 meters Centerline goodness [0,1] 0.9998432496585082 Centerline is valid? [True, True] Translation: X:86.69, Y:-105.17, Z:2.25 [[-9.08932825e-01 4.16740303e-01 1.29861247e-02 8.66896649e+01] [ 4.16695041e-01 9.09025571e-01 -6.14435679e-03 -1.05172781e+02] [-1.43653206e-02 -1.73553790e-04 -9.99896798e-01 2.25202862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.71, Y:-105.15, Z:2.25 [[-9.36031127e-01 3.51692430e-01 1.25763717e-02 8.67073865e+01] [ 3.51658415e-01 9.36115596e-01 -4.89378452e-03 -1.05151005e+02] [-1.34940447e-02 -1.58147679e-04 -9.99908939e-01 2.24803969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.6 meters Centerline goodness [0,1] 0.999932727884292 Centerline is valid? [True, True] Translation: X:86.73, Y:-105.13, Z:2.25 [[-9.57856336e-01 2.86974559e-01 1.25237006e-02 8.67269270e+01] [ 2.86948218e-01 9.57938195e-01 -3.89038599e-03 -1.05129752e+02] [-1.31133729e-02 -1.32777314e-04 -9.99914007e-01 2.24969719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.63 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.99, Y:-104.32, Z:1.44 [[-9.29947015e-01 -3.67552350e-01 1.01891728e-02 8.69905802e+01] [ 3.67530088e-01 -9.30002833e-01 -4.04528030e-03 -1.04323480e+02] [ 1.09628119e-02 -1.70687529e-05 9.99939906e-01 1.44225431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.66 meters Centerline goodness [0,1] 0.999775043304164 Centerline is valid? [True, True] Translation: X:86.68, Y:-105.12, Z:2.25 [[-9.57748522e-01 2.87440290e-01 9.79015887e-03 8.66842234e+01] [ 2.87424643e-01 9.57798557e-01 -2.99977347e-03 -1.05121106e+02] [-1.02392558e-02 -5.90956902e-05 -9.99947576e-01 2.24802261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.69 meters Centerline goodness [0,1] 0.9998433689109664 Centerline is valid? [True, True] Translation: X:86.70, Y:-105.10, Z:2.24 [[-9.75594453e-01 2.19430578e-01 8.10462258e-03 8.67007374e+01] [ 2.19422645e-01 9.75628115e-01 -1.86637923e-03 -1.05098072e+02] [-8.31663833e-03 -4.24915030e-05 -9.99965415e-01 2.24499483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.72 meters Centerline goodness [0,1] 0.9998201600575488 Centerline is valid? [True, True] Translation: X:86.90, Y:-104.27, Z:1.44 [[-9.55639287e-01 -2.94417727e-01 8.47080303e-03 8.69019058e+01] [ 2.94406883e-01 -9.55676826e-01 -2.52811881e-03 -1.04266587e+02] [ 8.83967314e-03 7.78930604e-05 9.99960926e-01 1.44300840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.75 meters Centerline goodness [0,1] 0.9998874608926602 Centerline is valid? [True, True] Translation: X:86.65, Y:-105.09, Z:2.25 [[-9.76181146e-01 2.16690640e-01 1.07487682e-02 8.66483248e+01] [ 2.16677002e-01 9.76240321e-01 -2.43149752e-03 -1.05086758e+02] [-1.10202637e-02 -4.45711743e-05 -9.99939274e-01 2.24833916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.78 meters Centerline goodness [0,1] 0.9999099646611295 Centerline is valid? [True, True] Translation: X:86.85, Y:-104.26, Z:1.44 [[-9.57151426e-01 -2.89360536e-01 1.14729395e-02 8.68508452e+01] [ 2.89341085e-01 -9.57220178e-01 -3.35673409e-03 -1.04255404e+02] [ 1.19534356e-02 1.06689937e-04 9.99928549e-01 1.43916566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.81 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.60, Y:-105.08, Z:2.25 [[-9.76986441e-01 2.13012906e-01 1.10903585e-02 8.66045975e+01] [ 2.12998679e-01 9.77049385e-01 -2.46224421e-03 -1.05078111e+02] [-1.13603178e-02 -4.33474905e-05 -9.99935469e-01 2.24674012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.84 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.80, Y:-104.24, Z:1.44 [[-9.58175444e-01 -2.85971191e-01 1.09679413e-02 8.68005023e+01] [ 2.85953032e-01 -9.58238215e-01 -3.22299365e-03 -1.04244325e+02] [ 1.14315838e-02 4.81227046e-05 9.99934656e-01 1.44160193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.87 meters Centerline goodness [0,1] 0.9998420470699731 Centerline is valid? [True, True] Translation: X:86.55, Y:-105.07, Z:2.25 [[-9.77702230e-01 2.09658444e-01 1.19032437e-02 8.65533960e+01] [ 2.09642411e-01 9.77774685e-01 -2.59310874e-03 -1.05068821e+02] [-1.21823575e-02 -3.98634885e-05 -9.99925792e-01 2.25042093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.9 meters Centerline goodness [0,1] 0.9999095227324135 Centerline is valid? [True, True] Translation: X:86.74, Y:-104.23, Z:1.44 [[-9.59366961e-01 -2.81877029e-01 1.26639076e-02 8.67434890e+01] [ 2.81853925e-01 -9.59450535e-01 -3.61048312e-03 -1.04230970e+02] [ 1.31681052e-02 1.05593850e-04 9.99913291e-01 1.43839260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.92999999999998 meters Centerline goodness [0,1] 0.9998418507975239 Centerline is valid? [True, True] Translation: X:86.51, Y:-105.06, Z:2.25 [[-9.78584803e-01 2.05363553e-01 1.40568606e-02 8.65067448e+01] [ 2.05341619e-01 9.78685756e-01 -3.00184358e-03 -1.05058457e+02] [-1.43737185e-02 -5.11000094e-05 -9.99896691e-01 2.25207813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.95999999999998 meters Centerline goodness [0,1] 0.999954826760627 Centerline is valid? [True, True] Translation: X:86.68, Y:-104.22, Z:1.44 [[-9.60326514e-01 -2.78538206e-01 1.37642494e-02 8.66849874e+01] [ 2.78510306e-01 -9.60425148e-01 -3.94256479e-03 -1.04220300e+02] [ 1.43176862e-02 4.73358207e-05 9.99897496e-01 1.43779081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.98999999999998 meters Centerline goodness [0,1] 0.9998422108513851 Centerline is valid? [True, True] Translation: X:86.45, Y:-105.05, Z:2.25 [[-9.79520608e-01 2.00855436e-01 1.40168718e-02 8.64534740e+01] [ 2.00834046e-01 9.79620891e-01 -2.93177058e-03 -1.05047188e+02] [-1.43200825e-02 -5.66646302e-05 -9.99897461e-01 2.25262207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.01999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.46, Y:-105.02, Z:2.25 [[-9.91375139e-01 1.30482497e-01 1.22332287e-02 8.64561719e+01] [ 1.30471901e-01 9.91450612e-01 -1.66369775e-03 -1.05020381e+02] [-1.23457255e-02 -5.32559843e-05 -9.99923787e-01 2.24749908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.04999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.47, Y:-104.99, Z:2.25 [[-9.98128557e-01 6.01062418e-02 1.12527292e-02 8.64679431e+01] [ 6.01019194e-02 9.98191984e-01 -7.22194224e-04 -1.04994940e+02] [-1.12757925e-02 -4.45320553e-05 -9.99936425e-01 2.24539640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.07999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.48, Y:-104.97, Z:2.24 [[-9.99892772e-01 -1.05489759e-02 1.01569927e-02 8.64751397e+01] [-1.05487927e-02 9.99944357e-01 7.16105954e-05 -1.04968527e+02] [-1.01571830e-02 -3.55410942e-05 -9.99948414e-01 2.24466147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.10999999999999 meters Centerline goodness [0,1] 0.999774464918018 Centerline is valid? [True, True] Translation: X:86.48, Y:-104.94, Z:2.25 [[-9.96700590e-01 -8.05526776e-02 9.95992410e-03 8.64785882e+01] [-8.05488881e-02 9.96750353e-01 7.81690995e-04 -1.04942173e+02] [-9.99052516e-03 -2.31489359e-05 -9.99950093e-01 2.24884446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.14 meters Centerline goodness [0,1] 0.9998192376347245 Centerline is valid? [True, True] Translation: X:86.47, Y:-104.91, Z:2.25 [[-9.88396170e-01 -1.51651459e-01 8.65139773e-03 8.64724402e+01] [-1.51645840e-01 9.88434032e-01 1.30557940e-03 -1.04914927e+02] [-8.74932895e-03 -2.15187952e-05 -9.99961724e-01 2.24784453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.17 meters Centerline goodness [0,1] 0.9998872705956622 Centerline is valid? [True, True] Translation: X:86.45, Y:-104.89, Z:2.25 [[-9.74809140e-01 -2.22893914e-01 8.08972879e-03 8.64523187e+01] [-2.22886454e-01 9.74842707e-01 1.82383524e-03 -1.04890107e+02] [-8.29273488e-03 -2.51997028e-05 -9.99965614e-01 2.24702847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.2 meters Centerline goodness [0,1] 0.9999323333709259 Centerline is valid? [True, True] Translation: X:86.41, Y:-104.87, Z:2.25 [[-9.55809711e-01 -2.93870727e-01 8.23364943e-03 8.64116496e+01] [-2.93860121e-01 9.55845173e-01 2.49683158e-03 -1.04871819e+02] [-8.60383977e-03 -3.30453517e-05 -9.99962986e-01 2.24567157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.23 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.35, Y:-104.86, Z:2.24 [[-9.31117773e-01 -3.64633823e-01 7.86557769e-03 8.63534586e+01] [-3.64621205e-01 9.31150994e-01 3.03382568e-03 -1.04860794e+02] [-8.43027594e-03 -4.31074032e-05 -9.99964464e-01 2.24450025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.26 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.29, Y:-104.86, Z:2.24 [[-9.01428232e-01 -4.32861531e-01 7.61826555e-03 8.62854046e+01] [-4.32846477e-01 9.01460422e-01 3.61031810e-03 -1.04860229e+02] [-8.43033270e-03 -4.30967387e-05 -9.99964463e-01 2.24450221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.29 meters Centerline goodness [0,1] 0.9998647552069245 Centerline is valid? [True, True] Translation: X:86.21, Y:-104.87, Z:2.25 [[-8.66389592e-01 -4.99307598e-01 7.81005595e-03 8.62119914e+01] [-4.99287795e-01 8.66424792e-01 4.44720330e-03 -1.04867983e+02] [-8.98734850e-03 -4.64549662e-05 -9.99959612e-01 2.24750232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.32 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:86.12, Y:-104.89, Z:2.24 [[-8.25678256e-01 -5.64097937e-01 6.99533569e-03 8.61203291e+01] [-5.64078253e-01 8.25707887e-01 4.71274778e-03 -1.04891026e+02] [-8.43455516e-03 -5.47033629e-05 -9.99964427e-01 2.24409695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.35 meters Centerline goodness [0,1] 0.9997975526363145 Centerline is valid? [True, True] Translation: X:86.04, Y:-104.92, Z:2.25 [[-7.80604755e-01 -6.24979890e-01 7.50687441e-03 8.60390065e+01] [-6.24951746e-01 7.80640848e-01 5.93141979e-03 -1.04916872e+02] [-9.56719089e-03 -6.13397831e-05 -9.99954232e-01 2.24902269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.38 meters Centerline goodness [0,1] 0.999842594050055 Centerline is valid? [True, True] Translation: X:85.96, Y:-104.95, Z:2.25 [[-7.30784214e-01 -6.82572407e-01 7.02438441e-03 8.59550038e+01] [-6.82541672e-01 7.30817971e-01 6.47766730e-03 -1.04952486e+02] [-9.55502332e-03 -6.06580744e-05 -9.99954348e-01 2.24862721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.41 meters Centerline goodness [0,1] 0.999910037559319 Centerline is valid? [True, True] Translation: X:85.85, Y:-105.01, Z:2.25 [[-6.76572211e-01 -7.36351000e-01 6.10304462e-03 8.58537691e+01] [-7.36321811e-01 6.76599735e-01 6.55669205e-03 -1.05014531e+02] [-8.95734512e-03 -5.77292227e-05 -9.99959881e-01 2.24716748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.44 meters Centerline goodness [0,1] 0.9998200062997795 Centerline is valid? [True, True] Translation: X:85.78, Y:-105.07, Z:2.25 [[-6.18934108e-01 -7.85415451e-01 6.56802297e-03 8.57752880e+01] [-7.85372198e-01 6.18968954e-01 8.24286670e-03 -1.05065178e+02] [-1.05394772e-02 -5.65512870e-05 -9.99944457e-01 2.24974749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.47 meters Centerline goodness [0,1] 0.9998875595934155 Centerline is valid? [True, True] Translation: X:85.69, Y:-105.13, Z:2.25 [[-5.57118447e-01 -8.30413845e-01 5.64644527e-03 8.56937485e+01] [-8.30372095e-01 5.57147057e-01 8.32708461e-03 -1.05129825e+02] [-1.00608267e-02 -4.94781446e-05 -9.99949387e-01 2.24943785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.61, Y:-105.21, Z:2.25 [[-4.91666169e-01 -8.70771056e-01 4.70599488e-03 8.56114975e+01] [-8.70732055e-01 4.91688689e-01 8.24144649e-03 -1.05209725e+02] [-9.49029751e-03 -4.56201741e-05 -9.99954965e-01 2.24608854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.53 meters Centerline goodness [0,1] 0.9997971236643974 Centerline is valid? [True, True] Translation: X:85.54, Y:-105.30, Z:2.25 [[-4.24410232e-01 -9.05460295e-01 4.19632373e-03 8.55376921e+01] [-9.05416785e-01 4.24430976e-01 8.87645672e-03 -1.05295092e+02] [-9.81832889e-03 -3.21628854e-05 -9.99951799e-01 2.25024415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.47, Y:-105.39, Z:2.24 [[-3.53237515e-01 -9.35529187e-01 2.89798540e-03 8.54693102e+01] [-9.35498313e-01 3.53249401e-01 7.60050490e-03 -1.05385917e+02] [-8.13420577e-03 -2.62769940e-05 -9.99966916e-01 2.24434378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.59 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.40, Y:-105.49, Z:2.24 [[-2.80326554e-01 -9.59902133e-01 2.21770808e-03 8.54046640e+01] [-9.59872691e-01 2.80335325e-01 7.51810446e-03 -1.05491002e+02] [-7.83834643e-03 -2.11931140e-05 -9.99969279e-01 2.24471056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.62 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.35, Y:-105.60, Z:2.24 [[-2.05525238e-01 -9.78650496e-01 1.60699631e-03 8.53498280e+01] [-9.78621259e-01 2.05531519e-01 7.56485338e-03 -1.05597016e+02] [-7.73363591e-03 -1.78724628e-05 -9.99970095e-01 2.24483000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.65 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.30, Y:-105.71, Z:2.25 [[-1.29243295e-01 -9.91612358e-01 1.04954771e-03 8.53035214e+01] [-9.91580710e-01 1.29247556e-01 7.92245283e-03 -1.05705857e+02] [-7.99165361e-03 -1.67873552e-05 -9.99968066e-01 2.24509724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.67999999999998 meters Centerline goodness [0,1] 0.9997973064276384 Centerline is valid? [True, True] Translation: X:85.27, Y:-105.82, Z:2.25 [[-5.39163846e-02 -9.98545306e-01 5.43083869e-04 8.52672497e+01] [-9.98495011e-01 5.39191197e-02 1.00220409e-02 -1.05822009e+02] [-1.00367445e-02 -1.91432223e-06 -9.99949631e-01 2.25146438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.70999999999998 meters Centerline goodness [0,1] 0.9997969268259663 Centerline is valid? [True, True] Translation: X:85.24, Y:-105.94, Z:2.25 [[ 2.31998504e-02 -9.99730817e-01 -2.46429637e-04 8.52390352e+01] [-9.99675941e-01 -2.32011590e-02 1.04747390e-02 -1.05938664e+02] [-1.04776368e-02 3.33740089e-06 -9.99945108e-01 2.25208640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.73999999999998 meters Centerline goodness [0,1] 0.9998645078246732 Centerline is valid? [True, True] Translation: X:85.22, Y:-106.06, Z:2.25 [[ 1.00121216e-01 -9.94974645e-01 -1.09410927e-03 8.52202117e+01] [-9.94916348e-01 -1.00127194e-01 1.07705562e-02 -1.06059173e+02] [-1.08259804e-02 1.01860077e-05 -9.99941397e-01 2.25102097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.76999999999998 meters Centerline goodness [0,1] 0.9998190536505926 Centerline is valid? [True, True] Translation: X:85.21, Y:-106.18, Z:2.25 [[ 1.76045693e-01 -9.84379763e-01 -2.09666308e-03 8.52109855e+01] [-9.84311497e-01 -1.76058176e-01 1.15929191e-02 -1.06180502e+02] [-1.17809696e-02 2.28860974e-05 -9.99930602e-01 2.25170549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.79999999999998 meters Centerline goodness [0,1] 0.9997962879130828 Centerline is valid? [True, True] Translation: X:85.21, Y:-106.30, Z:2.25 [[ 2.49993183e-01 -9.68242275e-01 -3.21009124e-03 8.52114190e+01] [-9.68164966e-01 -2.50013787e-01 1.22354362e-02 -1.06299294e+02] [-1.26494337e-02 4.91222314e-05 -9.99919992e-01 2.25280359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.82999999999998 meters Centerline goodness [0,1] 0.9998866444489787 Centerline is valid? [True, True] Translation: X:85.22, Y:-106.42, Z:2.25 [[ 3.23958395e-01 -9.46062826e-01 -4.01093552e-03 8.52211012e+01] [-9.45992326e-01 -3.23983220e-01 1.15495950e-02 -1.06422828e+02] [-1.22261183e-02 5.27259414e-05 -9.99925257e-01 2.25176572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.85999999999999 meters Centerline goodness [0,1] 0.9997953568748721 Centerline is valid? [True, True] Translation: X:85.24, Y:-106.54, Z:2.25 [[ 3.95857536e-01 -9.18298328e-01 -4.99914984e-03 8.52397013e+01] [-9.18227020e-01 -3.95889096e-01 1.14439397e-02 -1.06542217e+02] [-1.24880596e-02 6.01846822e-05 -9.99922019e-01 2.25369944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.89 meters Centerline goodness [0,1] 0.9997959692593684 Centerline is valid? [True, True] Translation: X:85.26, Y:-106.65, Z:2.25 [[ 4.65801451e-01 -8.84871229e-01 -5.64936242e-03 8.52633841e+01] [-8.84807662e-01 -4.65835705e-01 1.06064753e-02 -1.06654531e+02] [-1.20170396e-02 5.80875520e-05 -9.99927791e-01 2.25185366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.92 meters Centerline goodness [0,1] 0.999795835034708 Centerline is valid? [True, True] Translation: X:85.30, Y:-106.77, Z:2.25 [[ 5.33886145e-01 -8.45537589e-01 -5.63641389e-03 8.53007809e+01] [-8.45491209e-01 -5.33915896e-01 8.85612823e-03 -1.06773344e+02] [-1.04975603e-02 3.73742334e-05 -9.99944898e-01 2.25089518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.95 meters Centerline goodness [0,1] 0.9999318661851877 Centerline is valid? [True, True] Translation: X:85.35, Y:-106.90, Z:2.25 [[ 5.98472010e-01 -8.01124282e-01 -5.58022991e-03 8.53517667e+01] [-8.01089815e-01 -5.98498024e-01 7.43126917e-03 -1.06896190e+02] [-9.29312675e-03 2.28587481e-05 -9.99956818e-01 2.24793245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.98 meters Centerline goodness [0,1] 0.9998410968854989 Centerline is valid? [True, True] Translation: X:85.39, Y:-106.98, Z:2.25 [[ 6.58659825e-01 -7.52418103e-01 -5.85095102e-03 8.53871874e+01] [-7.52388681e-01 -6.58685811e-01 6.65387718e-03 -1.06982387e+02] [-8.86043606e-03 1.95477436e-05 -9.99960745e-01 2.24974095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.01 meters Centerline goodness [0,1] 0.999750555580752 Centerline is valid? [True, True] Translation: X:85.44, Y:-107.08, Z:2.25 [[ 7.15717274e-01 -6.98371910e-01 -5.04564630e-03 8.54381122e+01] [-6.98354598e-01 -7.15735059e-01 4.91736725e-03 -1.07076910e+02] [-7.04549711e-03 4.20560591e-06 -9.99975180e-01 2.24842740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.04 meters Centerline goodness [0,1] 0.9997738221789971 Centerline is valid? [True, True] Translation: X:85.43, Y:-107.08, Z:2.25 [[ 7.68551116e-01 -6.39771950e-01 -4.58620924e-03 8.54326630e+01] [-6.39760552e-01 -7.68564800e-01 3.81898007e-03 -1.07083125e+02] [-5.96807531e-03 -1.00563655e-06 -9.99982191e-01 2.24759678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.07 meters Centerline goodness [0,1] 0.9998866470188166 Centerline is valid? [True, True] Translation: X:85.43, Y:-107.09, Z:2.25 [[ 8.16874670e-01 -5.76800345e-01 -4.13955098e-03 8.54269020e+01] [-5.76792896e-01 -8.16885158e-01 2.93138419e-03 -1.07089170e+02] [-5.07236118e-03 -6.90989222e-06 -9.99987135e-01 2.24565044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.1 meters Centerline goodness [0,1] 0.9997959044832981 Centerline is valid? [True, True] Translation: X:85.42, Y:-107.09, Z:2.25 [[ 8.59683128e-01 -5.10808350e-01 -4.44385633e-03 8.54200169e+01] [-5.10801469e-01 -8.59694614e-01 2.65147767e-03 -1.07094468e+02] [-5.17475629e-03 -9.50228359e-06 -9.99986611e-01 2.24697477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.13 meters Centerline goodness [0,1] 0.9999546885973856 Centerline is valid? [True, True] Translation: X:85.41, Y:-107.10, Z:2.24 [[ 8.98088471e-01 -4.39794924e-01 -4.18599699e-03 8.54117032e+01] [-4.39790042e-01 -8.98098227e-01 2.07220094e-03 -1.07100144e+02] [-4.67077993e-03 -2.00599782e-05 -9.99989092e-01 2.24369019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.16 meters Centerline goodness [0,1] 0.9998865775922692 Centerline is valid? [True, True] Translation: X:85.41, Y:-107.11, Z:2.25 [[ 9.29921320e-01 -3.67727262e-01 -4.79565789e-03 8.54056004e+01] [-3.67722232e-01 -9.29933686e-01 1.92366128e-03 -1.07105498e+02] [-5.16702652e-03 -2.53836175e-05 -9.99986651e-01 2.24591417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.19 meters Centerline goodness [0,1] 0.9997960848287113 Centerline is valid? [True, True] Translation: X:85.40, Y:-107.11, Z:2.25 [[ 9.56096667e-01 -2.92993033e-01 -5.85197118e-03 8.53992148e+01] [-2.92987313e-01 -9.56114575e-01 1.83111939e-03 -1.07111954e+02] [-6.13166016e-03 -3.61738320e-05 -9.99981201e-01 2.24795880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.22 meters Centerline goodness [0,1] 0.9997735250820972 Centerline is valid? [True, True] Translation: X:85.39, Y:-107.12, Z:2.25 [[ 9.76303661e-01 -2.16301529e-01 -6.69398274e-03 8.53923631e+01] [-2.16296107e-01 -9.76326608e-01 1.53226301e-03 -1.07118770e+02] [-6.86694429e-03 -4.80715835e-05 -9.99976421e-01 2.24918677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.25 meters Centerline goodness [0,1] 0.9999095983908514 Centerline is valid? [True, True] Translation: X:85.38, Y:-107.12, Z:2.25 [[ 9.90570951e-01 -1.36793264e-01 -7.53611285e-03 8.53832359e+01] [-1.36788749e-01 -9.90599615e-01 1.11375938e-03 -1.07124703e+02] [-7.61762527e-03 -7.24022375e-05 -9.99970983e-01 2.24861831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.28 meters Centerline goodness [0,1] 0.9999095452386875 Centerline is valid? [True, True] Translation: X:85.38, Y:-107.13, Z:2.25 [[ 9.98266049e-01 -5.82912308e-02 -8.18705462e-03 8.53757689e+01] [-5.82885956e-02 -9.98299617e-01 5.60317673e-04 -1.07132057e+02] [-8.20579510e-03 -8.21341932e-05 -9.99966329e-01 2.24868835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.31 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.37, Y:-107.14, Z:2.25 [[ 9.99742630e-01 2.08898618e-02 -8.84804061e-03 8.53687520e+01] [ 2.08898970e-02 -9.99781778e-01 -8.84482354e-05 -1.07140966e+02] [-8.84795744e-03 -9.64091857e-05 -9.99960851e-01 2.24640677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.34 meters Centerline goodness [0,1] 0.9998417721518987 Centerline is valid? [True, True] Translation: X:85.36, Y:-107.15, Z:2.25 [[ 9.95200250e-01 9.74043241e-02 -9.42651092e-03 8.53625234e+01] [ 9.74007832e-02 -9.95244890e-01 -8.35082481e-04 -1.07148879e+02] [-9.46302746e-03 -8.70752516e-05 -9.99955221e-01 2.25086237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.37 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.36, Y:-107.16, Z:2.25 [[ 9.84875403e-01 1.72992884e-01 -9.69030336e-03 8.53558538e+01] [ 1.72985208e-01 -9.84923072e-01 -1.63112744e-03 -1.07156441e+02] [-9.82637679e-03 -6.98218420e-05 -9.99951718e-01 2.24733137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.4 meters Centerline goodness [0,1] 0.9999547275731716 Centerline is valid? [True, True] Translation: X:85.35, Y:-107.16, Z:2.25 [[ 9.68951753e-01 2.47056084e-01 -9.78733566e-03 8.53499455e+01] [ 2.47043958e-01 -9.69001181e-01 -2.44818775e-03 -1.07163001e+02] [-1.00887795e-02 -4.57263221e-05 -9.99949106e-01 2.24875453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.42999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.34, Y:-107.17, Z:2.25 [[ 9.47477596e-01 3.19701867e-01 -8.77049996e-03 8.53437842e+01] [ 3.19688348e-01 -9.47518188e-01 -2.94011242e-03 -1.07169797e+02] [-9.25016766e-03 -1.81359971e-05 -9.99957216e-01 2.24685234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.45999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.34, Y:-107.17, Z:2.25 [[ 9.20822869e-01 3.89898162e-01 -8.04165951e-03 8.53369984e+01] [ 3.89883187e-01 -9.20857982e-01 -3.41715187e-03 -1.07174648e+02] [-8.73756758e-03 1.12837480e-05 -9.99961827e-01 2.24676149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.48999999999998 meters Centerline goodness [0,1] 0.9998410138772172 Centerline is valid? [True, True] Translation: X:85.33, Y:-107.18, Z:2.25 [[ 8.91125178e-01 4.53704153e-01 -6.96122465e-03 8.53319176e+01] [ 4.53689668e-01 -8.91152364e-01 -3.62605967e-03 -1.07181149e+02] [-7.84867014e-03 7.30373692e-05 -9.99969196e-01 2.24835504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.51999999999998 meters Centerline goodness [0,1] 0.9999091611027842 Centerline is valid? [True, True] Translation: X:85.33, Y:-107.19, Z:2.25 [[ 8.54122917e-01 5.20040431e-01 -5.65622025e-03 8.53279931e+01] [ 5.20028421e-01 -8.54141641e-01 -3.53522475e-03 -1.07191676e+02] [-6.66967305e-03 7.81211910e-05 -9.99977754e-01 2.24715404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.54999999999998 meters Centerline goodness [0,1] 0.9998865853105294 Centerline is valid? [True, True] Translation: X:85.33, Y:-107.20, Z:2.25 [[ 8.12159241e-01 5.83414857e-01 -4.94693341e-03 8.53270458e+01] [ 5.83403382e-01 -8.12174302e-01 -3.66010769e-03 -1.07204478e+02] [-6.15313339e-03 8.65325968e-05 -9.99981066e-01 2.24686771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.57999999999998 meters Centerline goodness [0,1] 0.999795658886568 Centerline is valid? [True, True] Translation: X:85.33, Y:-107.22, Z:2.25 [[ 7.65571289e-01 6.43333911e-01 -4.69896731e-03 8.53273775e+01] [ 6.43320961e-01 -7.65585703e-01 -4.08325899e-03 -1.07217852e+02] [-6.22436117e-03 1.03081686e-04 -9.99980623e-01 2.24834209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.60999999999999 meters Centerline goodness [0,1] 0.9998641857938341 Centerline is valid? [True, True] Translation: X:85.33, Y:-107.23, Z:2.25 [[ 7.13858718e-01 7.00275243e-01 -4.50711666e-03 8.53268508e+01] [ 7.00260254e-01 -7.13872937e-01 -4.58333681e-03 -1.07231396e+02] [-6.42710591e-03 1.15700286e-04 -9.99979339e-01 2.24792430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.64 meters Centerline goodness [0,1] 0.9999546762752963 Centerline is valid? [True, True] Translation: X:85.33, Y:-107.24, Z:2.25 [[ 6.58633033e-01 7.52450661e-01 -4.53112491e-03 8.53277451e+01] [ 7.52431337e-01 -6.58648603e-01 -5.39448946e-03 -1.07244652e+02] [-7.04350625e-03 1.43628582e-04 -9.99975184e-01 2.24695238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.67 meters Centerline goodness [0,1] 0.9999320097905902 Centerline is valid? [True, True] Translation: X:85.33, Y:-107.26, Z:2.25 [[ 5.98536233e-01 8.01083610e-01 -4.40771626e-03 8.53296542e+01] [ 8.01059861e-01 -5.98552440e-01 -6.17056685e-03 -1.07257307e+02] [-7.58138929e-03 1.62463263e-04 -9.99971248e-01 2.24808444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.7 meters Centerline goodness [0,1] 0.9997735302110698 Centerline is valid? [True, True] Translation: X:85.33, Y:-107.27, Z:2.25 [[ 5.34872569e-01 8.44921147e-01 -4.42612046e-03 8.53331957e+01] [ 8.44889173e-01 -5.34890847e-01 -7.35307974e-03 -1.07270107e+02] [-8.58026389e-03 1.93379395e-04 -9.99963170e-01 2.25083718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.73 meters Centerline goodness [0,1] 0.9997743325886309 Centerline is valid? [True, True] Translation: X:85.34, Y:-107.28, Z:2.25 [[ 4.66853806e-01 8.84325805e-01 -3.92366570e-03 8.53382442e+01] [ 8.84290969e-01 -4.66870253e-01 -7.85165166e-03 -1.07284823e+02] [-8.77526096e-03 1.95911316e-04 -9.99961477e-01 2.25177494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.76 meters Centerline goodness [0,1] 0.999864538414648 Centerline is valid? [True, True] Translation: X:85.35, Y:-107.30, Z:2.25 [[ 3.94951831e-01 9.18696435e-01 -3.14815466e-03 8.53450753e+01] [ 9.18663607e-01 -3.94964339e-01 -7.76846259e-03 -1.07297608e+02] [-8.38026771e-03 1.76073413e-04 -9.99964869e-01 2.25024053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.79 meters Centerline goodness [0,1] 0.9998195760036085 Centerline is valid? [True, True] Translation: X:85.35, Y:-107.31, Z:2.25 [[ 3.20782041e-01 9.47149616e-01 -2.54681519e-03 8.53510846e+01] [ 9.47115462e-01 -3.20792107e-01 -8.04523680e-03 -1.07310138e+02] [-8.43704116e-03 1.68639437e-04 -9.99964393e-01 2.25105262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.82 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.36, Y:-107.32, Z:2.25 [[ 2.42619906e-01 9.70119687e-01 -1.83676014e-03 8.53589347e+01] [ 9.70087437e-01 -2.42626820e-01 -7.91138847e-03 -1.07321590e+02] [-8.12064098e-03 1.37642388e-04 -9.99967018e-01 2.24684625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.85 meters Centerline goodness [0,1] 0.9998877816680133 Centerline is valid? [True, True] Translation: X:85.37, Y:-107.33, Z:2.25 [[ 1.63394266e-01 9.86560295e-01 -1.04833007e-03 8.53715061e+01] [ 9.86535810e-01 -1.63397597e-01 -6.95129698e-03 -1.07332673e+02] [-7.02916822e-03 1.01586914e-04 -9.99975290e-01 2.24850426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.88 meters Centerline goodness [0,1] 0.9998205553810955 Centerline is valid? [True, True] Translation: X:85.38, Y:-107.34, Z:2.25 [[ 8.38780948e-02 9.96475906e-01 -4.83674838e-04 8.53824979e+01] [ 9.96452893e-01 -8.38794451e-02 -6.77277297e-03 -1.07341940e+02] [-6.78947546e-03 8.61281016e-05 -9.99976948e-01 2.24923320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.91 meters Centerline goodness [0,1] 0.9998657628028726 Centerline is valid? [True, True] Translation: X:85.39, Y:-107.35, Z:2.25 [[ 3.31593367e-03 9.99994501e-01 4.60040976e-05 8.53926849e+01] [ 9.99973997e-01 -3.31557106e-03 -6.40415254e-03 -1.07352068e+02] [-6.40396479e-03 6.72386463e-05 -9.99979492e-01 2.24902109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.94 meters Centerline goodness [0,1] 0.9999328453428246 Centerline is valid? [True, True] Translation: X:85.41, Y:-107.36, Z:2.25 [[-7.75370909e-02 9.96989359e-01 4.66627039e-04 8.54053468e+01] [ 9.96974539e-01 7.75384827e-02 -5.43627342e-03 -1.07359746e+02] [-5.45608831e-03 4.37024502e-05 -9.99985114e-01 2.24748869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.97 meters Centerline goodness [0,1] 0.9997993937232525 Centerline is valid? [True, True] Translation: X:85.42, Y:-107.37, Z:2.25 [[-1.58175719e-01 9.87410563e-01 9.06634482e-04 8.54178780e+01] [ 9.87395365e-01 1.58178314e-01 -5.47851467e-03 -1.07367174e+02] [-5.55295317e-03 2.86386901e-05 -9.99984582e-01 2.25010783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.0 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.43, Y:-107.37, Z:2.25 [[-2.38116475e-01 9.71235991e-01 1.09258162e-03 8.54313074e+01] [ 9.71225949e-01 2.38118981e-01 -4.41655490e-03 -1.07372147e+02] [-4.54968150e-03 9.48913465e-06 -9.99989650e-01 2.24553843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.03 meters Centerline goodness [0,1] 0.9998439137511985 Centerline is valid? [True, True] Translation: X:85.44, Y:-107.38, Z:2.25 [[-3.13713802e-01 9.49516455e-01 1.46681544e-03 8.54433004e+01] [ 9.49506201e-01 3.13717231e-01 -4.41290346e-03 -1.07378237e+02] [-4.65028973e-03 8.36163201e-06 -9.99989187e-01 2.24932112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.06 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.46, Y:-107.38, Z:2.25 [[-3.89854549e-01 9.20874925e-01 1.67433554e-03 8.54550590e+01] [ 9.20866380e-01 3.89858144e-01 -3.96712475e-03 -1.07382698e+02] [-4.30597906e-03 -4.76232452e-06 -9.99990729e-01 2.24594903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.09 meters Centerline goodness [0,1] 0.999799692862389 Centerline is valid? [True, True] Translation: X:85.47, Y:-107.39, Z:2.25 [[-4.60984501e-01 8.87405051e-01 2.35894770e-03 8.54657041e+01] [ 8.87393355e-01 4.60990537e-01 -4.55615993e-03 -1.07385669e+02] [-5.13061190e-03 -7.00460179e-06 -9.99986838e-01 2.24983437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.12 meters Centerline goodness [0,1] 0.99993321460374 Centerline is valid? [True, True] Translation: X:85.48, Y:-107.39, Z:2.25 [[-5.32249988e-01 8.46581802e-01 3.03357029e-03 8.54788465e+01] [ 8.46567735e-01 5.32258632e-01 -4.88040405e-03 -1.07387040e+02] [-5.74630522e-03 -2.94722686e-05 -9.99983489e-01 2.24906668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.15 meters Centerline goodness [0,1] 0.99993321460374 Centerline is valid? [True, True] Translation: X:85.49, Y:-107.39, Z:2.25 [[-5.96935116e-01 8.02282283e-01 3.40661009e-03 8.54898434e+01] [ 8.02268937e-01 5.96944836e-01 -4.62779622e-03 -1.07388873e+02] [-5.74635722e-03 -2.94766171e-05 -9.99983489e-01 2.24906712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.17999999999998 meters Centerline goodness [0,1] 0.9998446101935713 Centerline is valid? [True, True] Translation: X:85.50, Y:-107.39, Z:2.25 [[-6.58268413e-01 7.52772032e-01 4.11877362e-03 8.55012567e+01] [ 7.52756963e-01 6.58281298e-01 -4.76315128e-03 -1.07390411e+02] [-6.29687871e-03 -3.49965157e-05 -9.99980174e-01 2.25106386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.20999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.51, Y:-107.39, Z:2.25 [[-7.16402323e-01 6.97676598e-01 3.88274104e-03 8.55120685e+01] [ 6.97666051e-01 7.16412844e-01 -3.83638448e-03 -1.07390054e+02] [-5.45820122e-03 -3.95381459e-05 -9.99985103e-01 2.24723775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.23999999999998 meters Centerline goodness [0,1] 0.9997997151504362 Centerline is valid? [True, True] Translation: X:85.53, Y:-107.37, Z:2.25 [[-7.62872160e-01 6.46539530e-01 3.56429731e-03 8.55349759e+01] [ 6.46532312e-01 7.62880486e-01 -3.05507129e-03 -1.07374942e+02] [-4.69435721e-03 -2.61954496e-05 -9.99988981e-01 2.25094225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.26999999999998 meters Centerline goodness [0,1] 0.9998443475940585 Centerline is valid? [True, True] Translation: X:85.56, Y:-107.36, Z:2.25 [[-8.05753648e-01 5.92245447e-01 2.52781159e-03 8.55615475e+01] [ 5.92242485e-01 8.05757613e-01 -1.87317163e-03 -1.07362648e+02] [-3.14618080e-03 -1.22374527e-05 -9.99995051e-01 2.24958321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.29999999999998 meters Centerline goodness [0,1] 0.9998442298277627 Centerline is valid? [True, True] Translation: X:85.58, Y:-107.35, Z:2.25 [[-8.44928366e-01 5.34874055e-01 2.40853517e-03 8.55826694e+01] [ 5.34871858e-01 8.44931799e-01 -1.53330486e-03 -1.07345825e+02] [-2.85517294e-03 -7.27509383e-06 -9.99995924e-01 2.24933350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.32999999999998 meters Centerline goodness [0,1] 0.9998439798511122 Centerline is valid? [True, True] Translation: X:85.59, Y:-107.32, Z:2.25 [[-8.79921394e-01 4.75113357e-01 2.37449546e-03 8.55906571e+01] [ 4.75111619e-01 8.79924598e-01 -1.28515767e-03 -1.07320454e+02] [-2.69997254e-03 -2.68734600e-06 -9.99996355e-01 2.24951895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.35999999999999 meters Centerline goodness [0,1] 0.9998885893179438 Centerline is valid? [True, True] Translation: X:85.62, Y:-107.31, Z:2.25 [[-9.10237493e-01 4.14080327e-01 2.27808897e-03 8.56194152e+01] [ 4.14079042e-01 9.10240343e-01 -1.03187750e-03 -1.07307494e+02] [-2.50088866e-03 4.05530464e-06 -9.99996873e-01 2.24896351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.39 meters Centerline goodness [0,1] 0.9998659157951193 Centerline is valid? [True, True] Translation: X:85.64, Y:-107.29, Z:2.25 [[-9.36987484e-01 3.49352219e-01 2.73525660e-03 8.56393205e+01] [ 3.49350752e-01 9.36991476e-01 -1.01241030e-03 -1.07287538e+02] [-2.91659990e-03 6.94816937e-06 -9.99995747e-01 2.24925845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.42 meters Centerline goodness [0,1] 0.9997988242394439 Centerline is valid? [True, True] Translation: X:85.95, Y:-106.50, Z:1.44 [[-9.13151119e-01 -4.07609655e-01 3.06644995e-03 8.59454466e+01] [ 4.07607426e-01 -9.13156267e-01 -1.34839615e-03 -1.06498732e+02] [ 3.34976728e-03 1.86183139e-05 9.99994389e-01 1.43793105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.45 meters Centerline goodness [0,1] 0.9998210490996533 Centerline is valid? [True, True] Translation: X:85.60, Y:-107.27, Z:2.25 [[-9.38129197e-01 3.46268874e-01 3.38769356e-03 8.55988455e+01] [ 3.46266654e-01 9.38135314e-01 -1.23999050e-03 -1.07274636e+02] [-3.60748507e-03 9.77402623e-06 -9.99993493e-01 2.25074121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.48 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.89, Y:-106.48, Z:1.44 [[-9.14032677e-01 -4.05616755e-01 4.39468184e-03 8.58904713e+01] [ 4.05612386e-01 -9.14043240e-01 -1.88355820e-03 -1.06478460e+02] [ 4.78093199e-03 6.09036480e-05 9.99988569e-01 1.43934605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.51 meters Centerline goodness [0,1] 0.9998879551820729 Centerline is valid? [True, True] Translation: X:85.55, Y:-107.26, Z:2.25 [[-9.39756181e-01 3.41794759e-01 5.88762724e-03 8.55498751e+01] [ 3.41788117e-01 9.39774624e-01 -2.13069352e-03 -1.07258305e+02] [-6.26130255e-03 9.98862649e-06 -9.99980398e-01 2.25253865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.54 meters Centerline goodness [0,1] 0.9999104764888879 Centerline is valid? [True, True] Translation: X:85.85, Y:-106.46, Z:1.44 [[-9.15657545e-01 -4.01909035e-01 6.35513876e-03 8.58516943e+01] [ 4.01899585e-01 -9.15679598e-01 -2.75635783e-03 -1.06463602e+02] [ 6.92707602e-03 3.02477821e-05 9.99976007e-01 1.43523869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.57 meters Centerline goodness [0,1] 0.9997976254722072 Centerline is valid? [True, True] Translation: X:85.51, Y:-107.25, Z:2.26 [[-9.41095126e-01 3.38041337e-01 8.24734339e-03 8.55083354e+01] [ 3.38028462e-01 9.41131263e-01 -2.95025773e-03 -1.07246026e+02] [-8.75914177e-03 1.13636395e-05 -9.99961638e-01 2.25669808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.6 meters Centerline goodness [0,1] 0.9998877564764513 Centerline is valid? [True, True] Translation: X:85.52, Y:-107.22, Z:2.26 [[-9.62947657e-01 2.69511661e-01 9.76084548e-03 8.55248013e+01] [ 2.69497839e-01 9.62997126e-01 -2.72947149e-03 -1.07223442e+02] [-1.01352905e-02 2.18858466e-06 -9.99948637e-01 2.25663215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.63 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.54, Y:-107.20, Z:2.25 [[-9.79811078e-01 1.99672536e-01 1.00563671e-02 8.55353128e+01] [ 1.99661949e-01 9.79862683e-01 -2.05622576e-03 -1.07198112e+02] [-1.02644307e-02 -6.83892764e-06 -9.99947319e-01 2.25465604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.66 meters Centerline goodness [0,1] 0.9999099869481075 Centerline is valid? [True, True] Translation: X:85.72, Y:-106.36, Z:1.43 [[-9.63950165e-01 -2.65901888e-01 9.81143103e-03 8.57204239e+01] [ 2.65888130e-01 -9.64000096e-01 -2.70492495e-03 -1.06361625e+02] [ 1.01774651e-02 1.33019410e-06 9.99948208e-01 1.43191601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.69 meters Centerline goodness [0,1] 0.9998420185515358 Centerline is valid? [True, True] Translation: X:85.49, Y:-107.19, Z:2.26 [[-9.80404433e-01 1.96825976e-01 8.16599976e-03 8.54853107e+01] [ 1.96819182e-01 9.80438440e-01 -1.63530861e-03 -1.07193134e+02] [-8.32813128e-03 3.96158110e-06 -9.99965321e-01 2.25593815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.72 meters Centerline goodness [0,1] 0.9998645353562721 Centerline is valid? [True, True] Translation: X:85.49, Y:-107.17, Z:2.25 [[-9.91906807e-01 1.26761885e-01 7.23261977e-03 8.54925830e+01] [ 1.26758540e-01 9.91933175e-01 -9.20982156e-04 -1.07167838e+02] [-7.29102093e-03 3.26784923e-06 -9.99973420e-01 2.25432759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.50, Y:-107.14, Z:2.25 [[-9.98492119e-01 5.46375190e-02 5.31309918e-03 8.55025663e+01] [ 5.46367194e-02 9.98506255e-01 -2.95646696e-04 -1.07142053e+02] [-5.32131617e-03 -4.91058734e-06 -9.99985842e-01 2.24961073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.78 meters Centerline goodness [0,1] 0.9997741695083671 Centerline is valid? [True, True] Translation: X:85.51, Y:-107.12, Z:2.25 [[-9.99855394e-01 -1.61927590e-02 5.19470389e-03 8.55063660e+01] [-1.61925581e-02 9.99868889e-01 8.07430849e-05 -1.07115765e+02] [-5.19533026e-03 -3.38413529e-06 -9.99986504e-01 2.25296114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.81 meters Centerline goodness [0,1] 0.999932029816254 Centerline is valid? [True, True] Translation: X:85.50, Y:-106.25, Z:1.44 [[-9.98456158e-01 -5.54001606e-02 4.01528531e-03 8.55002703e+01] [ 5.53993994e-02 -9.98464229e-01 -3.00638454e-04 -1.06245172e+02] [ 4.02577417e-03 -7.77299212e-05 9.99991894e-01 1.43819399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.84 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.40, Y:-107.12, Z:2.25 [[-9.99634258e-01 -2.68089215e-02 3.55416728e-03 8.53980396e+01] [-2.68088140e-02 9.99640576e-01 7.78965503e-05 -1.07116393e+02] [-3.55497815e-03 -1.74149495e-05 -9.99993681e-01 2.24805044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.87 meters Centerline goodness [0,1] 0.9999773021313298 Centerline is valid? [True, True] Translation: X:85.37, Y:-107.09, Z:2.25 [[-9.95138692e-01 -9.83969357e-02 4.12642384e-03 8.53673238e+01] [-9.83961859e-02 9.95147247e-01 3.84809624e-04 -1.07091559e+02] [-4.14426341e-03 -2.30854221e-05 -9.99991412e-01 2.24914424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.9 meters Centerline goodness [0,1] 0.9998184129289994 Centerline is valid? [True, True] Translation: X:85.31, Y:-106.22, Z:1.44 [[-9.99794241e-01 1.95482127e-02 5.41694907e-03 8.53114770e+01] [-1.95473001e-02 -9.99808909e-01 2.21374195e-04 -1.06222970e+02] [ 5.42024141e-03 1.15441916e-04 9.99985304e-01 1.43534145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.92999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.27, Y:-107.10, Z:2.25 [[-9.94366527e-01 -1.05830847e-01 5.91968907e-03 8.52720958e+01] [-1.05829204e-01 9.94384146e-01 5.91031820e-04 -1.07098900e+02] [-5.94899436e-03 -3.87737255e-05 -9.99982304e-01 2.25010603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.95999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.25, Y:-107.07, Z:2.25 [[-9.84245748e-01 -1.76659829e-01 7.18414881e-03 8.52533539e+01] [-1.76655487e-01 9.84271966e-01 1.23945093e-03 -1.07072494e+02] [-7.29011746e-03 -4.91950031e-05 -9.99973426e-01 2.25229029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.98999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:85.23, Y:-107.05, Z:2.25 [[-9.68834900e-01 -2.47526289e-01 9.46958043e-03 8.52306090e+01] [-2.47515141e-01 9.68881175e-01 2.35010656e-03 -1.07046360e+02] [-9.75661137e-03 -6.69992835e-05 -9.99952401e-01 2.25430280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.01999999999998 meters Centerline goodness [0,1] 0.9998642042368278 Centerline is valid? [True, True] Translation: X:85.18, Y:-107.03, Z:2.26 [[-9.48188416e-01 -3.17538457e-01 1.03950470e-02 8.51807291e+01] [-3.17520163e-01 9.48245392e-01 3.40911685e-03 -1.07030203e+02] [-1.09395811e-02 -6.81519249e-05 -9.99940159e-01 2.25901970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.04999999999998 meters Centerline goodness [0,1] 0.9998646239931409 Centerline is valid? [True, True] Translation: X:85.12, Y:-107.02, Z:2.26 [[-9.21933481e-01 -3.87203148e-01 1.06008821e-02 8.51201327e+01] [-3.87178498e-01 9.21994423e-01 4.36970039e-03 -1.07021771e+02] [-1.14659159e-02 -7.58605240e-05 -9.99934261e-01 2.25929982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.07999999999998 meters Centerline goodness [0,1] 0.9999095534200113 Centerline is valid? [True, True] Translation: X:85.05, Y:-107.02, Z:2.26 [[-8.90141066e-01 -4.55571774e-01 1.01607984e-02 8.50452280e+01] [-4.55543187e-01 8.90199052e-01 5.10424400e-03 -1.07024977e+02] [-1.13704826e-02 -8.51852707e-05 -9.99935350e-01 2.25845492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.10999999999999 meters Centerline goodness [0,1] 0.9999098611862268 Centerline is valid? [True, True] Translation: X:84.97, Y:-107.04, Z:2.26 [[-8.53231006e-01 -5.21445032e-01 9.58793787e-03 8.49663345e+01] [-5.21413267e-01 8.53284871e-01 5.75620818e-03 -1.07036731e+02] [-1.11827885e-02 -8.79027090e-05 -9.99937467e-01 2.25810651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.14 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.89, Y:-107.06, Z:2.26 [[-8.11304433e-01 -5.84556169e-01 8.89960176e-03 8.48859430e+01] [-5.84522178e-01 8.11353239e-01 6.30435915e-03 -1.07056921e+02] [-1.09059727e-02 -8.72600833e-05 -9.99940524e-01 2.25532126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.17 meters Centerline goodness [0,1] 0.999841736378024 Centerline is valid? [True, True] Translation: X:84.80, Y:-107.09, Z:2.26 [[-7.67032971e-01 -6.41548105e-01 8.74354151e-03 8.47985982e+01] [-6.41507140e-01 7.67082803e-01 7.25004705e-03 -1.07091258e+02] [-1.13582743e-02 -4.80191699e-05 -9.99935492e-01 2.25999095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.2 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.71, Y:-107.14, Z:2.26 [[-7.16932524e-01 -6.97097874e-01 7.89368924e-03 8.47086651e+01] [-6.97056090e-01 7.16975978e-01 7.63248222e-03 -1.07136331e+02] [-1.09801727e-02 -3.03694118e-05 -9.99939716e-01 2.25689335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.23 meters Centerline goodness [0,1] 0.9998869443313888 Centerline is valid? [True, True] Translation: X:84.62, Y:-107.19, Z:2.26 [[-6.63774659e-01 -7.47896688e-01 7.33113803e-03 8.46198516e+01] [-7.47851022e-01 6.63815143e-01 8.26470476e-03 -1.07191448e+02] [-1.10476658e-02 3.30252300e-06 -9.99938973e-01 2.26037182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.26 meters Centerline goodness [0,1] 0.9999321313033052 Centerline is valid? [True, True] Translation: X:84.54, Y:-107.25, Z:2.26 [[-6.06342320e-01 -7.95178948e-01 6.27949019e-03 8.45386360e+01] [-7.95135808e-01 6.06374835e-01 8.28293566e-03 -1.07249252e+02] [-1.03941409e-02 2.92469273e-05 -9.99945979e-01 2.25809218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.29 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.45, Y:-107.33, Z:2.26 [[-5.45267642e-01 -8.38246377e-01 5.11963108e-03 8.44529459e+01] [-8.38208600e-01 5.45291674e-01 7.95825131e-03 -1.07327550e+02] [-9.46266753e-03 4.80581217e-05 -9.99955227e-01 2.25558048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.32 meters Centerline goodness [0,1] 0.9998863584708396 Centerline is valid? [True, True] Translation: X:84.38, Y:-107.41, Z:2.26 [[-4.84411750e-01 -8.74831269e-01 3.93805512e-03 8.43806283e+01] [-8.74800768e-01 4.84427748e-01 7.30577779e-03 -1.07406598e+02] [-8.29902602e-03 9.39909663e-05 -9.99965558e-01 2.25688027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.35 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.31, Y:-107.49, Z:2.25 [[-4.17052532e-01 -9.08876353e-01 3.31062176e-03 8.43076140e+01] [-9.08845640e-01 4.17065658e-01 7.47267179e-03 -1.07494144e+02] [-8.17248133e-03 1.07652536e-04 -9.99966599e-01 2.25326968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.38 meters Centerline goodness [0,1] 0.9998863352201687 Centerline is valid? [True, True] Translation: X:84.24, Y:-107.60, Z:2.26 [[-3.48078328e-01 -9.37460961e-01 2.90260692e-03 8.42389786e+01] [-9.37424967e-01 3.48090402e-01 8.21600764e-03 -1.07595388e+02] [-8.71255602e-03 1.38838004e-04 -9.99962035e-01 2.25666948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.41 meters Centerline goodness [0,1] 0.999817738591575 Centerline is valid? [True, True] Translation: X:84.18, Y:-107.70, Z:2.26 [[-2.76438438e-01 -9.61028354e-01 2.50855824e-03 8.41797002e+01] [-9.60982838e-01 2.76449765e-01 9.35486375e-03 -1.07695895e+02] [-9.68377964e-03 1.75362510e-04 -9.99953096e-01 2.25861232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.44 meters Centerline goodness [0,1] 0.9998635929613968 Centerline is valid? [True, True] Translation: X:84.13, Y:-107.80, Z:2.26 [[-2.02291482e-01 -9.79323648e-01 1.82982944e-03 8.41274994e+01] [-9.79274469e-01 2.02299665e-01 9.81629573e-03 -1.07804706e+02] [-9.98350443e-03 1.93847758e-04 -9.99950145e-01 2.25899039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.47 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.08, Y:-107.92, Z:2.26 [[-1.26686583e-01 -9.91942057e-01 1.21084447e-03 8.40845877e+01] [-9.91877560e-01 1.26692156e-01 1.13138515e-02 -1.07919710e+02] [-1.13760896e-02 2.32303723e-04 -9.99935263e-01 2.25847040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.5 meters Centerline goodness [0,1] 0.9999091156957194 Centerline is valid? [True, True] Translation: X:84.05, Y:-108.04, Z:2.26 [[-4.97389403e-02 -9.98762189e-01 3.58557803e-04 8.40465474e+01] [-9.98685396e-01 4.97395632e-02 1.23877008e-02 -1.08039969e+02] [-1.23902017e-02 2.58064670e-04 -9.99923205e-01 2.25963535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.53 meters Centerline goodness [0,1] 0.9998180577666591 Centerline is valid? [True, True] Translation: X:84.02, Y:-108.16, Z:2.26 [[ 2.78547173e-02 -9.99611790e-01 -6.19451431e-04 8.40198042e+01] [-9.99531307e-01 -2.78603368e-02 1.26872837e-02 -1.08159614e+02] [-1.26996165e-02 2.65760399e-04 -9.99919321e-01 2.26086385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.56 meters Centerline goodness [0,1] 0.9999317312943746 Centerline is valid? [True, True] Translation: X:84.00, Y:-108.28, Z:2.26 [[ 1.06495637e-01 -9.94311958e-01 -1.55256124e-03 8.40020060e+01] [-9.94237054e-01 -1.06506675e-01 1.22069173e-02 -1.08280750e+02] [-1.23028420e-02 2.43630479e-04 -9.99924288e-01 2.25847529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.59 meters Centerline goodness [0,1] 0.9998637323703754 Centerline is valid? [True, True] Translation: X:83.99, Y:-108.41, Z:2.26 [[ 1.85273234e-01 -9.82683908e-01 -2.48294658e-03 8.39928080e+01] [-9.82610796e-01 -1.85289742e-01 1.19889563e-02 -1.08407161e+02] [-1.22414189e-02 2.18537424e-04 -9.99925047e-01 2.25839100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.62 meters Centerline goodness [0,1] 0.9998189061934082 Centerline is valid? [True, True] Translation: X:83.99, Y:-108.53, Z:2.26 [[ 2.62423185e-01 -9.64947533e-01 -3.21397767e-03 8.39933173e+01] [-9.64883703e-01 -2.62442798e-01 1.11003125e-02 -1.08528016e+02] [-1.15547044e-02 1.88135322e-04 -9.99933224e-01 2.25951689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.65 meters Centerline goodness [0,1] 0.9998416217928413 Centerline is valid? [True, True] Translation: X:84.00, Y:-108.65, Z:2.26 [[ 3.38541467e-01 -9.40943313e-01 -3.91885404e-03 8.40022261e+01] [-9.40885533e-01 -3.38564111e-01 1.04286094e-02 -1.08651171e+02] [-1.11395136e-02 1.56676362e-04 -9.99937941e-01 2.25786989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.67999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.02, Y:-108.77, Z:2.25 [[ 4.13169450e-01 -9.10644780e-01 -4.13404146e-03 8.40208692e+01] [-9.10601774e-01 -4.13190117e-01 8.85081593e-03 -1.08772622e+02] [-9.76809440e-03 1.07578742e-04 -9.99952285e-01 2.25412813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.70999999999998 meters Centerline goodness [0,1] 0.9998646301017531 Centerline is valid? [True, True] Translation: X:84.05, Y:-108.89, Z:2.26 [[ 4.85995973e-01 -8.73949640e-01 -4.46555109e-03 8.40467070e+01] [-8.73913918e-01 -4.86016484e-01 7.90196559e-03 -1.08890413e+02] [-9.07625143e-03 6.21837969e-05 -9.99958808e-01 2.25637650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.73999999999998 meters Centerline goodness [0,1] 0.9998874558264119 Centerline is valid? [True, True] Translation: X:84.08, Y:-109.01, Z:2.26 [[ 5.53865861e-01 -8.32591788e-01 -4.84999863e-03 8.40834570e+01] [-8.32560502e-01 -5.53887094e-01 7.21792860e-03 -1.09005239e+02] [-8.69593973e-03 4.01530529e-05 -9.99962189e-01 2.25554413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.76999999999998 meters Centerline goodness [0,1] 0.9997977391734274 Centerline is valid? [True, True] Translation: X:84.13, Y:-109.11, Z:2.26 [[ 6.17660110e-01 -7.86424493e-01 -5.70134404e-03 8.41259476e+01] [-7.86391404e-01 -6.17686422e-01 7.21419264e-03 -1.09112751e+02] [-9.19506059e-03 2.75689260e-05 -9.99957724e-01 2.25736677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.79999999999998 meters Centerline goodness [0,1] 0.9998652866027526 Centerline is valid? [True, True] Translation: X:84.17, Y:-109.22, Z:2.26 [[ 6.78832313e-01 -7.34268424e-01 -6.04750394e-03 8.41738629e+01] [-7.34239242e-01 -6.78859251e-01 6.54625952e-03 -1.09215745e+02] [-8.91211566e-03 -3.49778389e-06 -9.99960286e-01 2.25691762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.82999999999998 meters Centerline goodness [0,1] 0.999820740342386 Centerline is valid? [True, True] Translation: X:84.23, Y:-109.31, Z:2.26 [[ 7.33939684e-01 -6.79178306e-01 -7.02623705e-03 8.42290311e+01] [-6.79146989e-01 -7.33973316e-01 6.52216746e-03 -1.09311495e+02] [-9.58678515e-03 -1.50297925e-05 -9.99954046e-01 2.25807802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.85999999999999 meters Centerline goodness [0,1] 0.999887769073646 Centerline is valid? [True, True] Translation: X:84.22, Y:-109.32, Z:2.26 [[ 7.85513030e-01 -6.18801703e-01 -7.33019382e-03 8.42239005e+01] [-6.18774441e-01 -7.85547231e-01 5.80855670e-03 -1.09319544e+02] [-9.35255824e-03 -2.69603870e-05 -9.99956264e-01 2.25678119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.22, Y:-109.33, Z:2.25 [[ 8.32294010e-01 -5.54280556e-01 -7.72953814e-03 8.42179509e+01] [-5.54256199e-01 -8.32329901e-01 5.19631871e-03 -1.09326815e+02] [-9.31374413e-03 -4.07205089e-05 -9.99956625e-01 2.25351526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.92 meters Centerline goodness [0,1] 0.9998429930019738 Centerline is valid? [True, True] Translation: X:84.21, Y:-109.33, Z:2.26 [[ 8.72916759e-01 -4.87797486e-01 -8.36327731e-03 8.42111963e+01] [-4.87774673e-01 -8.72956821e-01 4.71779017e-03 -1.09331630e+02] [-9.60210616e-03 -3.88432505e-05 -9.99953898e-01 2.25785697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.95 meters Centerline goodness [0,1] 0.9999101850188612 Centerline is valid? [True, True] Translation: X:84.20, Y:-109.34, Z:2.26 [[ 9.08230466e-01 -4.18386851e-01 -8.35848428e-03 8.42049835e+01] [-4.18368786e-01 -9.08268926e-01 3.88811233e-03 -1.09337572e+02] [-9.21848661e-03 -3.43731518e-05 -9.99957508e-01 2.25633929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.98 meters Centerline goodness [0,1] 0.9998877337943732 Centerline is valid? [True, True] Translation: X:84.20, Y:-109.34, Z:2.26 [[ 9.37798046e-01 -3.47083748e-01 -8.22781362e-03 8.42003820e+01] [-3.47070171e-01 -9.37834138e-01 3.07011502e-03 -1.09343533e+02] [-8.78191153e-03 -2.35191907e-05 -9.99961438e-01 2.25620710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.01 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.20, Y:-109.35, Z:2.25 [[ 9.61425065e-01 -2.74982059e-01 -6.83461442e-03 8.41952754e+01] [-2.74975095e-01 -9.61449358e-01 1.95702099e-03 -1.09347181e+02] [-7.10928131e-03 -2.18027569e-06 -9.99974729e-01 2.25230939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.04 meters Centerline goodness [0,1] 0.9998424097795988 Centerline is valid? [True, True] Translation: X:84.19, Y:-109.35, Z:2.26 [[ 9.79541905e-01 -2.01110122e-01 -7.23707275e-03 8.41886570e+01] [-2.01104745e-01 -9.79568639e-01 1.47068789e-03 -1.09350164e+02] [-7.38497972e-03 1.48092567e-05 -9.99972731e-01 2.25536396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.07 meters Centerline goodness [0,1] 0.9998424097795988 Centerline is valid? [True, True] Translation: X:84.18, Y:-109.36, Z:2.26 [[ 9.92278103e-01 -1.23816143e-01 -7.33000867e-03 8.41804665e+01] [-1.23812875e-01 -9.92305176e-01 8.99689452e-04 -1.09355547e+02] [-7.38500162e-03 1.48073029e-05 -9.99972730e-01 2.25536416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.1 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.17, Y:-109.36, Z:2.25 [[ 9.98896757e-01 -4.64717647e-02 -6.75601765e-03 8.41736849e+01] [-4.64708247e-02 -9.98919604e-01 2.96143479e-04 -1.09361305e+02] [-6.76248079e-03 1.81409504e-05 -9.99977134e-01 2.25113113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.13 meters Centerline goodness [0,1] 0.9997973292498931 Centerline is valid? [True, True] Translation: X:84.17, Y:-109.37, Z:2.26 [[ 9.99529244e-01 2.96625379e-02 -7.83737955e-03 8.41674495e+01] [ 2.96613271e-02 -9.99559969e-01 -2.70716252e-04 -1.09368975e+02] [-7.84196099e-03 3.81217327e-05 -9.99969251e-01 2.25586842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.16 meters Centerline goodness [0,1] 0.9997966653111021 Centerline is valid? [True, True] Translation: X:84.16, Y:-109.38, Z:2.26 [[ 9.94263704e-01 1.06532601e-01 -9.51268672e-03 8.41597852e+01] [ 1.06527164e-01 -9.94309208e-01 -1.07788227e-03 -1.09376541e+02] [-9.57338160e-03 5.83396791e-05 -9.99954172e-01 2.25832961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.19 meters Centerline goodness [0,1] 0.9997741491067598 Centerline is valid? [True, True] Translation: X:84.15, Y:-109.39, Z:2.26 [[ 9.82868233e-01 1.84018998e-01 -1.03462644e-02 8.41545857e+01] [ 1.84008112e-01 -9.82922685e-01 -2.00263798e-03 -1.09386479e+02] [-1.05381014e-02 6.45326799e-05 -9.99944471e-01 2.25908961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.22 meters Centerline goodness [0,1] 0.9998416432902 Centerline is valid? [True, True] Translation: X:84.15, Y:-109.40, Z:2.26 [[ 9.65196357e-01 2.61337860e-01 -9.92548611e-03 8.41502135e+01] [ 2.61323481e-01 -9.65247388e-01 -2.74194026e-03 -1.09397115e+02] [-1.02971223e-02 5.27481667e-05 -9.99946982e-01 2.25829167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.25 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.15, Y:-109.41, Z:2.25 [[ 9.41183628e-01 3.37760461e-01 -9.55245574e-03 8.41454726e+01] [ 3.37742698e-01 -9.41232102e-01 -3.46413281e-03 -1.09407983e+02] [-1.01611251e-02 3.41129112e-05 -9.99948374e-01 2.25451048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.28 meters Centerline goodness [0,1] 0.9999321589290157 Centerline is valid? [True, True] Translation: X:84.14, Y:-109.42, Z:2.26 [[ 9.11025919e-01 4.12216680e-01 -1.04491118e-02 8.41422380e+01] [ 4.12189369e-01 -9.11085840e-01 -4.74509937e-03 -1.09418079e+02] [-1.14760469e-02 1.58957206e-05 -9.99934148e-01 2.25714083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.31 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.14, Y:-109.43, Z:2.26 [[ 8.75073115e-01 4.83879886e-01 -1.03585160e-02 8.41397135e+01] [ 4.83846053e-01 -8.75134422e-01 -5.72194916e-03 -1.09429057e+02] [-1.18338300e-02 -4.80319500e-06 -9.99929978e-01 2.25577163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.34 meters Centerline goodness [0,1] 0.9998644833427442 Centerline is valid? [True, True] Translation: X:84.14, Y:-109.44, Z:2.26 [[ 8.34114693e-01 5.51483083e-01 -1.09127498e-02 8.41364549e+01] [ 5.51436119e-01 -8.34186075e-01 -7.19710344e-03 -1.09439228e+02] [-1.30723447e-02 -1.44746736e-05 -9.99914553e-01 2.26070322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.37 meters Centerline goodness [0,1] 0.9998415823658542 Centerline is valid? [True, True] Translation: X:84.14, Y:-109.45, Z:2.26 [[ 7.87281689e-01 6.16497791e-01 -1.08635028e-02 8.41357599e+01] [ 6.16439794e-01 -7.87356636e-01 -8.45627140e-03 -1.09451189e+02] [-1.37667237e-02 -3.92278050e-05 -9.99905233e-01 2.26052269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.4 meters Centerline goodness [0,1] 0.9998188036511064 Centerline is valid? [True, True] Translation: X:84.13, Y:-109.46, Z:2.26 [[ 7.34315474e-01 6.78726003e-01 -1.05734329e-02 8.41348091e+01] [ 6.78657391e-01 -7.34391589e-01 -9.65091302e-03 -1.09463587e+02] [-1.43153658e-02 -8.89236256e-05 -9.99897526e-01 2.26142302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.42999999999998 meters Centerline goodness [0,1] 0.9997504480591665 Centerline is valid? [True, True] Translation: X:84.13, Y:-109.47, Z:2.26 [[ 6.77917979e-01 7.35069008e-01 -1.00383040e-02 8.41342018e+01] [ 7.34990859e-01 -6.77992287e-01 -1.07189183e-02 -1.09474740e+02] [-1.46850374e-02 -1.11514256e-04 -9.99892163e-01 2.26231519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.45999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.14, Y:-109.49, Z:2.26 [[ 6.16605879e-01 7.87226907e-01 -8.42538923e-03 8.41352310e+01] [ 7.87156315e-01 -6.16663425e-01 -1.05430392e-02 -1.09486018e+02] [-1.34953935e-02 -1.31198364e-04 -9.99908924e-01 2.25678193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.48999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.14, Y:-109.50, Z:2.26 [[ 5.51546955e-01 8.34116297e-01 -6.77933635e-03 8.41370770e+01] [ 8.34056379e-01 -5.51588599e-01 -9.99870450e-03 -1.09496840e+02] [-1.20794870e-02 -1.39593708e-04 -9.99927031e-01 2.25554458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.51999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.14, Y:-109.51, Z:2.26 [[ 4.84567188e-01 8.74733633e-01 -5.97587839e-03 8.41394598e+01] [ 8.74670638e-01 -4.84604015e-01 -1.04987083e-02 -1.09508053e+02] [-1.20795079e-02 -1.39595822e-04 -9.99927030e-01 2.25554476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.54999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.14, Y:-109.52, Z:2.25 [[ 4.14416568e-01 9.10078524e-01 -3.99864159e-03 8.41420272e+01] [ 9.10038695e-01 -4.14435844e-01 -8.51496635e-03 -1.09518715e+02] [-9.40646840e-03 -1.10175444e-04 -9.99955752e-01 2.25371990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.57999999999998 meters Centerline goodness [0,1] 0.9999319311142877 Centerline is valid? [True, True] Translation: X:84.14, Y:-109.53, Z:2.26 [[ 3.43375224e-01 9.39192894e-01 -3.18791055e-03 8.41433413e+01] [ 9.39154854e-01 -3.43390010e-01 -8.45345857e-03 -1.09529648e+02] [-9.03412485e-03 -9.12334407e-05 -9.99959187e-01 2.25588954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.60999999999999 meters Centerline goodness [0,1] 0.9998635464283278 Centerline is valid? [True, True] Translation: X:84.14, Y:-109.54, Z:2.26 [[ 2.70532325e-01 9.62707902e-01 -2.39925043e-03 8.41448779e+01] [ 9.62672331e-01 -2.70542955e-01 -8.27603279e-03 -1.09540525e+02] [-8.61650247e-03 -7.07576147e-05 -9.99962875e-01 2.25772944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.64 meters Centerline goodness [0,1] 0.9998862705850241 Centerline is valid? [True, True] Translation: X:84.15, Y:-109.55, Z:2.26 [[ 1.97082674e-01 9.80385531e-01 -1.62202807e-03 8.41476058e+01] [ 9.80354110e-01 -1.97089344e-01 -7.84915471e-03 -1.09549909e+02] [-8.01488215e-03 -4.32294840e-05 -9.99967879e-01 2.25606966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.67 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.15, Y:-109.56, Z:2.25 [[ 1.19994667e-01 9.92774083e-01 -9.48972701e-04 8.41526403e+01] [ 9.92745542e-01 -1.19998414e-01 -7.52796625e-03 -1.09559171e+02] [-7.58744501e-03 -3.87726119e-05 -9.99971214e-01 2.25283986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.7 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.16, Y:-109.57, Z:2.25 [[ 4.22349344e-02 9.99107631e-01 -3.90448346e-04 8.41602919e+01] [ 9.99073145e-01 -4.22367207e-02 -8.30121606e-03 -1.09568848e+02] [-8.31029957e-03 -3.94851412e-05 -9.99965468e-01 2.25295050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.73 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.17, Y:-109.58, Z:2.25 [[-3.65658221e-02 9.99331215e-01 2.52918472e-04 8.41689025e+01] [ 9.99298885e-01 3.65666736e-02 -8.03840403e-03 -1.09577217e+02] [-8.04227645e-03 -4.11897042e-05 -9.99967660e-01 2.25333524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.76 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.18, Y:-109.59, Z:2.25 [[-1.16699699e-01 9.93166822e-01 9.18246490e-04 8.41787198e+01] [ 9.93131937e-01 1.16703297e-01 -8.32441336e-03 -1.09585244e+02] [-8.37469356e-03 -5.95166209e-05 -9.99964930e-01 2.25411793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.79 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.19, Y:-109.59, Z:2.25 [[-1.95220875e-01 9.80757836e-01 1.69646947e-03 8.41875941e+01] [ 9.80717417e-01 1.95228232e-01 -8.90421458e-03 -1.09593553e+02] [-9.06407695e-03 -7.45314086e-05 -9.99958918e-01 2.25488627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.82 meters Centerline goodness [0,1] 0.9997960155028218 Centerline is valid? [True, True] Translation: X:84.20, Y:-109.60, Z:2.26 [[-2.71615505e-01 9.62402063e-01 2.69921949e-03 8.41968420e+01] [ 9.62351344e-01 2.71628903e-01 -9.88075297e-03 -1.09599623e+02] [-1.02424431e-02 -8.61681997e-05 -9.99947541e-01 2.25998965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.85 meters Centerline goodness [0,1] 0.9998193356066937 Centerline is valid? [True, True] Translation: X:84.21, Y:-109.60, Z:2.26 [[-3.46483014e-01 9.38049808e-01 3.47542717e-03 8.42070865e+01] [ 9.37999986e-01 3.46500432e-01 -9.66834772e-03 -1.09604735e+02] [-1.02736287e-02 -8.99676309e-05 -9.99947221e-01 2.26071423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.88 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.22, Y:-109.61, Z:2.26 [[-4.19843043e-01 9.07586571e-01 4.29362893e-03 8.42177897e+01] [ 9.07536607e-01 4.19864985e-01 -9.52369893e-03 -1.09609305e+02] [-1.04463257e-02 -1.01833306e-04 -9.99945430e-01 2.25740912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.91 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.23, Y:-109.61, Z:2.26 [[-4.89138567e-01 8.72190389e-01 5.23335661e-03 8.42280326e+01] [ 8.72138277e-01 4.89166552e-01 -9.53472804e-03 -1.09614635e+02] [-1.08760812e-02 -9.95925946e-05 -9.99940849e-01 2.25864981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.94 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.24, Y:-109.62, Z:2.26 [[-5.55626002e-01 8.31411753e-01 5.85171362e-03 8.42357868e+01] [ 8.31363860e-01 5.55656807e-01 -8.92434621e-03 -1.09619655e+02] [-1.06713508e-02 -9.36955800e-05 -9.99943055e-01 2.25840569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.97 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.25, Y:-109.62, Z:2.26 [[-6.18685199e-01 7.85612441e-01 6.45891161e-03 8.42461394e+01] [ 7.85568142e-01 6.18718906e-01 -8.34318234e-03 -1.09622213e+02] [-1.05507586e-02 -8.78882291e-05 -9.99944335e-01 2.25733342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.0 meters Centerline goodness [0,1] 0.9998642687478791 Centerline is valid? [True, True] Translation: X:84.26, Y:-109.62, Z:2.26 [[-6.77690130e-01 7.35314286e-01 6.99919323e-03 8.42571604e+01] [ 7.35273885e-01 6.77726269e-01 -7.70836388e-03 -1.09623678e+02] [-1.04116072e-02 -7.75581212e-05 -9.99945795e-01 2.26032263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.03 meters Centerline goodness [0,1] 0.9998416647817235 Centerline is valid? [True, True] Translation: X:84.27, Y:-109.62, Z:2.26 [[-7.32958555e-01 6.80232565e-01 7.44400923e-03 8.42685548e+01] [ 6.80196479e-01 7.32996352e-01 -7.00695938e-03 -1.09623547e+02] [-1.02227936e-02 -7.24219531e-05 -9.99947743e-01 2.26012412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.06 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.29, Y:-109.61, Z:2.26 [[-7.79351734e-01 6.26554176e-01 6.38274623e-03 8.42942404e+01] [ 6.26532535e-01 7.79377868e-01 -5.20778938e-03 -1.09609222e+02] [-8.23753333e-03 -5.97015101e-05 -9.99966069e-01 2.25529772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.09 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.32, Y:-109.59, Z:2.26 [[-8.21586041e-01 5.70046836e-01 6.55602298e-03 8.43167505e+01] [ 5.70028140e-01 8.21612197e-01 -4.61715801e-03 -1.09591623e+02] [-8.01850475e-03 -5.62749878e-05 -9.99967850e-01 2.25555367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.12 meters Centerline goodness [0,1] 0.9998870107565759 Centerline is valid? [True, True] Translation: X:84.32, Y:-109.56, Z:2.26 [[-8.59406031e-01 5.11238551e-01 7.51122381e-03 8.43245371e+01] [ 5.11218464e-01 8.59438852e-01 -4.53221173e-03 -1.09564271e+02] [-8.77247893e-03 -5.51337907e-05 -9.99961520e-01 2.25976456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.15 meters Centerline goodness [0,1] 0.9998195271611623 Centerline is valid? [True, True] Translation: X:84.35, Y:-109.55, Z:2.26 [[-8.93189983e-01 4.49608059e-01 8.01550280e-03 8.43452317e+01] [ 4.49589431e-01 8.93225946e-01 -4.09306590e-03 -1.09545800e+02] [-8.99993048e-03 -5.22001180e-05 -9.99959498e-01 2.26066604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.17999999999998 meters Centerline goodness [0,1] 0.999909600433918 Centerline is valid? [True, True] Translation: X:84.38, Y:-109.53, Z:2.26 [[-9.22727521e-01 3.85360464e-01 8.44004211e-03 8.43813069e+01] [ 3.85343831e-01 9.22766119e-01 -3.58068420e-03 -1.09533495e+02] [-9.16803903e-03 -5.16776961e-05 -9.99957971e-01 2.25931746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.20999999999998 meters Centerline goodness [0,1] 0.9998872019311029 Centerline is valid? [True, True] Translation: X:84.39, Y:-109.51, Z:2.26 [[-9.47369648e-01 3.20029112e-01 8.49216441e-03 8.43932819e+01] [ 3.20015863e-01 9.47407708e-01 -2.91228399e-03 -1.09510163e+02] [-8.97755768e-03 -4.13821354e-05 -9.99959700e-01 2.25968833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.23999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.41, Y:-109.49, Z:2.26 [[-9.67242850e-01 2.53737693e-01 7.64539622e-03 8.44073203e+01] [ 2.53729578e-01 9.67273065e-01 -2.02940937e-03 -1.09487921e+02] [-7.91012349e-03 -2.30685478e-05 -9.99968714e-01 2.25595856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.26999999999998 meters Centerline goodness [0,1] 0.9998189594695512 Centerline is valid? [True, True] Translation: X:84.65, Y:-108.66, Z:1.43 [[-9.46581927e-01 -3.22353613e-01 8.41450981e-03 8.46474721e+01] [ 3.22341665e-01 -9.46619322e-01 -2.77675926e-03 -1.08657868e+02] [ 8.86043596e-03 8.39169702e-05 9.99960742e-01 1.42852926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.29999999999998 meters Centerline goodness [0,1] 0.9998194619967503 Centerline is valid? [True, True] Translation: X:84.37, Y:-109.48, Z:2.26 [[-9.67567437e-01 2.52479619e-01 8.20344091e-03 8.43683051e+01] [ 2.52470514e-01 9.67602213e-01 -2.14425913e-03 -1.09480387e+02] [-8.47904931e-03 -3.58837023e-06 -9.99964052e-01 2.25948150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.32999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.38, Y:-109.46, Z:2.26 [[-9.83025808e-01 1.83308120e-01 7.64163697e-03 8.43809076e+01] [ 1.83302558e-01 9.83055509e-01 -1.42798040e-03 -1.09455168e+02] [-7.77391372e-03 -3.00997627e-06 -9.99969783e-01 2.25617870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.35999999999999 meters Centerline goodness [0,1] 0.9998415106301084 Centerline is valid? [True, True] Translation: X:84.55, Y:-108.61, Z:1.43 [[-9.68482258e-01 -2.48936492e-01 8.52877043e-03 8.45515254e+01] [ 2.48927447e-01 -9.68519808e-01 -2.12313573e-03 -1.08605050e+02] [ 8.78880906e-03 6.68257611e-05 9.99961375e-01 1.42923016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.39 meters Centerline goodness [0,1] 0.9999093361136925 Centerline is valid? [True, True] Translation: X:84.32, Y:-109.45, Z:2.26 [[-9.83380936e-01 1.81317667e-01 9.26493059e-03 8.43243847e+01] [ 1.81309773e-01 9.83424579e-01 -1.69195581e-03 -1.09445390e+02] [-9.41814195e-03 1.59853757e-05 -9.99955648e-01 2.25861044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.42 meters Centerline goodness [0,1] 0.9998191068400226 Centerline is valid? [True, True] Translation: X:84.34, Y:-109.42, Z:2.26 [[-9.93644924e-01 1.12133550e-01 9.78942997e-03 8.43392809e+01] [ 1.12128377e-01 9.93693145e-01 -1.07747095e-03 -1.09419665e+02] [-9.84851009e-03 2.70493448e-05 -9.99951502e-01 2.26053154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.45 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.45, Y:-108.56, Z:1.43 [[-9.84822859e-01 -1.73370206e-01 8.16750259e-03 8.44457318e+01] [ 1.73363217e-01 -9.84856719e-01 -1.56134761e-03 -1.08560011e+02] [ 8.31451096e-03 -1.21706287e-04 9.99965426e-01 1.43205221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.48 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.27, Y:-109.41, Z:2.26 [[-9.93945356e-01 1.09599842e-01 7.77848541e-03 8.42728428e+01] [ 1.09596793e-01 9.93975791e-01 -8.18534616e-04 -1.09412963e+02] [-7.82133745e-03 3.89183720e-05 -9.99969412e-01 2.25603619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.51 meters Centerline goodness [0,1] 0.9997967158313193 Centerline is valid? [True, True] Translation: X:84.38, Y:-108.55, Z:1.43 [[-9.86360240e-01 -1.64398322e-01 8.16514289e-03 8.43775918e+01] [ 1.64392584e-01 -9.86394035e-01 -1.37355333e-03 -1.08550835e+02] [ 8.27985810e-03 -1.25294548e-05 9.99965721e-01 1.42874494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.54 meters Centerline goodness [0,1] 0.9998643239943016 Centerline is valid? [True, True] Translation: X:84.21, Y:-109.41, Z:2.26 [[-9.94060040e-01 1.08544731e-01 7.91697370e-03 8.42062510e+01] [ 1.08541853e-01 9.94091563e-01 -7.93530000e-04 -1.09408203e+02] [-7.95633027e-03 7.05065362e-05 -9.99968345e-01 2.25900277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.21, Y:-109.38, Z:2.26 [[-9.99119701e-01 4.14132081e-02 6.69095942e-03 8.42136314e+01] [ 4.14128467e-02 9.99142102e-01 -1.92602256e-04 -1.09382877e+02] [-6.69319553e-03 8.46589678e-05 -9.99977597e-01 2.25500862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.6 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.22, Y:-109.36, Z:2.26 [[-9.99534017e-01 -2.97829431e-02 6.68770542e-03 8.42161862e+01] [-2.97817097e-02 9.99556386e-01 2.83962583e-04 -1.09355347e+02] [-6.69319591e-03 8.46589595e-05 -9.99977597e-01 2.25500862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.63 meters Centerline goodness [0,1] 0.9997741797077886 Centerline is valid? [True, True] Translation: X:84.21, Y:-109.33, Z:2.26 [[-9.95404511e-01 -9.55141389e-02 6.84903229e-03 8.42126649e+01] [-9.55110117e-02 9.95428066e-01 7.82973335e-04 -1.09330193e+02] [-6.89250398e-03 1.25217187e-04 -9.99976239e-01 2.25855130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.66 meters Centerline goodness [0,1] 0.9998194416232198 Centerline is valid? [True, True] Translation: X:84.20, Y:-109.30, Z:2.26 [[-9.86316244e-01 -1.64746928e-01 6.22222197e-03 8.42024085e+01] [-1.64742826e-01 9.86335862e-01 1.16968487e-03 -1.09303470e+02] [-6.32990266e-03 1.28612756e-04 -9.99979958e-01 2.25768392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.69 meters Centerline goodness [0,1] 0.9998196532834374 Centerline is valid? [True, True] Translation: X:84.16, Y:-109.29, Z:2.26 [[-9.72092302e-01 -2.34510044e-01 6.44944809e-03 8.41619914e+01] [-2.34503869e-01 9.72113685e-01 1.70820906e-03 -1.09285338e+02] [-6.67018893e-03 1.48116351e-04 -9.99977743e-01 2.25784371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.72 meters Centerline goodness [0,1] 0.9999096698432772 Centerline is valid? [True, True] Translation: X:84.11, Y:-109.27, Z:2.26 [[-9.53052739e-01 -3.02741324e-01 6.17796851e-03 8.41058286e+01] [-3.02733840e-01 9.53072748e-01 2.13502957e-03 -1.09273419e+02] [-6.53441511e-03 1.64515644e-04 -9.99978637e-01 2.25692880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:84.04, Y:-109.27, Z:2.25 [[-9.28041224e-01 -3.72426810e-01 6.14478089e-03 8.40364031e+01] [-3.72417419e-01 9.28061551e-01 2.65030931e-03 -1.09268166e+02] [-6.68978112e-03 1.71172858e-04 -9.99977609e-01 2.25482485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.78 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.96, Y:-109.27, Z:2.26 [[-8.97653273e-01 -4.40661634e-01 5.99381632e-03 8.39586454e+01] [-4.40650504e-01 8.97673267e-01 3.13679826e-03 -1.09273419e+02] [-6.76275532e-03 1.74579052e-04 -9.99977117e-01 2.25537893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.81 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.87, Y:-109.29, Z:2.26 [[-8.61254524e-01 -5.08136638e-01 6.14827586e-03 8.38736632e+01] [-5.08122207e-01 8.61276451e-01 3.83378250e-03 -1.09289342e+02] [-7.24345057e-03 1.77787028e-04 -9.99973750e-01 2.25663515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.84 meters Centerline goodness [0,1] 0.9998204546984761 Centerline is valid? [True, True] Translation: X:83.78, Y:-109.32, Z:2.26 [[-8.19874171e-01 -5.72504333e-01 6.71804107e-03 8.37795883e+01] [-5.72483116e-01 8.19901670e-01 4.93281471e-03 -1.09315317e+02] [-8.33219089e-03 1.98322279e-04 -9.99965267e-01 2.25970191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.87 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.69, Y:-109.35, Z:2.26 [[-7.72455969e-01 -6.35045048e-01 5.43711470e-03 8.36865772e+01] [-6.35027911e-01 7.72475089e-01 4.66794878e-03 -1.09350408e+02] [-7.16439342e-03 1.53065310e-04 -9.99974324e-01 2.25574841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.9 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.59, Y:-109.39, Z:2.26 [[-7.20181914e-01 -6.93768046e-01 4.88982397e-03 8.35941080e+01] [-6.93750797e-01 7.20198501e-01 4.89387480e-03 -1.09393465e+02] [-6.91685785e-03 1.32160842e-04 -9.99976070e-01 2.25558810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.92999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.50, Y:-109.45, Z:2.26 [[-6.63022046e-01 -7.48588506e-01 4.12495313e-03 8.35002117e+01] [-7.48573028e-01 6.63034870e-01 4.81488426e-03 -1.09450391e+02] [-6.33935477e-03 1.04545756e-04 -9.99979901e-01 2.25554116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.95999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.41, Y:-109.52, Z:2.26 [[-6.03617120e-01 -7.97265552e-01 3.74326783e-03 8.34122914e+01] [-7.97249136e-01 6.03628718e-01 5.11725513e-03 -1.09516699e+02] [-6.33935519e-03 1.04545762e-04 -9.99979901e-01 2.25554118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.98999999999998 meters Centerline goodness [0,1] 0.9997994071366483 Centerline is valid? [True, True] Translation: X:83.32, Y:-109.59, Z:2.26 [[-5.36273623e-01 -8.44035771e-01 3.77069373e-03 8.33226100e+01] [-8.44013825e-01 5.36286873e-01 6.08715826e-03 -1.09588824e+02] [-7.15995286e-03 8.18647804e-05 -9.99974364e-01 2.25993722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.01999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.24, Y:-109.67, Z:2.26 [[-4.66021747e-01 -8.84768500e-01 2.90374101e-03 8.32398284e+01] [-8.84750711e-01 4.66030791e-01 5.61077005e-03 -1.09671735e+02] [-6.31746533e-03 4.56539357e-05 -9.99980044e-01 2.25620925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.04999999999998 meters Centerline goodness [0,1] 0.9998889974247402 Centerline is valid? [True, True] Translation: X:83.16, Y:-109.76, Z:2.26 [[-3.93818819e-01 -9.19183554e-01 2.88646334e-03 8.31633527e+01] [-9.19158258e-01 3.93829395e-01 6.81942380e-03 -1.09762582e+02] [-7.40507632e-03 3.25008131e-05 -9.99972582e-01 2.25949546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.07999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.09, Y:-109.86, Z:2.26 [[-3.14175775e-01 -9.49362119e-01 2.26919232e-03 8.30893459e+01] [-9.49337939e-01 3.14183969e-01 6.77571937e-03 -1.09860688e+02] [-7.14555515e-03 -2.54634733e-05 -9.99974470e-01 2.25731571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.10999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.03, Y:-109.96, Z:2.26 [[-2.36446158e-01 -9.71643081e-01 1.71404982e-03 8.30266526e+01] [-9.71619075e-01 2.36452365e-01 6.83018679e-03 -1.09964391e+02] [-7.04179487e-03 -5.04320749e-05 -9.99975205e-01 2.25791126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.14 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.97, Y:-110.08, Z:2.26 [[-1.57417898e-01 -9.87531438e-01 1.12400733e-03 8.29716771e+01] [-9.87509349e-01 1.57421895e-01 6.60554784e-03 -1.10079164e+02] [-6.70012953e-03 -7.01362928e-05 -9.99977551e-01 2.25755660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.17 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.93, Y:-110.19, Z:2.26 [[-7.73545438e-02 -9.97003456e-01 6.19057797e-04 8.29267106e+01] [-9.96980423e-01 7.73569651e-02 6.77766990e-03 -1.10190154e+02] [-6.80524874e-03 -9.29049404e-05 -9.99976840e-01 2.25783555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.2 meters Centerline goodness [0,1] 0.9998230519121453 Centerline is valid? [True, True] Translation: X:82.89, Y:-110.31, Z:2.26 [[ 1.43485985e-03 -9.99998965e-01 1.08380295e-04 8.28905511e+01] [-9.99967487e-01 -1.43395465e-03 7.93534604e-03 -1.10307408e+02] [-7.93518242e-03 -1.19762881e-04 -9.99968509e-01 2.26252455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.23 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.86, Y:-110.44, Z:2.26 [[ 8.14243941e-02 -9.96679408e-01 -4.74553888e-04 8.28649381e+01] [-9.96651614e-01 -8.14256681e-02 7.44445640e-03 -1.10440282e+02] [-7.45837726e-03 -1.33195453e-04 -9.99972177e-01 2.25921102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.26 meters Centerline goodness [0,1] 0.9998013464297539 Centerline is valid? [True, True] Translation: X:82.85, Y:-110.55, Z:2.26 [[ 1.59149438e-01 -9.87253616e-01 -1.32412845e-03 8.28485395e+01] [-9.87209664e-01 -1.59154850e-01 9.31731918e-03 -1.10547238e+02] [-9.40929852e-03 -1.75653709e-04 -9.99955716e-01 2.26366296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.29 meters Centerline goodness [0,1] 0.9998450538991079 Centerline is valid? [True, True] Translation: X:82.84, Y:-110.66, Z:2.26 [[ 2.35177547e-01 -9.71950517e-01 -1.92738663e-03 8.28410117e+01] [-9.71911813e-01 -2.35185385e-01 8.67535162e-03 -1.10658359e+02] [-8.88530565e-03 -1.66998076e-04 -9.99960511e-01 2.26337747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.32 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.85, Y:-110.78, Z:2.26 [[ 3.09763360e-01 -9.50810907e-01 -2.29771251e-03 8.28468093e+01] [-9.50781070e-01 -3.09771846e-01 7.53390416e-03 -1.10780848e+02] [-7.87508489e-03 -1.49105903e-04 -9.99968980e-01 2.25890528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.35 meters Centerline goodness [0,1] 0.9998896125400154 Centerline is valid? [True, True] Translation: X:82.86, Y:-110.90, Z:2.26 [[ 3.79750603e-01 -9.25084118e-01 -2.97565659e-03 8.28609210e+01] [-9.25052954e-01 -3.79762238e-01 7.59441945e-03 -1.10898526e+02] [-8.15551882e-03 -1.31345447e-04 -9.99966735e-01 2.26218123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.38 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.88, Y:-111.01, Z:2.26 [[ 4.49320520e-01 -8.93363931e-01 -3.45800241e-03 8.28833726e+01] [-8.93335365e-01 -4.49333810e-01 7.14513323e-03 -1.11012129e+02] [-7.93700171e-03 -1.21299127e-04 -9.99968494e-01 2.25958606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.41 meters Centerline goodness [0,1] 0.9998447755898527 Centerline is valid? [True, True] Translation: X:82.91, Y:-111.12, Z:2.26 [[ 5.14700205e-01 -8.57357853e-01 -4.60563060e-03 8.29143344e+01] [-8.57321493e-01 -5.14720797e-01 7.89676387e-03 -1.11123784e+02] [-9.14096636e-03 -1.15959877e-04 -9.99958214e-01 2.26328959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.44 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.95, Y:-111.23, Z:2.26 [[ 5.78392670e-01 -8.15744608e-01 -4.75963803e-03 8.29506867e+01] [-8.15715595e-01 -5.78412245e-01 6.88062087e-03 -1.11228542e+02] [-8.36586229e-03 -9.71897047e-05 -9.99965001e-01 2.26050992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.47 meters Centerline goodness [0,1] 0.999955658034764 Centerline is valid? [True, True] Translation: X:83.00, Y:-111.33, Z:2.26 [[ 6.37829877e-01 -7.70159960e-01 -5.16558078e-03 8.29969792e+01] [-7.70133712e-01 -6.37850790e-01 6.35886191e-03 -1.11331685e+02] [-8.19221062e-03 -7.76842064e-05 -9.99966440e-01 2.26068338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.05, Y:-111.43, Z:2.26 [[ 6.93695379e-01 -7.20245542e-01 -5.75148459e-03 8.30507186e+01] [-7.20220037e-01 -6.93719219e-01 6.06165277e-03 -1.11429662e+02] [-8.35579379e-03 -6.26060702e-05 -9.99965088e-01 2.26081659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.53 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.11, Y:-111.52, Z:2.26 [[ 7.43594787e-01 -6.68604701e-01 -5.87768012e-03 8.31105227e+01] [-6.68583603e-01 -7.43618016e-01 5.31150864e-03 -1.11516508e+02] [-7.92204847e-03 -1.98895804e-05 -9.99968620e-01 2.26031654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.56 meters Centerline goodness [0,1] 0.9998432285951042 Centerline is valid? [True, True] Translation: X:83.11, Y:-111.52, Z:2.26 [[ 7.91561895e-01 -6.11053805e-01 -6.55853344e-03 8.31081673e+01] [-6.11032891e-01 -7.91589065e-01 5.05553656e-03 -1.11519188e+02] [-8.28086820e-03 5.70955000e-06 -9.99965713e-01 2.26338550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.59 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.10, Y:-111.52, Z:2.26 [[ 8.35919437e-01 -5.48817002e-01 -6.21241384e-03 8.31038737e+01] [-5.48802007e-01 -8.35942521e-01 4.05691775e-03 -1.11524869e+02] [-7.41972633e-03 1.81287839e-05 -9.99972473e-01 2.25943889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.62 meters Centerline goodness [0,1] 0.999932467415528 Centerline is valid? [True, True] Translation: X:83.10, Y:-111.53, Z:2.26 [[ 8.74903148e-01 -4.84251907e-01 -6.67627259e-03 8.30975110e+01] [-4.84238156e-01 -8.74928619e-01 3.64960918e-03 -1.11527983e+02] [-7.60859216e-03 3.98513658e-05 -9.99971053e-01 2.26134357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.65 meters Centerline goodness [0,1] 0.9998648496452304 Centerline is valid? [True, True] Translation: X:83.09, Y:-111.53, Z:2.26 [[ 9.08992958e-01 -4.16749649e-01 -7.17858899e-03 8.30926136e+01] [-4.16737188e-01 -9.09021301e-01 3.22335630e-03 -1.11532227e+02] [-7.86882291e-03 6.15768093e-05 -9.99969038e-01 2.26237752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.67999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.09, Y:-111.53, Z:2.26 [[ 9.37701878e-01 -3.47355474e-01 -7.70474161e-03 8.30878912e+01] [-3.47344533e-01 -9.37733526e-01 2.75849242e-03 -1.11534230e+02] [-8.18317196e-03 8.95563552e-05 -9.99966513e-01 2.26067284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.70999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.08, Y:-111.54, Z:2.26 [[ 9.61752907e-01 -2.73802040e-01 -7.98672916e-03 8.30817510e+01] [-2.73793440e-01 -9.61786064e-01 2.17226326e-03 -1.11541850e+02] [-8.27629491e-03 9.75335503e-05 -9.99965746e-01 2.26066171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.73999999999998 meters Centerline goodness [0,1] 0.9998189184906856 Centerline is valid? [True, True] Translation: X:83.07, Y:-111.55, Z:2.26 [[ 9.80007824e-01 -1.98754695e-01 -9.01304865e-03 8.30733982e+01] [-1.98747395e-01 -9.80049263e-01 1.70761058e-03 -1.11549112e+02] [-9.17262730e-03 1.17848203e-04 -9.99957924e-01 2.26394076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.76999999999998 meters Centerline goodness [0,1] 0.9998193152046255 Centerline is valid? [True, True] Translation: X:83.06, Y:-111.56, Z:2.26 [[ 9.92546104e-01 -1.21507442e-01 -9.39008243e-03 8.30643449e+01] [-1.21503169e-01 -9.92590513e-01 1.02626711e-03 -1.11556543e+02] [-9.44520583e-03 1.22307353e-04 -9.99955386e-01 2.26428217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.79999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.06, Y:-111.56, Z:2.26 [[ 9.99027831e-01 -4.31671910e-02 -8.94354412e-03 8.30571287e+01] [-4.31664771e-02 -9.99067856e-01 2.72924566e-04 -1.11564281e+02] [-8.94698883e-03 1.13402056e-04 -9.99959968e-01 2.26109270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.82999999999998 meters Centerline goodness [0,1] 0.9997969497337785 Centerline is valid? [True, True] Translation: X:83.05, Y:-111.57, Z:2.26 [[ 9.99390500e-01 3.34568099e-02 -9.96340833e-03 8.30500280e+01] [ 3.34537107e-02 -9.99440154e-01 -4.77606762e-04 -1.11574077e+02] [-9.97380955e-03 1.44002682e-04 -9.99950250e-01 2.26413002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.85999999999999 meters Centerline goodness [0,1] 0.9998200103494049 Centerline is valid? [True, True] Translation: X:83.04, Y:-111.58, Z:2.26 [[ 9.93742877e-01 1.11280705e-01 -9.57595249e-03 8.30424688e+01] [ 1.11274155e-01 -9.93789004e-01 -1.21569543e-03 -1.11583917e+02] [-9.65175973e-03 1.42532648e-04 -9.99953411e-01 2.26392124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.04, Y:-111.60, Z:2.26 [[ 9.81902434e-01 1.89209001e-01 -8.21972988e-03 8.30372602e+01] [ 1.89201349e-01 -9.81936831e-01 -1.70590590e-03 -1.11596244e+02] [-8.39402826e-03 1.19849174e-04 -9.99964762e-01 2.26054665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.92 meters Centerline goodness [0,1] 0.9999098002074596 Centerline is valid? [True, True] Translation: X:83.03, Y:-111.61, Z:2.26 [[ 9.64219229e-01 2.64978500e-01 -8.22629529e-03 8.30317976e+01] [ 2.64967736e-01 -9.64254312e-01 -2.39176559e-03 -1.11608391e+02] [-8.56600717e-03 1.26483538e-04 -9.99963303e-01 2.26233931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.95 meters Centerline goodness [0,1] 0.9998650381267292 Centerline is valid? [True, True] Translation: X:83.03, Y:-111.62, Z:2.26 [[ 9.40354377e-01 3.40103292e-01 -7.96220592e-03 8.30284033e+01] [ 3.40090005e-01 -9.40388077e-01 -3.00866448e-03 -1.11619875e+02] [-8.51082022e-03 1.21344160e-04 -9.99963775e-01 2.26326868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.98 meters Centerline goodness [0,1] 0.9999101608121462 Centerline is valid? [True, True] Translation: X:83.02, Y:-111.63, Z:2.26 [[ 9.10481892e-01 4.13492811e-01 -6.81316763e-03 8.30246536e+01] [ 4.13480408e-01 -9.10507378e-01 -3.20422426e-03 -1.11631307e+02] [-7.52836309e-03 1.00276831e-04 -9.99971656e-01 2.26239271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.01 meters Centerline goodness [0,1] 0.9998875747627828 Centerline is valid? [True, True] Translation: X:83.02, Y:-111.64, Z:2.26 [[ 8.74575108e-01 4.84847371e-01 -6.43487464e-03 8.30216973e+01] [ 4.84833509e-01 -8.74598776e-01 -3.66723875e-03 -1.11642142e+02] [-7.40598455e-03 8.74328705e-05 -9.99972572e-01 2.26277276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.04 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.02, Y:-111.66, Z:2.26 [[ 8.32592251e-01 5.53864581e-01 -4.91634987e-03 8.30224198e+01] [ 5.53854530e-01 -8.32606764e-01 -3.33707717e-03 -1.11655741e+02] [-5.94167500e-03 5.54819433e-05 -9.99982347e-01 2.25938082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.02, Y:-111.67, Z:2.26 [[ 7.85155283e-01 6.19283750e-01 -4.33792760e-03 8.30240860e+01] [ 6.19274028e-01 -7.85167266e-01 -3.47029286e-03 -1.11669109e+02] [-5.55509473e-03 3.83528748e-05 -9.99984570e-01 2.25892596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.1 meters Centerline goodness [0,1] 0.9997990578043716 Centerline is valid? [True, True] Translation: X:83.03, Y:-111.68, Z:2.26 [[ 7.30933935e-01 6.82432664e-01 -4.60891348e-03 8.30266337e+01] [ 6.82418989e-01 -7.30948466e-01 -4.32026321e-03 -1.11684007e+02] [-6.31716697e-03 1.26169074e-05 -9.99980046e-01 2.26235356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.13 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.03, Y:-111.70, Z:2.26 [[ 6.72411145e-01 7.40169727e-01 -3.46800581e-03 8.30291030e+01] [ 7.40159955e-01 -6.72420088e-01 -3.80335453e-03 -1.11696767e+02] [-5.14708466e-03 -9.46104951e-06 -9.99986754e-01 2.25938926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.16 meters Centerline goodness [0,1] 0.9998663905404502 Centerline is valid? [True, True] Translation: X:83.03, Y:-111.71, Z:2.26 [[ 6.11059020e-01 7.91577878e-01 -3.36712823e-03 8.30326875e+01] [ 7.91566035e-01 -6.11068296e-01 -4.33014330e-03 -1.11707565e+02] [-5.48519095e-03 -1.93312189e-05 -9.99984956e-01 2.26227774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.19 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.04, Y:-111.72, Z:2.26 [[ 5.44721489e-01 8.38612581e-01 -2.72723038e-03 8.30366557e+01] [ 8.38602365e-01 -5.44728315e-01 -4.13958234e-03 -1.11719650e+02] [-4.95710544e-03 -3.21423851e-05 -9.99987713e-01 2.25990606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.22 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.04, Y:-111.73, Z:2.26 [[ 4.74437537e-01 8.80285328e-01 -2.60115670e-03 8.30433635e+01] [ 8.80272703e-01 -4.74444664e-01 -4.71484234e-03 -1.11730433e+02] [-5.38451145e-03 -5.28290502e-05 -9.99985502e-01 2.26049207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.25 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.05, Y:-111.74, Z:2.26 [[ 4.03010228e-01 9.15192850e-01 -2.19157581e-03 8.30486967e+01] [ 9.15180091e-01 -4.03016183e-01 -4.83288066e-03 -1.11739373e+02] [-5.30625835e-03 -5.79862142e-05 -9.99985920e-01 2.26088415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.28 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.05, Y:-111.75, Z:2.26 [[ 3.29434127e-01 9.44176632e-01 -1.90875735e-03 8.30523633e+01] [ 9.44161913e-01 -3.29439650e-01 -5.27244086e-03 -1.11748835e+02] [-5.60693581e-03 -6.52540374e-05 -9.99984279e-01 2.26093711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.31 meters Centerline goodness [0,1] 0.9998663101604278 Centerline is valid? [True, True] Translation: X:83.06, Y:-111.76, Z:2.26 [[ 2.55324662e-01 9.66853822e-01 -1.73310425e-03 8.30555454e+01] [ 9.66833377e-01 -2.55330535e-01 -6.28801506e-03 -1.11757390e+02] [-6.52210583e-03 -7.01377101e-05 -9.99978728e-01 2.26384174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.34 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.06, Y:-111.77, Z:2.26 [[ 1.77902288e-01 9.84047603e-01 -1.04451337e-03 8.30600097e+01] [ 9.84032700e-01 -1.77905342e-01 -5.41619008e-03 -1.11765347e+02] [-5.51561337e-03 -6.42827008e-05 -9.99984787e-01 2.26085962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.37 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.06, Y:-111.77, Z:2.26 [[ 1.01682654e-01 9.94816722e-01 -5.71525984e-04 8.30647264e+01] [ 9.94803765e-01 -1.01684247e-01 -5.07760874e-03 -1.11771865e+02] [-5.10940527e-03 -5.22514668e-05 -9.99986946e-01 2.26038986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.4 meters Centerline goodness [0,1] 0.9998219412851388 Centerline is valid? [True, True] Translation: X:83.07, Y:-111.78, Z:2.26 [[ 2.55758545e-02 9.99672868e-01 -1.80693792e-04 8.30697947e+01] [ 9.99658505e-01 -2.55764557e-02 -5.35889602e-03 -1.11779286e+02] [-5.36176446e-03 -4.35737404e-05 -9.99985625e-01 2.26410769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.42999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.08, Y:-111.79, Z:2.26 [[-5.26233247e-02 9.98614416e-01 1.84564340e-04 8.30773866e+01] [ 9.98605888e-01 5.26236381e-02 -4.12720967e-03 -1.11785673e+02] [-4.13120352e-03 -3.28804583e-05 -9.99991466e-01 2.26069247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.45999999999998 meters Centerline goodness [0,1] 0.9999110062963046 Centerline is valid? [True, True] Translation: X:83.08, Y:-111.79, Z:2.26 [[-1.27938065e-01 9.91781958e-01 6.32253402e-04 8.30834645e+01] [ 9.91768801e-01 1.27939624e-01 -5.10861965e-03 -1.11791548e+02] [-5.14752706e-03 -2.65377116e-05 -9.99986751e-01 2.26439706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.48999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.09, Y:-111.80, Z:2.26 [[-2.05113641e-01 9.78737487e-01 1.15138017e-03 8.30926024e+01] [ 9.78721262e-01 2.05116871e-01 -5.63568540e-03 -1.11797185e+02] [-5.75202407e-03 -2.90756956e-05 -9.99983457e-01 2.26315836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.51999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.10, Y:-111.80, Z:2.26 [[-2.80576474e-01 9.59830096e-01 1.74060283e-03 8.31017723e+01] [ 9.59811001e-01 2.80581871e-01 -6.05440282e-03 -1.11801491e+02] [-6.29957964e-03 -2.80732464e-05 -9.99980157e-01 2.26373056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.54999999999998 meters Centerline goodness [0,1] 0.9998886612630267 Centerline is valid? [True, True] Translation: X:83.11, Y:-111.81, Z:2.27 [[-3.53845916e-01 9.35300358e-01 2.51148399e-03 8.31106183e+01] [ 9.35276320e-01 3.53854828e-01 -6.70563415e-03 -1.11806990e+02] [-7.16048276e-03 -2.38297524e-05 -9.99974363e-01 2.26695802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.57999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.12, Y:-111.81, Z:2.26 [[-4.26842114e-01 9.04321020e-01 3.04996826e-03 8.31204478e+01] [ 9.04297425e-01 4.26853009e-01 -6.53259375e-03 -1.11810629e+02] [-7.20944998e-03 -3.03076808e-05 -9.99974011e-01 2.26438124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.60999999999999 meters Centerline goodness [0,1] 0.9999330267446533 Centerline is valid? [True, True] Translation: X:83.13, Y:-111.81, Z:2.27 [[-4.97055405e-01 8.67706529e-01 4.61564891e-03 8.31298956e+01] [ 8.67668242e-01 4.97076833e-01 -8.15135473e-03 -1.11814636e+02] [-9.36731587e-03 -4.68229486e-05 -9.99956125e-01 2.26712429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.64 meters Centerline goodness [0,1] 0.9997993311036789 Centerline is valid? [True, True] Translation: X:83.14, Y:-111.82, Z:2.27 [[-5.64077134e-01 8.25702455e-01 5.69579888e-03 8.31396940e+01] [ 8.25659320e-01 5.64105887e-01 -8.44010199e-03 -1.11816390e+02] [-1.01820466e-02 -5.80791131e-05 -9.99948160e-01 2.26933830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.67 meters Centerline goodness [0,1] 0.9998214724063288 Centerline is valid? [True, True] Translation: X:83.15, Y:-111.82, Z:2.27 [[-6.27891867e-01 7.78269477e-01 6.95873586e-03 8.31504074e+01] [ 7.78220332e-01 6.27930422e-01 -8.74644207e-03 -1.11816763e+02] [-1.11766908e-02 -7.63901221e-05 -9.99937536e-01 2.26959341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.7 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.16, Y:-111.82, Z:2.27 [[-6.88692720e-01 7.25013547e-01 7.59569020e-03 8.31615872e+01] [ 7.24967789e-01 6.88734598e-01 -8.14604527e-03 -1.11816405e+02] [-1.11374078e-02 -1.03491342e-04 -9.99937972e-01 2.26718376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.73 meters Centerline goodness [0,1] 0.9998431653709139 Centerline is valid? [True, True] Translation: X:83.17, Y:-111.82, Z:2.27 [[-7.43418056e-01 6.68763522e-01 9.21661612e-03 8.31711593e+01] [ 6.68710162e-01 7.43475176e-01 -8.44872559e-03 -1.11816637e+02] [-1.25025248e-02 -1.17690285e-04 -9.99921833e-01 2.27050887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.76 meters Centerline goodness [0,1] 0.9999104985232257 Centerline is valid? [True, True] Translation: X:83.20, Y:-111.81, Z:2.27 [[-7.89446672e-01 6.13740019e-01 9.85603121e-03 8.32008185e+01] [ 6.13690119e-01 7.89508183e-01 -7.82729158e-03 -1.11806838e+02] [-1.25853394e-02 -1.30680325e-04 -9.99920793e-01 2.26931974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.79 meters Centerline goodness [0,1] 0.9998206519302336 Centerline is valid? [True, True] Translation: X:83.22, Y:-111.79, Z:2.27 [[-8.31027837e-01 5.56133999e-01 1.03783331e-02 8.32182460e+01] [ 5.56088613e-01 8.31092629e-01 -7.10609399e-03 -1.11788475e+02] [-1.25772966e-02 -1.34089037e-04 -9.99920894e-01 2.26979567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.82 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.70, Y:-111.12, Z:1.42 [[-7.77964580e-01 -6.28242285e-01 9.09641310e-03 8.36998180e+01] [ 6.28200358e-01 -7.78017755e-01 -7.25833285e-03 -1.11116316e+02] [ 1.16371625e-02 6.76440963e-05 9.99932284e-01 1.42282556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.85 meters Centerline goodness [0,1] 0.9999550248487711 Centerline is valid? [True, True] Translation: X:83.19, Y:-111.77, Z:2.27 [[-8.32949121e-01 5.53276001e-01 9.02375915e-03 8.31878074e+01] [ 5.53242043e-01 8.32997992e-01 -6.13089476e-03 -1.11771854e+02] [-1.09088502e-02 -1.14400458e-04 -9.99940490e-01 2.26639716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.88 meters Centerline goodness [0,1] 0.9999550248487711 Centerline is valid? [True, True] Translation: X:83.21, Y:-111.75, Z:2.27 [[-8.70012952e-01 4.92938580e-01 9.43501942e-03 8.32082549e+01] [ 4.92908166e-01 8.70064103e-01 -5.47692990e-03 -1.11752481e+02] [-1.09088618e-02 -1.14401830e-04 -9.99940490e-01 2.26639727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.91 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.23, Y:-111.74, Z:2.26 [[-9.02261275e-01 4.31101124e-01 8.74139777e-03 8.32291974e+01] [ 4.31079906e-01 9.02303614e-01 -4.27806834e-03 -1.11736482e+02] [-9.73167488e-03 -9.16944624e-05 -9.99952642e-01 2.26377450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.94 meters Centerline goodness [0,1] 0.999819787349072 Centerline is valid? [True, True] Translation: X:83.24, Y:-111.72, Z:2.27 [[-9.29827588e-01 3.67888543e-01 8.87000615e-03 8.32439134e+01] [ 3.67871064e-01 9.29869891e-01 -3.58695139e-03 -1.11715906e+02] [-9.56754998e-03 -7.22277594e-05 -9.99954227e-01 2.26626853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.97 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.26, Y:-111.69, Z:2.26 [[-9.53536092e-01 3.01184163e-01 7.55119125e-03 8.32608944e+01] [ 3.01174225e-01 9.53565990e-01 -2.44738239e-03 -1.11694419e+02] [-7.93767198e-03 -5.94432697e-05 -9.99968494e-01 2.26233934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.0 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.28, Y:-111.67, Z:2.26 [[-9.72295386e-01 2.33643507e-01 7.23836458e-03 8.32754442e+01] [ 2.33636654e-01 9.72322328e-01 -1.79021248e-03 -1.11671733e+02] [-7.45629502e-03 -4.94680564e-05 -9.99972200e-01 2.26167792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.03 meters Centerline goodness [0,1] 0.9999547899995479 Centerline is valid? [True, True] Translation: X:83.28, Y:-111.65, Z:2.26 [[-9.86239942e-01 1.65177604e-01 6.86563733e-03 8.32841847e+01] [ 1.65173329e-01 9.86263838e-01 -1.18898466e-03 -1.11647221e+02] [-6.96772346e-03 -3.86039904e-05 -9.99975724e-01 2.26229268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.06 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.29, Y:-111.62, Z:2.26 [[-9.95469915e-01 9.48329742e-02 6.80840560e-03 8.32894882e+01] [ 9.48304993e-02 9.95493197e-01 -6.86141443e-04 -1.11621498e+02] [-6.84279029e-03 -3.73886622e-05 -9.99976587e-01 2.26123607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.09 meters Centerline goodness [0,1] 0.9998867522819416 Centerline is valid? [True, True] Translation: X:83.30, Y:-111.60, Z:2.26 [[-9.99672052e-01 2.44756116e-02 7.53215758e-03 8.32981564e+01] [ 2.44746407e-02 9.99700427e-01 -2.21059930e-04 -1.11596404e+02] [-7.53531173e-03 -3.66405830e-05 -9.99971608e-01 2.26407801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.12 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.30, Y:-111.57, Z:2.26 [[-9.98808954e-01 -4.81338725e-02 7.98773039e-03 8.32968877e+01] [-4.81327377e-02 9.98840892e-01 3.34356105e-04 -1.11568733e+02] [-7.99456561e-03 -5.05134602e-05 -9.99968042e-01 2.26209093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.15 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.30, Y:-111.54, Z:2.26 [[-9.92719802e-01 -1.20167980e-01 8.18851333e-03 8.32984880e+01] [-1.20164395e-01 9.92753571e-01 9.30222745e-04 -1.11540159e+02] [-8.24095883e-03 -6.05172089e-05 -9.99966041e-01 2.26266856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.17999999999998 meters Centerline goodness [0,1] 0.9998417327997468 Centerline is valid? [True, True] Translation: X:83.29, Y:-111.51, Z:2.27 [[-9.81253005e-01 -1.92487633e-01 9.54210581e-03 8.32866159e+01] [-1.92479394e-01 9.81299395e-01 1.78310410e-03 -1.11511572e+02] [-9.70688815e-03 -8.69824874e-05 -9.99952883e-01 2.26739607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.20999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.26, Y:-111.49, Z:2.27 [[-9.64235793e-01 -2.64875490e-01 9.50319091e-03 8.32618394e+01] [-2.64863756e-01 9.64282615e-01 2.49568988e-03 -1.11487142e+02] [-9.82480887e-03 -1.10617327e-04 -9.99951729e-01 2.26504026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.23999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.21, Y:-111.47, Z:2.27 [[-9.41928701e-01 -3.35662161e-01 1.00615842e-02 8.32064660e+01] [-3.35644475e-01 9.41982429e-01 3.44805215e-03 -1.11473960e+02] [-1.06352161e-02 -1.29295858e-04 -9.99943436e-01 2.26574558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.26999999999998 meters Centerline goodness [0,1] 0.9999548185966656 Centerline is valid? [True, True] Translation: X:83.14, Y:-111.47, Z:2.27 [[-9.14327414e-01 -4.04851726e-01 1.00229263e-02 8.31427960e+01] [-4.04829049e-01 9.14382338e-01 4.28717156e-03 -1.11468128e+02] [-1.09004556e-02 -1.37693233e-04 -9.99940579e-01 2.26726565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.29999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:83.07, Y:-111.47, Z:2.27 [[-8.81029396e-01 -4.72961273e-01 9.73845596e-03 8.30741541e+01] [-4.72934263e-01 8.81083204e-01 5.05679401e-03 -1.11469435e+02] [-1.09720577e-02 -1.50465315e-04 -9.99939794e-01 2.26590486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.32999999999998 meters Centerline goodness [0,1] 0.9998419971559488 Centerline is valid? [True, True] Translation: X:82.99, Y:-111.48, Z:2.27 [[-8.43160656e-01 -5.37570496e-01 9.90301525e-03 8.29935992e+01] [-5.37535602e-01 8.43218795e-01 6.12698979e-03 -1.11483830e+02] [-1.16440975e-02 -1.57186533e-04 -9.99932193e-01 2.26892554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.35999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.91, Y:-111.50, Z:2.27 [[-7.99508418e-01 -6.00595413e-01 8.45216510e-03 8.29125123e+01] [-6.00563856e-01 7.99553079e-01 6.15859582e-03 -1.11503520e+02] [-1.04567790e-02 -1.52215672e-04 -9.99945315e-01 2.26590174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.39 meters Centerline goodness [0,1] 0.9998420114203174 Centerline is valid? [True, True] Translation: X:82.82, Y:-111.54, Z:2.27 [[-7.52394853e-01 -6.58658974e-01 8.38694803e-03 8.28245679e+01] [-6.58620234e-01 7.52441582e-01 7.14516287e-03 -1.11539332e+02] [-1.10169141e-02 -1.47829902e-04 -9.99939301e-01 2.26859582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.42 meters Centerline goodness [0,1] 0.9999324643749578 Centerline is valid? [True, True] Translation: X:82.73, Y:-111.59, Z:2.27 [[-6.99954629e-01 -7.14147325e-01 7.55748538e-03 8.27303381e+01] [-7.14107931e-01 6.99995413e-01 7.50233774e-03 -1.11588792e+02] [-1.06479795e-02 -1.45564218e-04 -9.99943298e-01 2.26713774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.45 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.64, Y:-111.64, Z:2.27 [[-6.43620073e-01 -7.65316942e-01 6.57118496e-03 8.26423024e+01] [-7.65279161e-01 6.43653603e-01 7.60556439e-03 -1.11643781e+02] [-1.00502342e-02 -1.33697015e-04 -9.99949486e-01 2.26502271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.48 meters Centerline goodness [0,1] 0.9998199252689867 Centerline is valid? [True, True] Translation: X:82.56, Y:-111.70, Z:2.27 [[-5.84312246e-01 -8.11503682e-01 6.40109727e-03 8.25629035e+01] [-8.11457329e-01 5.84347293e-01 8.67436509e-03 -1.11700622e+02] [-1.07797431e-02 -1.25679552e-04 -9.99941889e-01 2.26851697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.51 meters Centerline goodness [0,1] 0.9998423032733335 Centerline is valid? [True, True] Translation: X:82.48, Y:-111.77, Z:2.27 [[-5.20981892e-01 -8.53549290e-01 5.61052202e-03 8.24813649e+01] [-8.53502125e-01 5.21012089e-01 8.97361916e-03 -1.11772811e+02] [-1.05825761e-02 -1.13499370e-04 -9.99943997e-01 2.26857691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.54 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.40, Y:-111.86, Z:2.27 [[-4.53995977e-01 -8.90989660e-01 5.00775517e-03 8.24031232e+01] [-8.90938167e-01 4.54023581e-01 9.57965916e-03 -1.11855252e+02] [-1.08090162e-02 -1.12473487e-04 -9.99941575e-01 2.26588094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.57 meters Centerline goodness [0,1] 0.9998422890616199 Centerline is valid? [True, True] Translation: X:82.33, Y:-111.95, Z:2.27 [[-3.86040630e-01 -9.22471081e-01 4.44259474e-03 8.23305190e+01] [-9.22412689e-01 3.86066182e-01 1.03794876e-02 -1.11948842e+02] [-1.12899127e-02 -9.10018339e-05 -9.99936263e-01 2.26862826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.6 meters Centerline goodness [0,1] 0.999887379777913 Centerline is valid? [True, True] Translation: X:82.27, Y:-112.05, Z:2.27 [[-3.15131260e-01 -9.49041387e-01 3.56852910e-03 8.22655119e+01] [-9.48983094e-01 3.15151457e-01 1.05188712e-02 -1.12045319e+02] [-1.11074713e-02 -7.16486493e-05 -9.99938308e-01 2.26782436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.63 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.21, Y:-112.14, Z:2.27 [[-2.43827048e-01 -9.69815417e-01 2.53520983e-03 8.22104431e+01] [-9.69764403e-01 2.43840226e-01 9.94723089e-03 -1.12142815e+02] [-1.02651640e-02 -3.31522983e-05 -9.99947311e-01 2.26503223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.66 meters Centerline goodness [0,1] 0.9999097635805811 Centerline is valid? [True, True] Translation: X:82.16, Y:-112.25, Z:2.27 [[-1.71023232e-01 -9.85265495e-01 1.71996546e-03 8.21607880e+01] [-9.85215753e-01 1.71031880e-01 9.90031039e-03 -1.12253342e+02] [-1.00486031e-02 -1.35398523e-06 -9.99949512e-01 2.26646374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.69 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.12, Y:-112.36, Z:2.26 [[-9.57899528e-02 -9.95401161e-01 9.01918935e-04 8.21204733e+01] [-9.95355560e-01 9.57941976e-02 9.52787182e-03 -1.12361205e+02] [-9.57045327e-03 1.49443653e-05 -9.99954202e-01 2.26446021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.72 meters Centerline goodness [0,1] 0.9999774200103868 Centerline is valid? [True, True] Translation: X:82.09, Y:-112.47, Z:2.26 [[-2.11042629e-02 -9.99777267e-01 1.60643796e-04 8.20884053e+01] [-9.99732549e-01 2.11048383e-02 9.45604474e-03 -1.12473166e+02] [-9.45732893e-03 3.89620221e-05 -9.99955278e-01 2.26380333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.75 meters Centerline goodness [0,1] 0.9999773519952893 Centerline is valid? [True, True] Translation: X:82.07, Y:-112.59, Z:2.26 [[ 5.11679211e-02 -9.98689882e-01 -6.03462993e-04 8.20671113e+01] [-9.98639846e-01 -5.11713984e-02 9.99731489e-03 -1.12585288e+02] [-1.00150973e-02 9.11003710e-05 -9.99949844e-01 2.26373968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.78 meters Centerline goodness [0,1] 0.9997960524824945 Centerline is valid? [True, True] Translation: X:82.05, Y:-112.71, Z:2.27 [[ 1.25706007e-01 -9.92066443e-01 -1.47414587e-03 8.20535367e+01] [-9.92009654e-01 -1.25714585e-01 1.06155713e-02 -1.12708983e+02] [-1.07166737e-02 1.27925853e-04 -9.99942567e-01 2.26612466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.81 meters Centerline goodness [0,1] 0.9999773591740627 Centerline is valid? [True, True] Translation: X:82.05, Y:-112.82, Z:2.26 [[ 2.01606750e-01 -9.79464072e-01 -2.20217463e-03 8.20462903e+01] [-9.79412511e-01 -2.01618734e-01 1.00508343e-02 -1.12824777e+02] [-1.02884308e-02 1.30521347e-04 -9.99947064e-01 2.26322260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.84 meters Centerline goodness [0,1] 0.9997964675818087 Centerline is valid? [True, True] Translation: X:82.05, Y:-112.95, Z:2.27 [[ 2.74850965e-01 -9.61481102e-01 -3.32237772e-03 8.20496290e+01] [-9.61418193e-01 -2.74870991e-01 1.09998152e-02 -1.12945605e+02] [-1.14893396e-02 1.70884577e-04 -9.99933981e-01 2.26646692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.87 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.06, Y:-113.07, Z:2.26 [[ 3.48375103e-01 -9.37346337e-01 -4.07821242e-03 8.20637138e+01] [-9.37287700e-01 -3.48398931e-01 1.04858233e-02 -1.13072265e+02] [-1.12496929e-02 1.69458555e-04 -9.99936706e-01 2.26400697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.9 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.08, Y:-113.19, Z:2.26 [[ 4.18767948e-01 -9.08077157e-01 -5.41139705e-03 8.20848879e+01] [-9.08007538e-01 -4.18802860e-01 1.12461271e-02 -1.13190880e+02] [-1.24786597e-02 2.04071741e-04 -9.99922118e-01 2.26427196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.92999999999998 meters Centerline goodness [0,1] 0.9998867420209754 Centerline is valid? [True, True] Translation: X:82.11, Y:-113.30, Z:2.27 [[ 4.84623000e-01 -8.74693623e-01 -7.18425164e-03 8.21121059e+01] [-8.74606108e-01 -4.84676164e-01 1.23762583e-02 -1.13300118e+02] [-1.43074698e-02 2.85570924e-04 -9.99897602e-01 2.26605100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.95999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.15, Y:-113.41, Z:2.27 [[ 5.49743760e-01 -8.35296534e-01 -7.84215881e-03 8.21500087e+01] [-8.35219017e-01 -5.49799614e-01 1.13832273e-02 -1.13409578e+02] [-1.38199862e-02 2.92062027e-04 -9.99904457e-01 2.26521504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.98999999999998 meters Centerline goodness [0,1] 0.9999548063451892 Centerline is valid? [True, True] Translation: X:82.19, Y:-113.51, Z:2.27 [[ 6.10909102e-01 -7.91654131e-01 -8.59096273e-03 8.21938966e+01] [-7.91583014e-01 -6.10969424e-01 1.06157914e-02 -1.13514184e+02] [-1.36528507e-02 3.15176554e-04 -9.99906746e-01 2.26623337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.01999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.24, Y:-113.61, Z:2.26 [[ 6.68983237e-01 -7.43230360e-01 -8.37023219e-03 8.22414253e+01] [-7.43177674e-01 -6.69035533e-01 8.85439759e-03 -1.13612939e+02] [-1.21808399e-02 2.97126134e-04 -9.99925767e-01 2.26439621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.04999999999998 meters Centerline goodness [0,1] 0.9997967020555681 Centerline is valid? [True, True] Translation: X:82.30, Y:-113.71, Z:2.27 [[ 7.21405180e-01 -6.92463383e-01 -8.30841916e-03 8.22965793e+01] [-6.92422446e-01 -7.21452953e-01 7.53614877e-03 -1.13706116e+02] [-1.12126406e-02 3.16319151e-04 -9.99937086e-01 2.26589475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.07999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.29, Y:-113.71, Z:2.26 [[ 7.73518336e-01 -6.33733011e-01 -7.20097489e-03 8.22903695e+01] [-6.33708568e-01 -7.73551812e-01 5.57180480e-03 -1.13709513e+02] [-9.10136381e-03 2.53426309e-04 -9.99958550e-01 2.26301242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.10999999999999 meters Centerline goodness [0,1] 0.999864901378006 Centerline is valid? [True, True] Translation: X:82.28, Y:-113.72, Z:2.26 [[ 8.20015850e-01 -5.72292668e-01 -7.42349207e-03 8.22780325e+01] [-5.72272028e-01 -8.20049411e-01 4.86716336e-03 -1.13722655e+02] [-8.87307220e-03 2.57105764e-04 -9.99960600e-01 2.26318972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.14 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.27, Y:-113.73, Z:2.26 [[ 8.62870624e-01 -5.05379898e-01 -6.74129130e-03 8.22681886e+01] [-5.05366392e-01 -8.62896931e-01 3.70091415e-03 -1.13731594e+02] [-7.68740719e-03 2.13411962e-04 -9.99970429e-01 2.26100424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.17 meters Centerline goodness [0,1] 0.9998434039506946 Centerline is valid? [True, True] Translation: X:82.26, Y:-113.74, Z:2.26 [[ 8.99859307e-01 -4.36113417e-01 -7.63637313e-03 8.22591093e+01] [-4.36099871e-01 -8.99891679e-01 3.44505787e-03 -1.13740840e+02] [-8.37434460e-03 2.30153943e-04 -9.99964908e-01 2.26268768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.2 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.25, Y:-113.75, Z:2.26 [[ 9.32722051e-01 -3.60533271e-01 -6.73320117e-03 8.22501901e+01] [-3.60525161e-01 -9.32746339e-01 2.42405731e-03 -1.13754645e+02] [-7.15432205e-03 1.66516725e-04 -9.99974394e-01 2.26162208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.23 meters Centerline goodness [0,1] 0.9998443891161302 Centerline is valid? [True, True] Translation: X:82.24, Y:-113.76, Z:2.26 [[ 9.58250910e-01 -2.85816023e-01 -8.02455617e-03 8.22437208e+01] [-2.85807632e-01 -9.58284491e-01 2.19804601e-03 -1.13764741e+02] [-8.31804449e-03 1.87199808e-04 -9.99965387e-01 2.26421332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.26 meters Centerline goodness [0,1] 0.99993340141189 Centerline is valid? [True, True] Translation: X:82.24, Y:-113.78, Z:2.26 [[ 9.78115626e-01 -2.07920447e-01 -7.67522420e-03 8.22350392e+01] [-2.07915324e-01 -9.78145726e-01 1.46826724e-03 -1.13775826e+02] [-7.81277053e-03 1.59661602e-04 -9.99969467e-01 2.26380824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.29 meters Centerline goodness [0,1] 0.9997787316900474 Centerline is valid? [True, True] Translation: X:82.23, Y:-113.79, Z:2.27 [[ 9.91577713e-01 -1.29118123e-01 -1.01069062e-02 8.22267082e+01] [-1.29113381e-01 -9.91629202e-01 1.12300300e-03 -1.13788051e+02] [-1.01673034e-02 1.91392086e-04 -9.99948293e-01 2.26688382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.32 meters Centerline goodness [0,1] 0.9998453243768782 Centerline is valid? [True, True] Translation: X:82.22, Y:-113.80, Z:2.27 [[ 9.98689534e-01 -5.02276690e-02 -9.81817549e-03 8.22203298e+01] [-5.02269780e-02 -9.98737778e-01 3.17095259e-04 -1.13797482e+02] [-9.82170974e-03 1.76457568e-04 -9.99951750e-01 2.26677505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.35 meters Centerline goodness [0,1] 0.9998236798025214 Centerline is valid? [True, True] Translation: X:82.22, Y:-113.81, Z:2.27 [[ 9.99539694e-01 2.86086042e-02 -1.00968895e-02 8.22154936e+01] [ 2.86053620e-02 -9.99590675e-01 -4.65404976e-04 -1.13807858e+02] [-1.01060712e-02 1.76365568e-04 -9.99948917e-01 2.26667887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.38 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.21, Y:-113.82, Z:2.26 [[ 9.94095168e-01 1.08162696e-01 -8.69642812e-03 8.22122054e+01] [ 1.08157319e-01 -9.94133196e-01 -1.08754367e-03 -1.13821890e+02] [-8.76303954e-03 1.40539551e-04 -9.99961594e-01 2.26436187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.41 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.21, Y:-113.84, Z:2.26 [[ 9.82349668e-01 1.86832293e-01 -9.10077568e-03 8.22089274e+01] [ 1.86822974e-01 -9.82391814e-01 -1.87105341e-03 -1.13835393e+02] [-9.29010072e-03 1.37794716e-04 -9.99956837e-01 2.26476099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.44 meters Centerline goodness [0,1] 0.9998683488754799 Centerline is valid? [True, True] Translation: X:82.21, Y:-113.85, Z:2.27 [[ 9.64698177e-01 2.63169471e-01 -9.96280519e-03 8.22070949e+01] [ 2.63153790e-01 -9.64749608e-01 -2.87692066e-03 -1.13846598e+02] [-1.03687301e-02 1.53610166e-04 -9.99946231e-01 2.26606679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.47 meters Centerline goodness [0,1] 0.9997809707376906 Centerline is valid? [True, True] Translation: X:82.20, Y:-113.86, Z:2.27 [[ 9.40954712e-01 3.38393368e-01 -9.70350683e-03 8.22046765e+01] [ 3.38373752e-01 -9.41004733e-01 -3.64656797e-03 -1.13856890e+02] [-1.03650203e-02 1.47843305e-04 -9.99946271e-01 2.26694261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.21, Y:-113.87, Z:2.26 [[ 9.10752018e-01 4.12878465e-01 -7.88262416e-03 8.22051445e+01] [ 4.12861987e-01 -9.10786123e-01 -3.69017858e-03 -1.13869962e+02] [-8.70297997e-03 1.06401709e-04 -9.99962123e-01 2.26425144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.53 meters Centerline goodness [0,1] 0.9998690699602846 Centerline is valid? [True, True] Translation: X:82.21, Y:-113.88, Z:2.27 [[ 8.74766496e-01 4.84476268e-01 -8.14386673e-03 8.22065706e+01] [ 4.84454235e-01 -8.74804399e-01 -4.62152890e-03 -1.13882958e+02] [-9.36331151e-03 9.74279197e-05 -9.99956159e-01 2.26572236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.21, Y:-113.89, Z:2.26 [[ 8.33059908e-01 5.53141438e-01 -6.76307932e-03 8.22092375e+01] [ 5.53122541e-01 -8.33087357e-01 -4.57276593e-03 -1.13894929e+02] [-8.16362220e-03 6.85763461e-05 -9.99966675e-01 2.26344330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.59 meters Centerline goodness [0,1] 0.9998033947178714 Centerline is valid? [True, True] Translation: X:82.21, Y:-113.91, Z:2.27 [[ 7.86967526e-01 6.16952607e-01 -7.18293950e-03 8.22113149e+01] [ 6.16926052e-01 -7.87000302e-01 -5.72454950e-03 -1.13905932e+02] [-9.18475129e-03 7.36920475e-05 -9.99957817e-01 2.26552520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.62 meters Centerline goodness [0,1] 0.9998474247477059 Centerline is valid? [True, True] Translation: X:82.21, Y:-113.92, Z:2.27 [[ 7.35163500e-01 6.77862854e-01 -6.04801129e-03 8.22132178e+01] [ 6.77839318e-01 -7.35188376e-01 -5.64895304e-03 -1.13916002e+02] [-8.27564303e-03 5.33242412e-05 -9.99965755e-01 2.26508245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.65 meters Centerline goodness [0,1] 0.9998911505388048 Centerline is valid? [True, True] Translation: X:82.22, Y:-113.93, Z:2.26 [[ 6.78672705e-01 7.34421787e-01 -5.29133824e-03 8.22182618e+01] [ 7.34399025e-01 -6.78693331e-01 -5.78229327e-03 -1.13926273e+02] [-7.83783814e-03 3.83309692e-05 -9.99969283e-01 2.26406471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.67999999999998 meters Centerline goodness [0,1] 0.999934929724102 Centerline is valid? [True, True] Translation: X:82.22, Y:-113.94, Z:2.26 [[ 6.16858565e-01 7.87060052e-01 -4.68876733e-03 8.22244668e+01] [ 7.87037125e-01 -6.16876385e-01 -6.00752863e-03 -1.13937356e+02] [-7.62067564e-03 1.55615347e-05 -9.99970962e-01 2.26425872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.70999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.23, Y:-113.95, Z:2.26 [[ 5.51812204e-01 8.33958031e-01 -4.15853221e-03 8.22316947e+01] [ 8.33934331e-01 -5.51827874e-01 -6.28719887e-03 -1.13946477e+02] [-7.53805397e-03 1.41029056e-06 -9.99971588e-01 2.26328398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.73999999999998 meters Centerline goodness [0,1] 0.9999131567520625 Centerline is valid? [True, True] Translation: X:82.24, Y:-113.95, Z:2.27 [[ 4.84419259e-01 8.74827511e-01 -3.84800176e-03 8.22396653e+01] [ 8.74799951e-01 -4.84434542e-01 -6.94409345e-03 -1.13954634e+02] [-7.93898896e-03 -2.37914542e-06 -9.99968486e-01 2.26518413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.76999999999998 meters Centerline goodness [0,1] 0.9999131567520625 Centerline is valid? [True, True] Translation: X:82.25, Y:-113.96, Z:2.27 [[ 4.14430913e-01 9.10074820e-01 -3.29243703e-03 8.22463385e+01] [ 9.10046148e-01 -4.14443991e-01 -7.22409837e-03 -1.13962392e+02] [-7.93900077e-03 -2.37995441e-06 -9.99968486e-01 2.26518424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.79999999999998 meters Centerline goodness [0,1] 0.999978280228492 Centerline is valid? [True, True] Translation: X:82.25, Y:-113.97, Z:2.26 [[ 3.40482440e-01 9.40246785e-01 -2.77340460e-03 8.22541801e+01] [ 9.40215939e-01 -3.40493735e-01 -7.61604437e-03 -1.13970450e+02] [-8.10528812e-03 -1.44698449e-05 -9.99967152e-01 2.26486776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.82999999999998 meters Centerline goodness [0,1] 0.9998260793947563 Centerline is valid? [True, True] Translation: X:82.26, Y:-113.98, Z:2.27 [[ 2.65379318e-01 9.64140614e-01 -2.58743548e-03 8.22647296e+01] [ 9.64095575e-01 -2.65391931e-01 -9.31906197e-03 -1.13976913e+02] [-9.67157062e-03 -2.14487916e-05 -9.99953229e-01 2.26739645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.85999999999999 meters Centerline goodness [0,1] 0.9998913374190463 Centerline is valid? [True, True] Translation: X:82.27, Y:-113.98, Z:2.27 [[ 1.88159751e-01 9.82136565e-01 -1.91746334e-03 8.22735270e+01] [ 9.82087272e-01 -1.88169518e-01 -9.83982266e-03 -1.13983415e+02] [-1.00248578e-02 -3.16577692e-05 -9.99949749e-01 2.26789420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.28, Y:-113.99, Z:2.27 [[ 1.09342903e-01 9.94003437e-01 -1.13850801e-03 8.22805900e+01] [ 9.93953726e-01 -1.09348821e-01 -9.94111480e-03 -1.13988485e+02] [-1.00059968e-02 -4.46339270e-05 -9.99949938e-01 2.26684735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.92 meters Centerline goodness [0,1] 0.9998262795596187 Centerline is valid? [True, True] Translation: X:82.29, Y:-113.99, Z:2.27 [[ 3.16905356e-02 9.99497651e-01 -3.95535837e-04 8.22872791e+01] [ 9.99435936e-01 -3.16929743e-02 -1.11069892e-02 -1.13992572e+02] [-1.11139453e-02 -4.33262941e-05 -9.99938237e-01 2.26980702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.95 meters Centerline goodness [0,1] 0.9999348802882633 Centerline is valid? [True, True] Translation: X:82.30, Y:-114.00, Z:2.27 [[-4.75892838e-02 9.98866872e-01 4.82600496e-04 8.22962070e+01] [ 9.98803306e-01 4.75916999e-02 -1.12687872e-02 -1.13995553e+02] [-1.12789860e-02 -5.42505399e-05 -9.99936389e-01 2.26884749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.98 meters Centerline goodness [0,1] 0.9998262078554049 Centerline is valid? [True, True] Translation: X:82.30, Y:-114.00, Z:2.27 [[-1.25836723e-01 9.92049942e-01 1.42560700e-03 8.23045284e+01] [ 9.91980897e-01 1.25844785e-01 -1.17042941e-02 -1.13999292e+02] [-1.17906495e-02 -5.86551040e-05 -9.99930486e-01 2.27041221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.01 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.31, Y:-114.00, Z:2.27 [[-2.05049589e-01 9.78749375e-01 2.08008728e-03 8.23111978e+01] [ 9.78695393e-01 2.05060127e-01 -1.02796627e-02 -1.14002244e+02] [-1.04877564e-02 -7.20687799e-05 -9.99944999e-01 2.26782813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.04 meters Centerline goodness [0,1] 0.9998484586075511 Centerline is valid? [True, True] Translation: X:82.32, Y:-114.00, Z:2.27 [[-2.80385700e-01 9.59883192e-01 2.84895256e-03 8.23196163e+01] [ 9.59831311e-01 2.80400167e-01 -9.97999731e-03 -1.14004191e+02] [-1.03784784e-02 -6.37346670e-05 -9.99946140e-01 2.26864607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.07 meters Centerline goodness [0,1] 0.9998258787680923 Centerline is valid? [True, True] Translation: X:82.33, Y:-114.00, Z:2.27 [[-3.54813374e-01 9.34931300e-01 3.30665738e-03 8.23283647e+01] [ 9.34889143e-01 3.54828777e-01 -8.87862580e-03 -1.14004784e+02] [-9.47420236e-03 -5.88970897e-05 -9.99955117e-01 2.26744944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.1 meters Centerline goodness [0,1] 0.9998257687951912 Centerline is valid? [True, True] Translation: X:82.34, Y:-114.01, Z:2.27 [[-4.27081929e-01 9.04206470e-01 3.41860294e-03 8.23375343e+01] [ 9.04176535e-01 4.27095607e-01 -7.35769903e-03 -1.14006327e+02] [-8.11294936e-03 -5.13197317e-05 -9.99967088e-01 2.26676612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.13 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.35, Y:-114.01, Z:2.26 [[-4.97905543e-01 8.67225462e-01 3.17317019e-03 8.23463990e+01] [ 8.67207200e-01 4.97915652e-01 -5.62812945e-03 -1.14006485e+02] [-6.46082827e-03 -5.04808104e-05 -9.99979127e-01 2.26338482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.16 meters Centerline goodness [0,1] 0.9999347002742589 Centerline is valid? [True, True] Translation: X:82.36, Y:-114.00, Z:2.26 [[-5.64818504e-01 8.25209956e-01 2.93022823e-03 8.23565610e+01] [ 8.25198443e-01 5.64826103e-01 -4.35936599e-03 -1.14004604e+02] [-5.25246161e-03 -4.42308066e-05 -9.99986205e-01 2.26424312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.19 meters Centerline goodness [0,1] 0.9998911813354227 Centerline is valid? [True, True] Translation: X:82.37, Y:-114.00, Z:2.26 [[-6.28374793e-01 7.77905492e-01 2.85735930e-03 8.23674407e+01] [ 7.77897139e-01 6.28381288e-01 -3.60531982e-03 -1.14002791e+02] [-4.60010921e-03 -4.27604750e-05 -9.99989419e-01 2.26483701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.22 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.38, Y:-114.00, Z:2.26 [[-6.89056406e-01 7.24702072e-01 2.85932135e-03 8.23772855e+01] [ 7.24695538e-01 6.89062337e-01 -3.07783023e-03 -1.13998909e+02] [-4.20076060e-03 -4.86612104e-05 -9.99991176e-01 2.26319947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.25 meters Centerline goodness [0,1] 0.9998255370188638 Centerline is valid? [True, True] Translation: X:82.39, Y:-114.00, Z:2.27 [[-7.43942515e-01 6.68234753e-01 3.44226042e-03 8.23874572e+01] [ 6.68227250e-01 7.43950477e-01 -3.16698267e-03 -1.13995409e+02] [-4.67715917e-03 -5.58408385e-05 -9.99989060e-01 2.26620590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.28 meters Centerline goodness [0,1] 0.9998037419861311 Centerline is valid? [True, True] Translation: X:82.41, Y:-113.98, Z:2.27 [[-7.91106925e-01 6.11659698e-01 4.71668760e-03 8.24073960e+01] [ 6.11648146e-01 7.91120981e-01 -3.76027152e-03 -1.13976208e+02] [-6.03147706e-03 -8.98236149e-05 -9.99981806e-01 2.26773456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.31 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.42, Y:-113.95, Z:2.27 [[-8.33763888e-01 5.52099247e-01 4.91953194e-03 8.24247015e+01] [ 5.52088898e-01 8.33778395e-01 -3.38199712e-03 -1.13954090e+02] [-5.96899750e-03 -1.03768103e-04 -9.99982180e-01 2.26584993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.34 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.44, Y:-113.93, Z:2.27 [[-8.71402741e-01 4.90538403e-01 5.41641516e-03 8.24368889e+01] [ 4.90528081e-01 8.71419567e-01 -3.18441394e-03 -1.13929834e+02] [-6.28204748e-03 -1.18003304e-04 -9.99980261e-01 2.26648127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.37 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.46, Y:-113.91, Z:2.27 [[-9.04437590e-01 4.26565986e-01 5.83991322e-03 8.24572382e+01] [ 4.26556164e-01 9.04456435e-01 -2.89765791e-03 -1.13910450e+02] [-6.51798939e-03 -1.29699759e-04 -9.99978749e-01 2.26714926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.4 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.47, Y:-113.89, Z:2.27 [[-9.32581871e-01 3.60899770e-01 6.51230397e-03 8.24700801e+01] [ 3.60889885e-01 9.32604598e-01 -2.67496666e-03 -1.13886537e+02] [-7.03879948e-03 -1.44400779e-04 -9.99975217e-01 2.26762101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.42999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.48, Y:-113.86, Z:2.27 [[-9.55956307e-01 2.93421525e-01 7.16577799e-03 8.24834843e+01] [ 2.93412030e-01 9.55983150e-01 -2.36579050e-03 -1.13863791e+02] [-7.54453687e-03 -1.59066884e-04 -9.99971527e-01 2.26804278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.45999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.49, Y:-113.84, Z:2.27 [[-9.74273324e-01 2.25252122e-01 7.27812226e-03 8.24924797e+01] [ 2.25244641e-01 9.74300497e-01 -1.84228492e-03 -1.13839935e+02] [-7.50605672e-03 -1.55531015e-04 -9.99971817e-01 2.26872971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.48999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.69, Y:-113.11, Z:1.42 [[-9.44272003e-01 -3.29102215e-01 6.48974101e-03 8.26869563e+01] [ 3.29095170e-01 -9.44294298e-01 -2.15577441e-03 -1.13111254e+02] [ 6.83769557e-03 1.00104995e-04 9.99976618e-01 1.42005711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.51999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.45, Y:-113.83, Z:2.27 [[-9.74741471e-01 2.23256222e-01 5.97705548e-03 8.24458217e+01] [ 2.23251292e-01 9.74759789e-01 -1.48824452e-03 -1.13833224e+02] [-6.15845318e-03 -1.16268295e-04 -9.99981030e-01 2.26772593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.54999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.64, Y:-113.10, Z:1.42 [[-9.46301000e-01 -3.23249253e-01 4.93325040e-03 8.26425094e+01] [ 3.23245075e-01 -9.46313858e-01 -1.64395906e-03 -1.13095796e+02] [ 5.19981176e-03 3.89687893e-05 9.99986480e-01 1.42183712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.57999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.40, Y:-113.83, Z:2.27 [[-9.74697676e-01 2.23497199e-01 3.66639006e-03 8.24043676e+01] [ 2.23495405e-01 9.74704570e-01 -8.97253505e-04 -1.13831387e+02] [-3.77418079e-03 -5.51295745e-05 -9.99992876e-01 2.26591672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.60999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.41, Y:-113.81, Z:2.27 [[-9.87849588e-01 1.55378652e-01 3.26597814e-03 8.24075989e+01] [ 1.55377659e-01 9.87854986e-01 -5.57229678e-04 -1.13806872e+02] [-3.31289439e-03 -4.29990700e-05 -9.99994511e-01 2.26571491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.64 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.42, Y:-113.78, Z:2.27 [[-9.96243178e-01 8.65345047e-02 3.36310755e-03 8.24198551e+01] [ 8.65338818e-02 9.96248853e-01 -3.30532795e-04 -1.13783856e+02] [-3.37909453e-03 -3.82682914e-05 -9.99994290e-01 2.26555110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.67 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.42, Y:-113.76, Z:2.27 [[-9.99846300e-01 1.73023864e-02 2.82909195e-03 8.24179722e+01] [ 1.73022410e-02 9.99850302e-01 -7.58869355e-05 -1.13760065e+02] [-2.82998147e-03 -2.69256410e-05 -9.99995995e-01 2.26528289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.7 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.43, Y:-113.74, Z:2.27 [[-9.98691659e-01 -5.10440550e-02 3.07818839e-03 8.24254836e+01] [-5.10438756e-02 9.98696402e-01 1.36874424e-04 -1.13738015e+02] [-3.08116229e-03 -2.04273193e-05 -9.99995253e-01 2.26595665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.73 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.42, Y:-113.71, Z:2.27 [[-9.92687959e-01 -1.20669649e-01 3.07434278e-03 8.24219008e+01] [-1.20669121e-01 9.92692720e-01 3.57399913e-04 -1.13713554e+02] [-3.09500501e-03 -1.61916498e-05 -9.99995210e-01 2.26623402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.76 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.41, Y:-113.69, Z:2.27 [[-9.81794549e-01 -1.89912482e-01 3.56555548e-03 8.24097517e+01] [-1.89911280e-01 9.81801023e-01 6.75821103e-04 -1.13690514e+02] [-3.62901288e-03 -1.36217287e-05 -9.99993415e-01 2.26717151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.79 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.38, Y:-113.67, Z:2.27 [[-9.65722985e-01 -2.59541466e-01 4.16449986e-03 8.23832311e+01] [-2.59539106e-01 9.65731965e-01 1.10671596e-03 -1.13671372e+02] [-4.30902932e-03 -1.20695332e-05 -9.99990716e-01 2.26762986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.82 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.33, Y:-113.66, Z:2.27 [[-9.44475928e-01 -3.28544963e-01 4.84025724e-03 8.23335730e+01] [-3.28540700e-01 9.44488331e-01 1.67362383e-03 -1.13660860e+02] [-5.12142716e-03 -9.52408041e-06 -9.99986885e-01 2.26790870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.85 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.27, Y:-113.66, Z:2.27 [[-9.18185701e-01 -3.96107232e-01 5.83775282e-03 8.22734922e+01] [-3.96099235e-01 9.18204259e-01 2.51700270e-03 -1.13660908e+02] [-6.35725247e-03 -1.25353893e-06 -9.99979792e-01 2.26869441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.88 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.20, Y:-113.67, Z:2.27 [[-8.86458173e-01 -4.62771103e-01 5.90034223e-03 8.22000332e+01] [-4.62760819e-01 8.86477809e-01 3.08518058e-03 -1.13667785e+02] [-6.65825488e-03 4.43633446e-06 -9.99977834e-01 2.26921803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.91 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.12, Y:-113.68, Z:2.27 [[-8.49575572e-01 -5.27434685e-01 5.83100412e-03 8.21204281e+01] [-5.27422184e-01 8.49595582e-01 3.63131448e-03 -1.13683938e+02] [-6.86927655e-03 9.67514330e-06 -9.99976406e-01 2.26918357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.94 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:82.03, Y:-113.71, Z:2.27 [[-8.08438368e-01 -5.88562657e-01 4.62642501e-03 8.20341407e+01] [-5.88552883e-01 8.08451605e-01 3.39205857e-03 -1.13714020e+02] [-5.73667973e-03 1.93745215e-05 -9.99983545e-01 2.26858960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.97 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.95, Y:-113.75, Z:2.27 [[-7.61956254e-01 -6.47618646e-01 3.57163652e-03 8.19505134e+01] [-6.47611404e-01 7.61964625e-01 3.06277911e-03 -1.13747712e+02] [-4.70497354e-03 2.06711593e-05 -9.99988931e-01 2.26743395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.0 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.86, Y:-113.80, Z:2.27 [[-7.11299341e-01 -7.02884845e-01 2.47827248e-03 8.18568455e+01] [-7.02880482e-01 7.11303658e-01 2.47687575e-03 -1.13799556e+02] [-3.50376271e-03 1.98707372e-05 -9.99993862e-01 2.26657226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.03 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.77, Y:-113.85, Z:2.27 [[-6.55402588e-01 -7.55277917e-01 1.64775764e-03 8.17718358e+01] [-7.55275474e-01 6.55404659e-01 1.92121822e-03 -1.13851801e+02] [-2.53100173e-03 1.46604667e-05 -9.99996797e-01 2.26569778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.06 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.68, Y:-113.92, Z:2.27 [[-5.94083066e-01 -8.04403090e-01 9.90053635e-04 8.16815512e+01] [-8.04401953e-01 5.94083891e-01 1.35228017e-03 -1.13918794e+02] [-1.67595326e-03 6.96567017e-06 -9.99998596e-01 2.26515977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.09 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.60, Y:-113.99, Z:2.27 [[-5.29053974e-01 -8.48587544e-01 1.03557774e-03 8.15972532e+01] [-8.48585901e-01 5.29054987e-01 1.67019027e-03 -1.13991370e+02] [-1.96518022e-03 4.84412583e-06 -9.99998069e-01 2.26521847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.12 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.52, Y:-114.07, Z:2.27 [[-4.60328659e-01 -8.87747767e-01 1.19466816e-03 8.15176534e+01] [-8.87744771e-01 4.60330210e-01 2.30635587e-03 -1.14071130e+02] [-2.59740412e-03 1.12129176e-06 -9.99996627e-01 2.26591483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.15 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.44, Y:-114.17, Z:2.27 [[-3.88933082e-01 -9.21265129e-01 1.27268857e-03 8.14398443e+01] [-9.21260233e-01 3.88935164e-01 3.00362985e-03 -1.14167155e+02] [-3.26213278e-03 -4.26635552e-06 -9.99994679e-01 2.26671858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.17999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.37, Y:-114.26, Z:2.27 [[-3.14369025e-01 -9.49299408e-01 1.65810056e-03 8.13729033e+01] [-9.49286521e-01 3.14373398e-01 4.94648062e-03 -1.14259980e+02] [-5.21695383e-03 -1.89922173e-05 -9.99986391e-01 2.26834772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.20999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.31, Y:-114.36, Z:2.27 [[-2.39489137e-01 -9.70897845e-01 1.52543717e-03 8.13131018e+01] [-9.70878843e-01 2.39493994e-01 6.07453638e-03 -1.14363680e+02] [-6.26308732e-03 -2.62292015e-05 -9.99980386e-01 2.26927941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.23999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.26, Y:-114.48, Z:2.27 [[-1.63495319e-01 -9.86543452e-01 1.13927485e-03 8.12604989e+01] [-9.86520741e-01 1.63499286e-01 6.69413983e-03 -1.14476983e+02] [-6.79033044e-03 -2.94577408e-05 -9.99976945e-01 2.26992740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.26999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.22, Y:-114.59, Z:2.27 [[-8.65311469e-02 -9.96248921e-01 6.70112219e-04 8.12176268e+01] [-9.96221823e-01 8.65337358e-02 7.34787742e-03 -1.14589250e+02] [-7.37830226e-03 -3.17601565e-05 -9.99972779e-01 2.27020257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.29999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.18, Y:-114.70, Z:2.27 [[-9.48599320e-03 -9.99955002e-01 1.01615911e-04 8.11837265e+01] [-9.99926131e-01 9.48649149e-03 7.59860876e-03 -1.14703414e+02] [-7.59923082e-03 -2.95280533e-05 -9.99971125e-01 2.27068286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.32999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.16, Y:-114.82, Z:2.27 [[ 6.70757344e-02 -9.97747775e-01 -4.73591355e-04 8.11593438e+01] [-9.97720652e-01 -6.70774030e-02 7.35676625e-03 -1.14820450e+02] [-7.37196443e-03 -2.09486233e-05 -9.99972826e-01 2.27027398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.35999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.15, Y:-114.94, Z:2.27 [[ 1.41442241e-01 -9.89945933e-01 -1.06855107e-03 8.11459158e+01] [-9.89917668e-01 -1.41446278e-01 7.48072411e-03 -1.14941672e+02] [-7.55665498e-03 -3.12801747e-07 -9.99971448e-01 2.26999128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.39 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.14, Y:-115.06, Z:2.27 [[ 2.15564477e-01 -9.76488344e-01 -1.57175037e-03 8.11414189e+01] [-9.76462917e-01 -2.15570206e-01 7.04678980e-03 -1.15061271e+02] [-7.21993065e-03 1.57183988e-05 -9.99973936e-01 2.27009001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.42 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.15, Y:-115.18, Z:2.27 [[ 2.85892758e-01 -9.58259680e-01 -1.92764301e-03 8.11471581e+01] [-9.58239000e-01 -2.85899253e-01 6.29567391e-03 -1.15178584e+02] [-6.58400217e-03 4.72551269e-05 -9.99978324e-01 2.26854560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.45 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.16, Y:-115.30, Z:2.27 [[ 3.56996840e-01 -9.34103123e-01 -2.14734006e-03 8.11610306e+01] [-9.34087169e-01 -3.57003294e-01 5.45978882e-03 -1.15297841e+02] [-5.86661326e-03 5.66754367e-05 -9.99982790e-01 2.26842840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.48 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.18, Y:-115.42, Z:2.27 [[ 4.26578527e-01 -9.04447408e-01 -2.37631473e-03 8.11827848e+01] [-9.04434183e-01 -4.26585141e-01 4.89141024e-03 -1.15416036e+02] [-5.43772387e-03 6.26496937e-05 -9.99985214e-01 2.26708878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.51 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.21, Y:-115.53, Z:2.27 [[ 4.93702902e-01 -8.69627800e-01 -2.22118035e-03 8.12146030e+01] [-8.69619524e-01 -4.93707895e-01 3.79446959e-03 -1.15528921e+02] [-4.39639052e-03 5.82411540e-05 -9.99990334e-01 2.26764221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.54 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.25, Y:-115.64, Z:2.27 [[ 5.58035825e-01 -8.29813963e-01 -2.19220308e-03 8.12499939e+01] [-8.29807956e-01 -5.58040128e-01 3.15770869e-03 -1.15638535e+02] [-3.84364805e-03 5.69929862e-05 -9.99992612e-01 2.26676073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.29, Y:-115.75, Z:2.27 [[ 6.20442367e-01 -7.84248094e-01 -2.48937009e-03 8.12946087e+01] [-7.84242153e-01 -6.20447358e-01 3.05317323e-03 -1.15745030e+02] [-3.93896838e-03 5.79509361e-05 -9.99992241e-01 2.26746181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.6 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.35, Y:-115.85, Z:2.27 [[ 6.79402480e-01 -7.33757480e-01 -3.49727016e-03 8.13454797e+01] [-7.33748290e-01 -6.79411478e-01 3.67303109e-03 -1.15845618e+02] [-5.07119952e-03 7.06495634e-05 -9.99987139e-01 2.26807159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.63 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.40, Y:-115.94, Z:2.27 [[ 7.34474177e-01 -6.78621149e-01 -4.58470593e-03 8.14009834e+01] [-6.78608588e-01 -7.34488482e-01 4.12968404e-03 -1.15939258e+02] [-6.16990462e-03 7.80745292e-05 -9.99980963e-01 2.26915814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.66 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.39, Y:-115.95, Z:2.27 [[ 7.86160004e-01 -6.17993042e-01 -6.08676184e-03 8.13947331e+01] [-6.17975354e-01 -7.86183562e-01 4.67642557e-03 -1.15945318e+02] [-7.67531056e-03 8.50500563e-05 -9.99970541e-01 2.27055324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.69 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.39, Y:-115.95, Z:2.27 [[ 8.32050135e-01 -5.54663125e-01 -6.43362840e-03 8.13894484e+01] [-5.54647332e-01 -8.32075003e-01 4.18646145e-03 -1.15948284e+02] [-7.67533716e-03 8.50490167e-05 -9.99970541e-01 2.27055352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.72 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.38, Y:-115.96, Z:2.27 [[ 8.73833731e-01 -4.86160214e-01 -7.92820304e-03 8.13821245e+01] [-4.86141051e-01 -8.73869693e-01 4.31733151e-03 -1.15955605e+02] [-9.02713117e-03 8.15950486e-05 -9.99959251e-01 2.27166305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.37, Y:-115.97, Z:2.27 [[ 9.10896249e-01 -4.12482669e-01 -1.12281248e-02 8.13744913e+01] [-4.12452129e-01 -9.10965446e-01 5.01969047e-03 -1.15965278e+02] [-1.22989691e-02 5.86467662e-05 -9.99924363e-01 2.27396916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.78 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.37, Y:-115.97, Z:2.28 [[ 9.41088165e-01 -3.37913253e-01 -1.29499156e-02 8.13676661e+01] [-3.37881776e-01 -9.41177259e-01 4.61223618e-03 -1.15972331e+02] [-1.37467018e-02 3.50196122e-05 -9.99905509e-01 2.27519101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.81 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.36, Y:-115.98, Z:2.28 [[ 9.65137147e-01 -2.61361379e-01 -1.41604219e-02 8.13620260e+01] [-2.61333368e-01 -9.65241022e-01 3.82636845e-03 -1.15978735e+02] [-1.46682851e-02 7.62042763e-06 -9.99892415e-01 2.27654901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.84 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.35, Y:-115.99, Z:2.28 [[ 9.82898185e-01 -1.83543155e-01 -1.49354929e-02 8.13545189e+01] [-1.83521746e-01 -9.83011653e-01 2.80331495e-03 -1.15986203e+02] [-1.51962928e-02 -1.43854417e-05 -9.99884530e-01 2.27607440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.87 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.35, Y:-116.00, Z:2.28 [[ 9.94435026e-01 -1.04237167e-01 -1.52837120e-02 8.13475227e+01] [-1.04224217e-01 -9.94552468e-01 1.64360022e-03 -1.15995075e+02] [-1.53717777e-02 -4.15207209e-05 -9.99881846e-01 2.27560174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.9 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.34, Y:-116.00, Z:2.28 [[ 9.99562322e-01 -2.58022784e-02 -1.44709262e-02 8.13406605e+01] [-2.57989579e-02 -9.99667065e-01 4.16124366e-04 -1.16002814e+02] [-1.44768453e-02 -4.26074221e-05 -9.99895204e-01 2.27593714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.92999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.34, Y:-116.01, Z:2.27 [[ 9.98543097e-01 5.23987535e-02 -1.28862033e-02 8.13350348e+01] [ 5.23948536e-02 -9.98626241e-01 -6.40283176e-04 -1.16011795e+02] [-1.29020508e-02 -3.58203897e-05 -9.99916764e-01 2.27308115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.95999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.33, Y:-116.02, Z:2.27 [[ 9.91430621e-01 1.30294515e-01 -9.41611079e-03 8.13288582e+01] [ 1.30288878e-01 -9.91475334e-01 -1.21227565e-03 -1.16019791e+02] [-9.49379447e-03 -2.49273039e-05 -9.99954933e-01 2.26966727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.98999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.32, Y:-116.03, Z:2.27 [[ 9.78120788e-01 2.07901534e-01 -7.52839399e-03 8.13244471e+01] [ 2.07895559e-01 -9.78149759e-01 -1.57640739e-03 -1.16029481e+02] [-7.69163428e-03 -2.32028373e-05 -9.99970419e-01 2.26737337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.01999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.32, Y:-116.04, Z:2.27 [[ 9.58604134e-01 2.84673989e-01 -6.23172921e-03 8.13197772e+01] [ 2.84668144e-01 -9.58624389e-01 -1.82442035e-03 -1.16040090e+02] [-6.49325262e-03 -2.50778978e-05 -9.99978918e-01 2.26651148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.04999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.32, Y:-116.05, Z:2.27 [[ 9.32817147e-01 3.60310750e-01 -5.32301734e-03 8.13170135e+01] [ 3.60305072e-01 -9.32832334e-01 -2.02298444e-03 -1.16049922e+02] [-5.69438573e-03 -3.08355702e-05 -9.99983786e-01 2.26564650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.07999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.32, Y:-116.06, Z:2.27 [[ 9.00170082e-01 4.35505107e-01 -5.39684487e-03 8.13157442e+01] [ 4.35497640e-01 -9.00186258e-01 -2.55082052e-03 -1.16062128e+02] [-5.96906096e-03 -5.41408844e-05 -9.99982184e-01 2.26677374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.10999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.31, Y:-116.07, Z:2.27 [[ 8.62294327e-01 5.06372457e-01 -5.95220452e-03 8.13145189e+01] [ 5.06360999e-01 -8.62314866e-01 -3.40730810e-03 -1.16071825e+02] [-6.85804142e-03 -7.58617861e-05 -9.99976480e-01 2.26800830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.14 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.31, Y:-116.08, Z:2.27 [[ 8.18844148e-01 5.73978063e-01 -6.59122779e-03 8.13136373e+01] [ 5.73960489e-01 -8.18870669e-01 -4.49274448e-03 -1.16081729e+02] [-7.97609989e-03 -1.04246793e-04 -9.99968185e-01 2.26912523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.17 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.31, Y:-116.09, Z:2.27 [[ 7.70260847e-01 6.37686488e-01 -7.36009546e-03 8.13144058e+01] [ 6.37659101e-01 -7.70295998e-01 -5.91164259e-03 -1.16091487e+02] [-9.43922667e-03 -1.39725022e-04 -9.99955440e-01 2.27072637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.2 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.32, Y:-116.10, Z:2.27 [[ 7.16964359e-01 6.97064419e-01 -7.95639385e-03 8.13156533e+01] [ 6.97024226e-01 -7.17008483e-01 -7.48760595e-03 -1.16101353e+02] [-1.09241456e-02 -1.77452668e-04 -9.99940314e-01 2.27224917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.23 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.32, Y:-116.11, Z:2.27 [[ 6.59037198e-01 7.52052638e-01 -9.31674108e-03 8.13171457e+01] [ 7.51982707e-01 -6.59103004e-01 -1.02586167e-02 -1.16111275e+02] [-1.38557118e-02 -2.45218152e-04 -9.99903975e-01 2.27437581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.26 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.32, Y:-116.12, Z:2.27 [[ 5.97926755e-01 8.01499116e-01 -9.09736448e-03 8.13176600e+01] [ 8.01413055e-01 -5.97995900e-01 -1.17481749e-02 -1.16119683e+02] [-1.48563384e-02 -2.66198576e-04 -9.99889603e-01 2.27484220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.29 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.32, Y:-116.13, Z:2.28 [[ 5.33671406e-01 8.45648392e-01 -8.58068652e-03 8.13188598e+01] [ 8.45547238e-01 -5.33740314e-01 -1.30823054e-02 -1.16128055e+02] [-1.56428889e-02 -2.73723455e-04 -9.99877605e-01 2.27501415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.32 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.32, Y:-116.14, Z:2.27 [[ 4.66562864e-01 8.84454744e-01 -7.67461788e-03 8.13202999e+01] [ 8.84344317e-01 -4.66625905e-01 -1.39783628e-02 -1.16136519e+02] [-1.59444048e-02 -2.65219730e-04 -9.99872845e-01 2.27473846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.35 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.32, Y:-116.15, Z:2.27 [[ 3.97107815e-01 9.17749850e-01 -6.37142539e-03 8.13211924e+01] [ 9.17641151e-01 -3.97158855e-01 -1.41266525e-02 -1.16145710e+02] [-1.54952013e-02 -2.36878005e-04 -9.99879914e-01 2.27472027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.38 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.32, Y:-116.15, Z:2.27 [[ 3.27476407e-01 9.44848245e-01 -4.58224911e-03 8.13206642e+01] [ 9.44762363e-01 -3.27508426e-01 -1.27399862e-02 -1.16152820e+02] [-1.35380788e-02 -1.57091609e-04 -9.99908344e-01 2.27176214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.41 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.32, Y:-116.16, Z:2.27 [[ 2.54459855e-01 9.67078225e-01 -3.14475045e-03 8.13236638e+01] [ 9.67009796e-01 -2.54479261e-01 -1.15048031e-02 -1.16161353e+02] [-1.19263183e-02 -1.13493968e-04 -9.99928873e-01 2.27021195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.44 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.33, Y:-116.17, Z:2.27 [[ 1.80132982e-01 9.83640385e-01 -1.92387855e-03 8.13269265e+01] [ 9.83588641e-01 -1.80143240e-01 -1.00894925e-02 -1.16170969e+02] [-1.02710060e-02 -7.48547099e-05 -9.99947249e-01 2.26897481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.47 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.33, Y:-116.18, Z:2.27 [[ 1.06821682e-01 9.94277820e-01 -8.62815442e-04 8.13289464e+01] [ 9.94247113e-01 -1.06825164e-01 -7.81430542e-03 -1.16179940e+02] [-7.86176096e-03 -2.31145101e-05 -9.99969096e-01 2.26646620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.33, Y:-116.19, Z:2.27 [[ 3.03286723e-02 9.99539958e-01 -2.07894530e-04 8.13349832e+01] [ 9.99518209e-01 -3.03293838e-02 -6.59375642e-03 -1.16188135e+02] [-6.59702833e-03 -7.81449040e-06 -9.99978239e-01 2.26558800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.53 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.34, Y:-116.20, Z:2.26 [[-4.64893735e-02 9.98918740e-01 2.99291658e-04 8.13414082e+01] [ 9.98898389e-01 4.64903368e-02 -6.37631994e-03 -1.16196128e+02] [-6.38333965e-03 2.53083611e-06 -9.99979626e-01 2.26484042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.35, Y:-116.20, Z:2.26 [[-1.23356788e-01 9.92362113e-01 7.34706479e-04 8.13491373e+01] [ 9.92344986e-01 1.23358975e-01 -5.83019630e-03 -1.16203737e+02] [-5.87629856e-03 9.88800388e-06 -9.99982734e-01 2.26476505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.59 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.36, Y:-116.21, Z:2.26 [[-1.99500519e-01 9.79896837e-01 1.31582461e-03 8.13593657e+01] [ 9.79876151e-01 1.99504857e-01 -6.36722379e-03 -1.16210105e+02] [-6.50173586e-03 1.90807016e-05 -9.99978863e-01 2.26462055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.62 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.37, Y:-116.22, Z:2.27 [[-2.73888254e-01 9.61758989e-01 2.20729042e-03 8.13700922e+01] [ 9.61728855e-01 2.73897146e-01 -7.61335861e-03 -1.16217502e+02] [-7.92678662e-03 3.76053954e-05 -9.99968582e-01 2.26676389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.65 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.38, Y:-116.22, Z:2.27 [[-3.47564064e-01 9.37650925e-01 3.15670113e-03 8.13799302e+01] [ 9.37613554e-01 3.47578395e-01 -8.37159341e-03 -1.16223063e+02] [-8.94683342e-03 5.01007378e-05 -9.99959975e-01 2.26758057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.67999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.39, Y:-116.23, Z:2.27 [[-4.19437627e-01 9.07775495e-01 3.96588349e-03 8.13896106e+01] [ 9.07736213e-01 4.19456372e-01 -8.44512371e-03 -1.16228080e+02] [-9.32979145e-03 5.77734115e-05 -9.99956475e-01 2.26778188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.70999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.40, Y:-116.23, Z:2.27 [[-4.88833427e-01 8.72363344e-01 4.90691011e-03 8.13992985e+01] [ 8.72320751e-01 4.88858049e-01 -8.62065785e-03 -1.16232342e+02] [-9.91912841e-03 6.63337879e-05 -9.99950802e-01 2.26829427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.73999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.41, Y:-116.24, Z:2.27 [[-5.54228211e-01 8.32341000e-01 6.28885697e-03 8.14088859e+01] [ 8.32289332e-01 5.54263882e-01 -9.27453194e-03 -1.16237684e+02] [-1.12052595e-02 9.39413233e-05 -9.99937215e-01 2.26894478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.76999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.42, Y:-116.24, Z:2.27 [[-6.16948100e-01 7.86971353e-01 7.15058543e-03 8.14198910e+01] [ 7.86920507e-01 6.16989528e-01 -8.94643376e-03 -1.16239586e+02] [-1.14524234e-02 1.07456998e-04 -9.99934413e-01 2.26824002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.79999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.43, Y:-116.24, Z:2.27 [[-6.76067533e-01 7.36796674e-01 7.95942906e-03 8.14320190e+01] [ 7.36747683e-01 6.76114374e-01 -8.49733573e-03 -1.16239931e+02] [-1.16422931e-02 1.19318114e-04 -9.99932219e-01 2.26816392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.82999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.44, Y:-116.24, Z:2.27 [[-7.31078087e-01 6.82238545e-01 8.68317989e-03 8.14438708e+01] [ 6.82192546e-01 7.31129640e-01 -7.92334855e-03 -1.16240476e+02] [-1.17541440e-02 1.31014094e-04 -9.99930909e-01 2.26864107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.85999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.46, Y:-116.22, Z:2.27 [[-7.76607823e-01 6.29922259e-01 8.84521617e-03 8.14649819e+01] [ 6.29883472e-01 7.76658180e-01 -6.99165272e-03 -1.16220417e+02] [-1.12739072e-02 1.41683276e-04 -9.99936437e-01 2.26845675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.49, Y:-116.20, Z:2.27 [[-8.18740431e-01 5.74092206e-01 9.06889643e-03 8.14891550e+01] [ 5.74058962e-01 8.18790643e-01 -6.17986973e-03 -1.16203977e+02] [-1.09733426e-02 1.46372058e-04 -9.99939780e-01 2.26840598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.92 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.51, Y:-116.19, Z:2.27 [[-8.57056433e-01 5.15139598e-01 9.24470949e-03 8.15147476e+01] [ 5.15111494e-01 8.57106278e-01 -5.38297005e-03 -1.16187171e+02] [-1.06966796e-02 1.48547002e-04 -9.99942778e-01 2.26790810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.95 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.53, Y:-116.16, Z:2.27 [[-8.91156364e-01 4.53603412e-01 9.18043901e-03 8.15296322e+01] [ 4.53581040e-01 8.91203637e-01 -4.50737444e-03 -1.16162947e+02] [-1.02262011e-02 1.47297663e-04 -9.99947700e-01 2.26683706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.98 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.55, Y:-116.14, Z:2.27 [[-9.20850930e-01 3.89798908e-01 9.50663084e-03 8.15509724e+01] [ 3.89779840e-01 9.20899988e-01 -3.85858678e-03 -1.16142410e+02] [-1.02587291e-02 1.52309821e-04 -9.99947366e-01 2.26687573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.01 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.57, Y:-116.12, Z:2.27 [[-9.46153429e-01 3.23553387e-01 1.03389266e-02 8.15681958e+01] [ 3.23535932e-01 9.46209902e-01 -3.36473936e-03 -1.16118283e+02] [-1.08714675e-02 1.61454562e-04 -9.99940891e-01 2.26691067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.04 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.58, Y:-116.09, Z:2.27 [[-9.66786966e-01 2.55358203e-01 1.07307899e-02 8.15793125e+01] [ 2.55344316e-01 9.66846504e-01 -2.66790764e-03 -1.16092163e+02] [-1.10562988e-02 1.60747867e-04 -9.99938864e-01 2.26725468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.79, Y:-115.27, Z:1.42 [[-9.56173014e-01 -2.92606033e-01 1.07180873e-02 8.17924097e+01] [ 2.92585877e-01 -9.56233071e-01 -3.43769348e-03 -1.15273616e+02] [ 1.12548794e-02 -1.51068769e-04 9.99936650e-01 1.42068836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.1 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.53, Y:-116.08, Z:2.27 [[-9.68060173e-01 2.50465527e-01 1.12481654e-02 8.15325959e+01] [ 2.50450487e-01 9.68125506e-01 -2.74920902e-03 -1.16079653e+02] [-1.15782179e-02 1.55708746e-04 -9.99932958e-01 2.26741746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.13 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.54, Y:-116.05, Z:2.27 [[-9.83512271e-01 1.80455656e-01 1.18054844e-02 8.15424464e+01] [ 1.80444517e-01 9.83583109e-01 -2.01081224e-03 -1.16052573e+02] [-1.19745375e-02 1.52576420e-04 -9.99928291e-01 2.26748452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.16 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.55, Y:-116.02, Z:2.27 [[-9.94051059e-01 1.08222418e-01 1.22637957e-02 8.15479238e+01] [ 1.08215829e-01 9.94126698e-01 -1.20153572e-03 -1.16023629e+02] [-1.23217998e-02 1.32748963e-04 -9.99924075e-01 2.26848138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.19 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.55, Y:-116.00, Z:2.27 [[-9.99260634e-01 3.63628867e-02 1.24870529e-02 8.15452746e+01] [ 3.63615845e-02 9.99338644e-01 -3.31379285e-04 -1.15995412e+02] [-1.24908444e-02 1.22914756e-04 -9.99921979e-01 2.26875266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.22 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.55, Y:-115.97, Z:2.27 [[-9.99240977e-01 -3.70635677e-02 1.19900835e-02 8.15517037e+01] [-3.70598038e-02 9.99312906e-01 5.36022198e-04 -1.15966355e+02] [-1.20017121e-02 9.12652016e-05 -9.99927973e-01 2.26855229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.25 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.51, Y:-115.13, Z:1.42 [[-9.99798153e-01 -1.67309403e-02 1.11233384e-02 8.15106252e+01] [ 1.67283039e-02 -9.99860018e-01 -3.30023002e-04 -1.15134548e+02] [ 1.11273029e-02 -1.43881804e-04 9.99938079e-01 1.42150735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.28 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.44, Y:-115.97, Z:2.27 [[-9.98860044e-01 -4.65752902e-02 1.04572405e-02 8.14428889e+01] [-4.65722234e-02 9.98914781e-01 5.36726091e-04 -1.15967476e+02] [-1.04708902e-02 4.90973078e-05 -9.99945178e-01 2.26682350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.31 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.41, Y:-115.14, Z:1.42 [[-9.99860848e-01 -1.32111693e-02 1.01857315e-02 8.14093036e+01] [ 1.32097998e-02 -9.99912726e-01 -2.01720741e-04 -1.15140401e+02] [ 1.01875075e-02 -6.71411972e-05 9.99948104e-01 1.42194072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.34 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.34, Y:-115.97, Z:2.27 [[-9.98275855e-01 -5.79044040e-02 9.61240156e-03 8.13407461e+01] [-5.79017537e-02 9.98322132e-01 5.54014489e-04 -1.15968915e+02] [-9.62835311e-03 -3.51562035e-06 -9.99953646e-01 2.26638188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.37 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.34, Y:-115.94, Z:2.27 [[-9.91350262e-01 -1.30886633e-01 9.66162166e-03 8.13368101e+01] [-1.30880642e-01 9.91397341e-01 1.25254605e-03 -1.15940631e+02] [-9.74244757e-03 -2.28073886e-05 -9.99952541e-01 2.26632167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.4 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.32, Y:-115.91, Z:2.27 [[-9.79001921e-01 -2.03621381e-01 9.67325296e-03 8.13221338e+01] [-2.03611880e-01 9.79049708e-01 1.96748279e-03 -1.15914102e+02] [-9.87121705e-03 -4.34197906e-05 -9.99951277e-01 2.26599287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.42999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.29, Y:-115.89, Z:2.27 [[-9.61044153e-01 -2.76223623e-01 9.72859461e-03 8.12890720e+01] [-2.76210190e-01 9.61093391e-01 2.72495144e-03 -1.15892294e+02] [-1.01027839e-02 -6.83383223e-05 -9.99948963e-01 2.26644364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.45999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.23, Y:-115.88, Z:2.27 [[-9.37294090e-01 -3.48403232e-01 9.74561281e-03 8.12306513e+01] [-3.48385454e-01 9.37344749e-01 3.52092048e-03 -1.15880524e+02] [-1.03616991e-02 -9.50917800e-05 -9.99946312e-01 2.26691159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.48999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.16, Y:-115.88, Z:2.27 [[-9.08024236e-01 -4.18810600e-01 9.46932223e-03 8.11627141e+01] [-4.18789199e-01 9.08073602e-01 4.23550397e-03 -1.15877269e+02] [-1.03727155e-02 -1.19709612e-04 -9.99946195e-01 2.26667718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.51999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.09, Y:-115.88, Z:2.27 [[-8.72202668e-01 -4.89041859e-01 1.00282939e-02 8.10900056e+01] [-4.89011902e-01 8.72260298e-01 5.41582315e-03 -1.15879670e+02] [-1.13958469e-02 -1.80259697e-04 -9.99935049e-01 2.26808623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.54999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:81.01, Y:-115.89, Z:2.27 [[-8.32054304e-01 -5.54599051e-01 1.02726536e-02 8.10105372e+01] [-5.54559954e-01 8.32117688e-01 6.58873481e-03 -1.15893839e+02] [-1.22021629e-02 -2.14617172e-04 -9.99925528e-01 2.26866888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.57999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.93, Y:-115.92, Z:2.27 [[-7.87825813e-01 -6.15820998e-01 9.74610118e-03 8.09261916e+01] [-6.15777228e-01 7.87886066e-01 7.34529401e-03 -1.15919290e+02] [-1.22022036e-02 -2.14614942e-04 -9.99925527e-01 2.26867053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.60999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.83, Y:-115.96, Z:2.27 [[-7.38044916e-01 -6.74688899e-01 9.19730245e-03 8.08349331e+01] [-6.74640399e-01 7.38102185e-01 8.09301827e-03 -1.15957547e+02] [-1.22488186e-02 -2.31860805e-04 -9.99924954e-01 2.26955490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.64 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.75, Y:-116.00, Z:2.27 [[-6.83147453e-01 -7.30231272e-01 8.47632670e-03 8.07506492e+01] [-7.30179614e-01 6.83199990e-01 8.68935278e-03 -1.15999295e+02] [-1.21362634e-02 -2.53131748e-04 -9.99926321e-01 2.26922036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.67 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.66, Y:-116.06, Z:2.27 [[-6.24850844e-01 -7.80707770e-01 7.53667887e-03 8.06636032e+01] [-7.80655805e-01 6.24896243e-01 9.01111139e-03 -1.16055044e+02] [-1.17446870e-02 -2.52951549e-04 -9.99930997e-01 2.26875695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.7 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.58, Y:-116.12, Z:2.27 [[-5.62472675e-01 -8.26792939e-01 6.15837038e-03 8.05809502e+01] [-8.26747950e-01 5.62506337e-01 8.62836785e-03 -1.16117784e+02] [-1.05979960e-02 -2.38198942e-04 -9.99943811e-01 2.26732593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.73 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.50, Y:-116.19, Z:2.27 [[-4.96972456e-01 -8.67749096e-01 5.46671570e-03 8.04991627e+01] [-8.67701870e-01 4.97002463e-01 9.05626503e-03 -1.16192566e+02] [-1.05755370e-02 -2.42765162e-04 -9.99944048e-01 2.26728770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.76 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.42, Y:-116.28, Z:2.27 [[-4.28228739e-01 -9.03658254e-01 4.68055142e-03 8.04213647e+01] [-9.03610401e-01 4.28254247e-01 9.30285179e-03 -1.16277018e+02] [-1.04110648e-02 -2.45646449e-04 -9.99945773e-01 2.26734992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.79 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.35, Y:-116.37, Z:2.27 [[-3.57261795e-01 -9.33995660e-01 4.01472464e-03 8.03511079e+01] [-9.33944334e-01 3.57284264e-01 9.79464505e-03 -1.16366509e+02] [-1.05825539e-02 -2.50276865e-04 -9.99943972e-01 2.26781689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.82 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.29, Y:-116.46, Z:2.27 [[-2.83856022e-01 -9.58861419e-01 3.24624144e-03 8.02872851e+01] [-9.58808525e-01 2.83874472e-01 1.00746070e-02 -1.16463015e+02] [-1.05816771e-02 -2.52786087e-04 -9.99943981e-01 2.26819756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.85 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.23, Y:-116.57, Z:2.27 [[-2.09122167e-01 -9.77886315e-01 2.50470158e-03 8.02305877e+01] [-9.77830067e-01 2.09137010e-01 1.04915040e-02 -1.16566410e+02] [-1.07833240e-02 -2.55166471e-04 -9.99941826e-01 2.26889001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.88 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.18, Y:-116.68, Z:2.27 [[-1.34145562e-01 -9.90960046e-01 1.77624728e-03 8.01825421e+01] [-9.90896479e-01 1.34157081e-01 1.12270408e-02 -1.16679237e+02] [-1.13638450e-02 -2.54019481e-04 -9.99935397e-01 2.27013685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.91 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.15, Y:-116.79, Z:2.27 [[-5.78864228e-02 -9.98322731e-01 9.41605165e-04 8.01480944e+01] [-9.98252616e-01 5.78935194e-02 1.18344554e-02 -1.16792908e+02] [-1.18691186e-02 -2.54905532e-04 -9.99929527e-01 2.26807299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.94 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.11, Y:-116.90, Z:2.27 [[ 1.86846267e-02 -9.99825427e-01 2.29083147e-05 8.01130770e+01] [-9.99749071e-01 -1.86829166e-02 1.23589366e-02 -1.16898425e+02] [-1.23563510e-02 -2.53824683e-04 -9.99923625e-01 2.27116841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.97 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.09, Y:-117.02, Z:2.27 [[ 9.44972031e-02 -9.95524620e-01 -1.00481422e-03 8.00921190e+01] [-9.95436388e-01 -9.45022080e-02 1.32563267e-02 -1.17022166e+02] [-1.32919567e-02 -2.52457159e-04 -9.99911626e-01 2.27295691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.0 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.08, Y:-117.14, Z:2.27 [[ 1.70636033e-01 -9.85331819e-01 -2.13340388e-03 8.00787161e+01] [-9.85235018e-01 -1.70649179e-01 1.38136401e-02 -1.17137965e+02] [-1.39750828e-02 -2.55200543e-04 -9.99902311e-01 2.27346394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.03 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.08, Y:-117.27, Z:2.27 [[ 2.46046646e-01 -9.69252357e-01 -3.30417697e-03 8.00764559e+01] [-9.69150352e-01 -2.46068695e-01 1.40638536e-02 -1.17265373e+02] [-1.44444778e-02 -2.58119728e-04 -9.99895640e-01 2.27400969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.06 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.08, Y:-117.37, Z:2.27 [[ 3.19931333e-01 -9.47430238e-01 -4.45942718e-03 8.00789012e+01] [-9.47326779e-01 -3.19962309e-01 1.40033837e-02 -1.17373432e+02] [-1.46940777e-02 -2.55586415e-04 -9.99892004e-01 2.27448359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.09 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.10, Y:-117.49, Z:2.27 [[ 3.91653075e-01 -9.20097043e-01 -5.41293418e-03 8.00950065e+01] [-9.20000529e-01 -3.91690405e-01 1.33286426e-02 -1.17494815e+02] [-1.43838390e-02 -2.40301543e-04 -9.99896518e-01 2.27400408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.12 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.13, Y:-117.62, Z:2.27 [[ 4.60372386e-01 -8.87706481e-01 -5.87112775e-03 8.01276482e+01] [-8.87628675e-01 -4.60409779e-01 1.17546167e-02 -1.17616591e+02] [-1.31377740e-02 -2.00119590e-04 -9.99913676e-01 2.26905440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.15 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.15, Y:-117.72, Z:2.27 [[ 5.26802327e-01 -8.49965296e-01 -6.18894999e-03 8.01477831e+01] [-8.49902767e-01 -5.26838652e-01 1.03112290e-02 -1.17716855e+02] [-1.20247649e-02 -1.71973729e-04 -9.99927685e-01 2.27187153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.17999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.19, Y:-117.83, Z:2.27 [[ 5.90142140e-01 -8.07272658e-01 -6.56586403e-03 8.01934338e+01] [-8.07219800e-01 -5.90178645e-01 9.23914842e-03 -1.17825641e+02] [-1.13335446e-02 -1.52315371e-04 -9.99935762e-01 2.26697827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.20999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.24, Y:-117.92, Z:2.27 [[ 6.48958656e-01 -7.60798994e-01 -6.12814435e-03 8.02373331e+01] [-7.60763496e-01 -6.48987581e-01 7.35003244e-03 -1.17924891e+02] [-9.56898686e-03 -1.07798657e-04 -9.99954210e-01 2.26567310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.23999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.29, Y:-118.02, Z:2.27 [[ 7.05051795e-01 -7.09127956e-01 -6.28562997e-03 8.02886218e+01] [-7.09098561e-01 -7.05079806e-01 6.45738461e-03 -1.18022151e+02] [-9.01098271e-03 -9.56594449e-05 -9.99959396e-01 2.26514939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.26999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.35, Y:-118.11, Z:2.27 [[ 7.56798250e-01 -6.53620706e-01 -6.03170154e-03 8.03463174e+01] [-6.53599118e-01 -7.56822282e-01 5.31275174e-03 -1.18114710e+02] [-8.03745066e-03 -7.83664123e-05 -9.99967696e-01 2.26507044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.29999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.34, Y:-118.12, Z:2.26 [[ 8.05088022e-01 -5.93126913e-01 -5.80872166e-03 8.03419386e+01] [-5.93110888e-01 -8.05108974e-01 4.36056147e-03 -1.18120150e+02] [-7.26302030e-03 -6.54197497e-05 -9.99973622e-01 2.26494196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.32999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.34, Y:-118.13, Z:2.26 [[ 8.48749546e-01 -5.28758996e-01 -6.17515306e-03 8.03371545e+01] [-5.28744461e-01 -8.48772007e-01 3.92106804e-03 -1.18125932e+02] [-7.31459706e-03 -6.29267392e-05 -9.99973246e-01 2.26424730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.35999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.33, Y:-118.13, Z:2.27 [[ 8.87465600e-01 -4.60815797e-01 -7.32182182e-03 8.03296730e+01] [-4.60799450e-01 -8.87495801e-01 3.88207567e-03 -1.18132223e+02] [-8.28700791e-03 -7.13171436e-05 -9.99965660e-01 2.26534603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.39 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.32, Y:-118.14, Z:2.27 [[ 9.20919079e-01 -3.89665935e-01 -8.27704893e-03 8.03236358e+01] [-3.89649403e-01 -9.20956271e-01 3.59030329e-03 -1.18138304e+02] [-9.02181900e-03 -8.12316304e-05 -9.99959299e-01 2.26590671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.42 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.32, Y:-118.14, Z:2.27 [[ 9.48683873e-01 -3.16102441e-01 -8.84059117e-03 8.03185198e+01] [-3.16087850e-01 -9.48725060e-01 3.03845454e-03 -1.18144209e+02] [-9.34775328e-03 -8.81293610e-05 -9.99956305e-01 2.26632394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.45 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.31, Y:-118.15, Z:2.27 [[ 9.70603764e-01 -2.40483951e-01 -9.78793610e-03 8.03131105e+01] [-2.40470679e-01 -9.70653110e-01 2.52846402e-03 -1.18150227e+02] [-1.01087456e-02 -1.00425056e-04 -9.99948900e-01 2.26739177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.48 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.31, Y:-118.16, Z:2.27 [[ 9.86542352e-01 -1.63183197e-01 -1.02679560e-02 8.03057127e+01] [-1.63173201e-01 -9.86595779e-01 1.80951480e-03 -1.18156201e+02] [-1.04256044e-02 -1.09707744e-04 -9.99945646e-01 2.26743084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.51 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.30, Y:-118.16, Z:2.27 [[ 9.96284619e-01 -8.54318771e-02 -1.08789564e-02 8.02975501e+01] [-8.54255193e-02 -9.96344007e-01 1.04861126e-03 -1.18162667e+02] [-1.09287678e-02 -1.15374772e-04 -9.99940273e-01 2.26849086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.54 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.29, Y:-118.17, Z:2.27 [[ 9.99909374e-01 -7.56337430e-03 -1.11372603e-02 8.02916056e+01] [-7.56164226e-03 -9.99971391e-01 1.97618966e-04 -1.18169065e+02] [-1.11384364e-02 -1.13385078e-04 -9.99937959e-01 2.26837428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.29, Y:-118.18, Z:2.27 [[ 9.97436535e-01 7.07239535e-02 -1.08849451e-02 8.02859238e+01] [ 7.07209523e-02 -9.97495920e-01 -6.60865536e-04 -1.18176984e+02] [-1.09044274e-02 -1.10622255e-04 -9.99940539e-01 2.26861297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.6 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.28, Y:-118.19, Z:2.27 [[ 9.88881522e-01 1.48339539e-01 -1.04267409e-02 8.02813111e+01] [ 1.48332401e-01 -9.88936484e-01 -1.45891493e-03 -1.18185006e+02] [-1.05277993e-02 -1.03929499e-04 -9.99944576e-01 2.26883906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.63 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.28, Y:-118.19, Z:2.27 [[ 9.74167546e-01 2.25590265e-01 -1.03259418e-02 8.02770347e+01] [ 2.25578756e-01 -9.74222265e-01 -2.28119709e-03 -1.18192622e+02] [-1.05743782e-02 -1.07044933e-04 -9.99944084e-01 2.26820748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.66 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.27, Y:-118.20, Z:2.27 [[ 9.53540151e-01 3.01093256e-01 -1.01995999e-02 8.02733952e+01] [ 3.01077234e-01 -9.53594694e-01 -3.10792019e-03 -1.18201727e+02] [-1.06620581e-02 -1.07340633e-04 -9.99943153e-01 2.26788443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.69 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.27, Y:-118.21, Z:2.27 [[ 9.26751170e-01 3.75547492e-01 -9.81582275e-03 8.02696642e+01] [ 3.75527728e-01 -9.26803144e-01 -3.85450961e-03 -1.18211415e+02] [-1.05448868e-02 -1.13942326e-04 -9.99944395e-01 2.26828536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.72 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.27, Y:-118.22, Z:2.27 [[ 8.94286446e-01 4.47388652e-01 -9.75431049e-03 8.02657700e+01] [ 4.47363535e-01 -8.94339633e-01 -4.74216671e-03 -1.18218244e+02] [-1.08452580e-02 -1.22867411e-04 -9.99941181e-01 2.26852305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.26, Y:-118.23, Z:2.27 [[ 8.56314150e-01 5.16375229e-01 -9.09391121e-03 8.02639132e+01] [ 5.16347645e-01 -8.56362427e-01 -5.33878683e-03 -1.18226344e+02] [-1.05445012e-02 -1.23940930e-04 -9.99944398e-01 2.26815220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.78 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.26, Y:-118.24, Z:2.27 [[ 8.12964564e-01 5.82249150e-01 -8.63394275e-03 8.02634363e+01] [ 5.82217996e-01 -8.13010400e-01 -6.02445552e-03 -1.18236480e+02] [-1.05272194e-02 -1.29167989e-04 -9.99944579e-01 2.26773276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.81 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.26, Y:-118.25, Z:2.27 [[ 7.64298592e-01 6.44804361e-01 -8.66012820e-03 8.02645455e+01] [ 6.44765145e-01 -7.64347640e-01 -7.11297053e-03 -1.18247410e+02] [-1.12058230e-02 -1.47315448e-04 -9.99937202e-01 2.26830537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.84 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.27, Y:-118.26, Z:2.27 [[ 7.11129724e-01 7.03007648e-01 -8.64649616e-03 8.02655205e+01] [ 7.02958462e-01 -7.11182269e-01 -8.31750028e-03 -1.18258038e+02] [-1.19965011e-02 -1.63305955e-04 -9.99928026e-01 2.26883030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.87 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.27, Y:-118.27, Z:2.27 [[ 6.53604315e-01 7.56786862e-01 -8.66287102e-03 8.02660782e+01] [ 7.56724065e-01 -6.53661696e-01 -9.75071169e-03 -1.18268686e+02] [-1.30417975e-02 -1.82295742e-04 -9.99914936e-01 2.26943874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.9 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.27, Y:-118.28, Z:2.27 [[ 5.92255195e-01 8.05708339e-01 -8.23748460e-03 8.02675305e+01] [ 8.05634880e-01 -5.92312447e-01 -1.08814103e-02 -1.18278343e+02] [-1.36464077e-02 -1.91833115e-04 -9.99906865e-01 2.26961222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.92999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.27, Y:-118.29, Z:2.27 [[ 5.27293091e-01 8.49649167e-01 -7.63468474e-03 8.02687907e+01] [ 8.49565537e-01 -5.27348322e-01 -1.19224595e-02 -1.18288480e+02] [-1.41560460e-02 -1.99534520e-04 -9.99899778e-01 2.27047935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.95999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.27, Y:-118.30, Z:2.27 [[ 4.59323917e-01 8.88242835e-01 -6.79745381e-03 8.02707713e+01] [ 8.88151943e-01 -4.59374168e-01 -1.27082911e-02 -1.18297122e+02] [-1.44106232e-02 -1.99949760e-04 -9.99896142e-01 2.26962831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.98999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.27, Y:-118.31, Z:2.27 [[ 3.88767616e-01 9.21318975e-01 -5.57560923e-03 8.02732732e+01] [ 9.21231005e-01 -3.88807552e-01 -1.27327325e-02 -1.18306441e+02] [-1.38987470e-02 -1.86350043e-04 -9.99903390e-01 2.27001640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.01999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.28, Y:-118.31, Z:2.27 [[ 3.15700312e-01 9.48848307e-01 -4.49478038e-03 8.02766658e+01] [ 9.48760109e-01 -3.15732257e-01 -1.29382141e-02 -1.18314537e+02] [-1.36955497e-02 -1.79870092e-04 -9.99906195e-01 2.26927435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.04999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.28, Y:-118.32, Z:2.27 [[ 2.40801736e-01 9.70568417e-01 -3.38715778e-03 8.02806771e+01] [ 9.70482116e-01 -2.40825497e-01 -1.29438143e-02 -1.18323514e+02] [-1.33785713e-02 -1.70283103e-04 -9.99910488e-01 2.26906689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.07999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.28, Y:-118.33, Z:2.27 [[ 1.64192420e-01 9.86425682e-01 -2.28524496e-03 8.02839214e+01] [ 9.86343445e-01 -1.64208242e-01 -1.27381887e-02 -1.18331468e+02] [-1.29405325e-02 -1.62522356e-04 -9.99916255e-01 2.26766064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.10999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.29, Y:-118.34, Z:2.27 [[ 8.67652848e-02 9.96228018e-01 -1.23357665e-03 8.02895450e+01] [ 9.96150751e-01 -8.67739200e-02 -1.24084060e-02 -1.18339033e+02] [-1.24686440e-02 -1.52209419e-04 -9.99922252e-01 2.26685784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.14 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.30, Y:-118.35, Z:2.27 [[ 8.95385080e-03 9.99959883e-01 -2.45772727e-04 8.02964544e+01] [ 9.99888950e-01 -8.95614321e-03 -1.19111740e-02 -1.18346838e+02] [-1.19128973e-02 -1.39094559e-04 -9.99929029e-01 2.26627773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.17 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.30, Y:-118.35, Z:2.27 [[-6.88358465e-02 9.97627801e-01 6.30522906e-04 8.03036035e+01] [ 9.97568330e-01 6.88386281e-02 -1.08935652e-02 -1.18354161e+02] [-1.09111278e-02 -1.20878101e-04 -9.99940465e-01 2.26571564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.2 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.31, Y:-118.36, Z:2.27 [[-1.46372974e-01 9.89228460e-01 1.41665506e-03 8.03122084e+01] [ 9.89174475e-01 1.46379787e-01 -1.03351961e-02 -1.18361101e+02] [-1.04312398e-02 -1.11474365e-04 -9.99945587e-01 2.26573236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.23 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.32, Y:-118.37, Z:2.27 [[-2.23458775e-01 9.74710534e-01 2.35586661e-03 8.03213568e+01] [ 9.74650628e-01 2.23471162e-01 -1.08071072e-02 -1.18367339e+02] [-1.10602694e-02 -1.18796057e-04 -9.99938826e-01 2.26615410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.26 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.33, Y:-118.37, Z:2.27 [[-2.99162576e-01 9.54196147e-01 3.38605579e-03 8.03302282e+01] [ 9.54130168e-01 2.99181711e-01 -1.12216524e-02 -1.18373731e+02] [-1.17207034e-02 -1.26360454e-04 -9.99931302e-01 2.26705179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.29 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.34, Y:-118.38, Z:2.27 [[-3.73101910e-01 9.27779296e-01 4.53246945e-03 8.03400423e+01] [ 9.27706346e-01 3.73129414e-01 -1.16350907e-02 -1.18378570e+02] [-1.24859939e-02 -1.36273879e-04 -9.99922038e-01 2.26708540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.32 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.35, Y:-118.38, Z:2.27 [[-4.45019563e-01 8.95502408e-01 5.74673629e-03 8.03499079e+01] [ 8.95423363e-01 4.45056642e-01 -1.18990264e-02 -1.18383024e+02] [-1.32132300e-02 -1.49537608e-04 -9.99912690e-01 2.26698232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.35 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.36, Y:-118.39, Z:2.27 [[-5.13900720e-01 8.57823114e-01 6.74946407e-03 8.03614289e+01] [ 8.57745177e-01 5.13945018e-01 -1.15641550e-02 -1.18386777e+02] [-1.33888529e-02 -1.53507347e-04 -9.99910354e-01 2.26814503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.38 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.37, Y:-118.39, Z:2.27 [[-5.79700200e-01 8.14794570e-01 7.58198383e-03 8.03708923e+01] [ 8.14721359e-01 5.79749760e-01 -1.09234605e-02 -1.18389302e+02] [-1.32960296e-02 -1.55128081e-04 -9.99911592e-01 2.26742668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.41 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.38, Y:-118.39, Z:2.27 [[-6.41807803e-01 7.66818821e-01 8.46399769e-03 8.03825781e+01] [ 7.66748901e-01 6.41863592e-01 -1.03562803e-02 -1.18389666e+02] [-1.33741226e-02 -1.56980576e-04 -9.99910550e-01 2.26682936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.44 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.39, Y:-118.39, Z:2.27 [[-6.99826567e-01 7.14256693e-01 8.95278493e-03 8.03942724e+01] [ 7.14195483e-01 6.99883815e-01 -9.35188825e-03 -1.18389860e+02] [-1.29455580e-02 -1.50661296e-04 -9.99916191e-01 2.26747423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.47 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.40, Y:-118.39, Z:2.27 [[-7.52764969e-01 6.58227119e-01 9.05322904e-03 8.04038855e+01] [ 6.58177511e-01 7.52819397e-01 -8.08207854e-03 -1.18389675e+02] [-1.21352897e-02 -1.25273849e-04 -9.99926357e-01 2.26655077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.43, Y:-118.37, Z:2.27 [[-7.97404368e-01 6.03368941e-01 9.60182035e-03 8.04271432e+01] [ 6.03323303e-01 7.97462166e-01 -7.42204206e-03 -1.18373685e+02] [-1.21353181e-02 -1.25366794e-04 -9.99926356e-01 2.26655109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.53 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.44, Y:-118.35, Z:2.27 [[-8.37507635e-01 5.46342310e-01 9.54159253e-03 8.04435464e+01] [ 5.46305404e-01 8.37561979e-01 -6.35105088e-03 -1.18353271e+02] [-1.14615229e-02 -1.06430044e-04 -9.99934309e-01 2.26595129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.47, Y:-118.34, Z:2.26 [[-8.72962943e-01 4.87702007e-01 9.08033995e-03 8.04728624e+01] [ 4.87674751e-01 8.73010164e-01 -5.15653901e-03 -1.18342274e+02] [-1.04420835e-02 -7.32149410e-05 -9.99945477e-01 2.26423586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.59 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.49, Y:-118.32, Z:2.26 [[-9.04570258e-01 4.26234125e-01 8.78174790e-03 8.04900700e+01] [ 4.26213480e-01 9.04612883e-01 -4.19539963e-03 -1.18322090e+02] [-9.73230478e-03 -5.21343826e-05 -9.99952639e-01 2.26356942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.62 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.50, Y:-118.30, Z:2.26 [[-9.31914562e-01 3.62567449e-01 8.94949506e-03 8.05046480e+01] [ 3.62550352e-01 9.31957533e-01 -3.52114337e-03 -1.18299891e+02] [-9.61720131e-03 -3.67621926e-05 -9.99953753e-01 2.26360137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.65 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.53, Y:-118.28, Z:2.26 [[-9.54766619e-01 2.97217186e-01 9.09110951e-03 8.05290501e+01] [ 2.97203507e-01 9.54809899e-01 -2.85157838e-03 -1.18280666e+02] [-9.52781946e-03 -2.06822245e-05 -9.99954609e-01 2.26376301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.67999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.54, Y:-118.26, Z:2.26 [[-9.73076272e-01 2.30282920e-01 9.60962234e-03 8.05433197e+01] [ 2.30271631e-01 9.73123721e-01 -2.28022932e-03 -1.18257078e+02] [-9.87644932e-03 -6.01364509e-06 -9.99951227e-01 2.26498427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.70999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.75, Y:-117.43, Z:1.42 [[-9.55746147e-01 -2.94030421e-01 9.76800516e-03 8.07510525e+01] [ 2.94015348e-01 -9.55796061e-01 -2.97725643e-03 -1.17433945e+02] [ 1.02116248e-02 2.64420770e-05 9.99947860e-01 1.42373422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.73999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.49, Y:-118.25, Z:2.26 [[-9.73209376e-01 2.29712243e-01 9.78755765e-03 8.04946074e+01] [ 2.29700913e-01 9.73258591e-01 -2.28165980e-03 -1.18249290e+02] [-1.00499498e-02 2.76782231e-05 -9.99949498e-01 2.26475625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.76999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.69, Y:-117.42, Z:1.42 [[-9.57197490e-01 -2.89279128e-01 9.51580608e-03 8.06935832e+01] [ 2.89264485e-01 -9.57244789e-01 -2.91076627e-03 -1.17419617e+02] [ 9.95097971e-03 -3.35934180e-05 9.99950487e-01 1.42404032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.79999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.45, Y:-118.24, Z:2.26 [[-9.74000741e-01 2.26313016e-01 1.02457118e-02 8.04474540e+01] [ 2.26300877e-01 9.74054628e-01 -2.34418219e-03 -1.18240064e+02] [-1.05104019e-02 3.53783802e-05 -9.99944764e-01 2.26466069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.82999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.46, Y:-118.21, Z:2.26 [[-9.87620214e-01 1.56478392e-01 1.09921190e-02 8.04558860e+01] [ 1.56469102e-01 9.87681382e-01 -1.70541372e-03 -1.18213838e+02] [-1.11235717e-02 3.56259255e-05 -9.99938131e-01 2.26465704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.85999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.46, Y:-118.19, Z:2.26 [[-9.96274515e-01 8.55632986e-02 1.07708810e-02 8.04647717e+01] [ 8.55586307e-02 9.96332736e-01 -8.94269174e-04 -1.18186709e+02] [-1.08078979e-02 3.06042392e-05 -9.99941593e-01 2.26480038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.46, Y:-118.16, Z:2.27 [[-9.99844845e-01 1.40076283e-02 1.06804476e-02 8.04607969e+01] [ 1.40070868e-02 9.99901888e-01 -1.25510050e-04 -1.18158864e+02] [-1.06811578e-02 2.41113796e-05 -9.99942955e-01 2.26535527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.92 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.48, Y:-117.31, Z:1.42 [[-9.96920634e-01 -7.77552213e-02 1.01673314e-02 8.04798619e+01] [ 7.77506157e-02 -9.96972478e-01 -8.48061284e-04 -1.17306494e+02] [ 1.02024907e-02 -5.49335182e-05 9.99947952e-01 1.42454819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.95 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.36, Y:-118.16, Z:2.26 [[-9.99930040e-01 6.25305036e-03 1.00406605e-02 8.03640364e+01] [ 6.25281146e-03 9.99980449e-01 -5.51849995e-05 -1.18155623e+02] [-1.00408093e-02 7.60121847e-06 -9.99949590e-01 2.26337007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.98 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.38, Y:-117.31, Z:1.43 [[-9.97184040e-01 -7.44407112e-02 9.08684678e-03 8.03823869e+01] [ 7.44369820e-02 -9.97225439e-01 -7.48385450e-04 -1.17307346e+02] [ 9.11734511e-03 -6.98805763e-05 9.99958434e-01 1.42619214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.01 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.27, Y:-118.15, Z:2.26 [[-9.99953642e-01 -2.93753982e-03 9.16982363e-03 8.02707777e+01] [-2.93761232e-03 9.99995685e-01 5.56255499e-06 -1.18150916e+02] [-9.16980041e-03 -2.13750898e-05 -9.99957956e-01 2.26251296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.04 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.28, Y:-117.31, Z:1.43 [[-9.97479349e-01 -7.03796298e-02 9.03632264e-03 8.02793462e+01] [ 7.03768656e-02 -9.97520279e-01 -6.23913002e-04 -1.17308431e+02] [ 9.05782585e-03 1.36077289e-05 9.99958977e-01 1.42618291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.17, Y:-118.15, Z:2.26 [[-9.99878482e-01 -1.22945048e-02 9.58474362e-03 8.01712283e+01] [-1.22944653e-02 9.99924418e-01 6.30399090e-05 -1.18146755e+02] [-9.58479423e-03 -5.48070493e-05 -9.99954063e-01 2.26159926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.1 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.17, Y:-117.31, Z:1.43 [[-9.97636162e-01 -6.79705853e-02 1.01038810e-02 8.01730721e+01] [ 6.79680526e-02 -9.97687321e-01 -5.94238802e-04 -1.17310649e+02] [ 1.01209047e-02 9.39069974e-05 9.99948778e-01 1.42714609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.13 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.08, Y:-118.14, Z:2.26 [[-9.99730122e-01 -2.08006233e-02 1.03449498e-02 8.00845614e+01] [-2.08003656e-02 9.99783640e-01 1.32511506e-04 -1.18144768e+02] [-1.03454678e-02 -8.27029934e-05 -9.99946481e-01 2.26107787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.16 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.08, Y:-118.12, Z:2.26 [[-9.95612610e-01 -9.29048471e-02 1.11453772e-02 8.00832798e+01] [-9.29001589e-02 9.95674987e-01 9.38748393e-04 -1.18116528e+02] [-1.11843876e-02 -1.00777580e-04 -9.99937448e-01 2.26082871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.19 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:80.02, Y:-117.29, Z:1.43 [[-9.99915204e-01 6.36786157e-03 1.13593756e-02 8.00169682e+01] [-6.36615217e-03 -9.99979718e-01 1.86636924e-04 -1.17288466e+02] [ 1.13603337e-02 1.14305584e-04 9.99935463e-01 1.42874248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.22 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.97, Y:-118.12, Z:2.26 [[-9.94693514e-01 -1.02084304e-01 1.27909396e-02 7.99738203e+01] [-1.02077774e-01 9.94775740e-01 1.16403750e-03 -1.18121879e+02] [-1.28429464e-02 -1.47810084e-04 -9.99917515e-01 2.25990420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.25 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.97, Y:-118.09, Z:2.26 [[-9.84746429e-01 -1.73456585e-01 1.36851354e-02 7.99652972e+01] [-1.73442222e-01 9.84841502e-01 2.23857964e-03 -1.18093420e+02] [-1.38659857e-02 -1.69146980e-04 -9.99903848e-01 2.26153880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.28 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.82, Y:-117.28, Z:1.43 [[-9.96563963e-01 8.14881884e-02 1.48304486e-02 7.98193898e+01] [-8.14754081e-02 -9.96674276e-01 1.46492980e-03 -1.17284058e+02] [ 1.49005010e-02 2.51579404e-04 9.99888950e-01 1.42764647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.31 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.83, Y:-118.12, Z:2.26 [[-9.83345025e-01 -1.80991636e-01 1.65707562e-02 7.98267272e+01] [-1.80969622e-01 9.83484612e-01 2.83099555e-03 -1.18115216e+02] [-1.68094703e-02 -2.14958107e-04 -9.99858688e-01 2.26192874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.34 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.80, Y:-118.09, Z:2.26 [[-9.67766171e-01 -2.51265380e-01 1.71565364e-02 7.98044137e+01] [-2.51230052e-01 9.67918208e-01 4.21947742e-03 -1.18092246e+02] [-1.76663325e-02 -2.26770008e-04 -9.99843912e-01 2.26250816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.37 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.77, Y:-118.08, Z:2.26 [[-9.47003319e-01 -3.20766109e-01 1.71410865e-02 7.97698553e+01] [-3.20717885e-01 9.47158409e-01 5.56651373e-03 -1.18075142e+02] [-1.80208732e-02 -2.25946037e-04 -9.99837585e-01 2.26091603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.4 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.71, Y:-118.07, Z:2.26 [[-9.20901639e-01 -3.89425818e-01 1.69618055e-02 7.97085223e+01] [-3.89364233e-01 9.21057806e-01 6.92905180e-03 -1.18068871e+02] [-1.83211550e-02 -2.23345211e-04 -9.99832129e-01 2.26079313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.42999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.63, Y:-118.08, Z:2.26 [[-8.89607079e-01 -4.56440351e-01 1.61694685e-02 7.96302949e+01] [-4.56369344e-01 8.89753989e-01 8.05365338e-03 -1.18075809e+02] [-1.80628614e-02 -2.14662658e-04 -9.99836830e-01 2.25948212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.45999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.56, Y:-118.08, Z:2.26 [[-8.52669508e-01 -5.22214172e-01 1.57184006e-02 7.95586295e+01] [-5.22130245e-01 8.52814346e-01 9.36473081e-03 -1.18084401e+02] [-1.82952727e-02 -2.22031943e-04 -9.99832603e-01 2.25921345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.48999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.48, Y:-118.10, Z:2.26 [[-8.10720190e-01 -5.85234983e-01 1.52573717e-02 7.94813165e+01] [-5.85136647e-01 8.10863714e-01 1.07304150e-02 -1.18102785e+02] [-1.86514633e-02 -2.28283250e-04 -9.99826020e-01 2.25861595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.51999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.39, Y:-118.14, Z:2.26 [[-7.63874517e-01 -6.45205278e-01 1.43482119e-02 7.93914035e+01] [-6.45097208e-01 7.64009224e-01 1.18108857e-02 -1.18136604e+02] [-1.85826120e-02 -2.33956775e-04 -9.99827301e-01 2.25870517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.54999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.31, Y:-118.18, Z:2.26 [[-7.11768848e-01 -7.02281938e-01 1.36083314e-02 7.93061894e+01] [-7.02160479e-01 7.11898878e-01 1.30632625e-02 -1.18177894e+02] [-1.88618491e-02 -2.57209195e-04 -9.99822066e-01 2.25654532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.57999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.22, Y:-118.23, Z:2.26 [[-6.55507447e-01 -7.55081277e-01 1.27378029e-02 7.92166459e+01] [-7.54946835e-01 6.55631138e-01 1.42508614e-02 -1.18231610e+02] [-1.91118588e-02 -2.74818263e-04 -9.99817314e-01 2.25588610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.60999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.12, Y:-118.31, Z:2.26 [[-5.94933768e-01 -8.03685329e-01 1.19876480e-02 7.91193180e+01] [-8.03532465e-01 5.95054450e-01 1.56773526e-02 -1.18305858e+02] [-1.97329616e-02 -3.05477883e-04 -9.99805240e-01 2.25663598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.64 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.04, Y:-118.37, Z:2.26 [[-5.30598029e-01 -8.47550724e-01 1.11131002e-02 7.90442187e+01] [-8.47377867e-01 5.30714291e-01 1.71199196e-02 -1.18366100e+02] [-2.04078814e-02 -3.33199564e-04 -9.99791682e-01 2.25598253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.67 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.95, Y:-118.46, Z:2.26 [[-4.62569081e-01 -8.86521628e-01 1.04521918e-02 7.89541479e+01] [-8.86314065e-01 4.62686992e-01 1.91866212e-02 -1.18462743e+02] [-2.18454478e-02 -3.88786836e-04 -9.99761284e-01 2.25665647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.7 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.89, Y:-118.53, Z:2.26 [[-3.92275834e-01 -9.19802597e-01 9.10231016e-03 7.88899531e+01] [-9.19578620e-01 3.92381213e-01 2.03013598e-02 -1.18534392e+02] [-2.22448190e-02 -4.06556973e-04 -9.99752471e-01 2.25512765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.73 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.83, Y:-118.62, Z:2.25 [[-3.19984735e-01 -9.47393016e-01 7.49947779e-03 7.88250861e+01] [-9.47161983e-01 3.20072346e-01 2.09253937e-02 -1.18623258e+02] [-2.22249473e-02 -4.07413708e-04 -9.99752912e-01 2.25457655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.76 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.76, Y:-118.73, Z:2.25 [[-2.46418488e-01 -9.69145478e-01 5.91368901e-03 7.87640766e+01] [-9.68903771e-01 2.46489120e-01 2.16470623e-02 -1.18728230e+02] [-2.24368126e-02 -3.95559211e-04 -9.99748185e-01 2.25403996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.79 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.71, Y:-118.84, Z:2.25 [[-1.71323060e-01 -9.85206089e-01 4.16783634e-03 7.87115198e+01] [-9.84965570e-01 1.71373338e-01 2.17716370e-02 -1.18839483e+02] [-2.21638054e-02 -3.75191820e-04 -9.99754282e-01 2.25335589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.82 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.67, Y:-118.94, Z:2.25 [[-9.54307900e-02 -9.95432919e-01 2.50351870e-03 7.86705732e+01] [-9.95181778e-01 9.54629537e-02 2.23618607e-02 -1.18940667e+02] [-2.24987256e-02 -3.57446157e-04 -9.99746808e-01 2.25161560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.85 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.64, Y:-119.06, Z:2.25 [[-2.02053103e-02 -9.99795549e-01 7.78009912e-04 7.86365277e+01] [-9.99531713e-01 2.02178524e-02 2.29693888e-02 -1.19058612e+02] [-2.29804223e-02 -3.13541953e-04 -9.99735866e-01 2.25098965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.88 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.61, Y:-119.17, Z:2.25 [[ 5.66166161e-02 -9.98395480e-01 -1.01237334e-03 7.86103421e+01] [-9.98128688e-01 -5.66248914e-02 2.30812261e-02 -1.19174006e+02] [-2.31015174e-02 -2.96302050e-04 -9.99733080e-01 2.25076072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.91 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.60, Y:-119.31, Z:2.25 [[ 1.33123314e-01 -9.91095517e-01 -2.80361383e-03 7.85951564e+01] [-9.90829288e-01 -1.33152538e-01 2.29722466e-02 -1.19314489e+02] [-2.31409989e-02 -2.80238907e-04 -9.99732172e-01 2.25097420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.94 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.58, Y:-119.41, Z:2.25 [[ 2.09280464e-01 -9.77844975e-01 -4.57086247e-03 7.85836712e+01] [-9.77582899e-01 -2.09330200e-01 2.26393939e-02 -1.19410316e+02] [-2.30946371e-02 -2.69585868e-04 -9.99733247e-01 2.25045198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.97 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.58, Y:-119.53, Z:2.25 [[ 2.83631303e-01 -9.58913845e-01 -6.12550243e-03 7.85849828e+01] [-9.58671551e-01 -2.83697338e-01 2.15563961e-02 -1.19530658e+02] [-2.24085154e-02 -2.41723805e-04 -9.99748868e-01 2.24988021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.0 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.60, Y:-119.66, Z:2.25 [[ 3.56809547e-01 -9.34144552e-01 -7.80409579e-03 7.85980258e+01] [-9.33906433e-01 -3.56894802e-01 2.10920486e-02 -1.19656757e+02] [-2.24882635e-02 -2.37549029e-04 -9.99747079e-01 2.24860278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.03 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.62, Y:-119.77, Z:2.25 [[ 4.27855435e-01 -9.03797268e-01 -9.49868715e-03 7.86161987e+01] [-9.03562282e-01 -4.27960796e-01 2.06096883e-02 -1.19771804e+02] [-2.26920457e-02 -2.35311710e-04 -9.99742475e-01 2.24804777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.06 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.64, Y:-119.88, Z:2.25 [[ 4.96485108e-01 -8.67977539e-01 -1.08411179e-02 7.86412977e+01] [-8.67760477e-01 -4.96603403e-01 1.94117101e-02 -1.19883155e+02] [-2.22326644e-02 -2.30131338e-04 -9.99752797e-01 2.24915629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.09 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.68, Y:-120.00, Z:2.25 [[ 5.62295010e-01 -8.26843235e-01 -1.24332988e-02 7.86831947e+01] [-8.26631680e-01 -5.62432403e-01 1.87044797e-02 -1.20004135e+02] [-2.24585627e-02 -2.39676919e-04 -9.99747746e-01 2.24721815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.12 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.72, Y:-120.11, Z:2.25 [[ 6.24736357e-01 -7.80713735e-01 -1.38039478e-02 7.87246370e+01] [-7.80514320e-01 -6.24888791e-01 1.76463897e-02 -1.20108907e+02] [-2.24027110e-02 -2.50162321e-04 -9.99748996e-01 2.24714124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.15 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.76, Y:-120.20, Z:2.25 [[ 6.83219082e-01 -7.30059245e-01 -1.50061591e-02 7.87642411e+01] [-7.29874935e-01 -6.83383811e-01 1.64056598e-02 -1.20198252e+02] [-2.22320698e-02 -2.56040416e-04 -9.99752804e-01 2.24596038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.17999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.83, Y:-120.30, Z:2.25 [[ 7.37866777e-01 -6.74752960e-01 -1.61574529e-02 7.88257376e+01] [-6.74583035e-01 -7.38043608e-01 1.51446574e-02 -1.20301068e+02] [-2.21438072e-02 -2.75195979e-04 -9.99754758e-01 2.24611293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.20999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.82, Y:-120.31, Z:2.25 [[ 7.88843133e-01 -6.14353934e-01 -1.71975219e-02 7.88189282e+01] [-6.14199888e-01 -7.89030518e-01 1.37600553e-02 -1.20306080e+02] [-2.20229137e-02 -2.91809082e-04 -9.99757424e-01 2.24674013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.23999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.81, Y:-120.31, Z:2.25 [[ 8.35008044e-01 -5.49950920e-01 -1.77637736e-02 7.88121529e+01] [-5.49818665e-01 -8.35196918e-01 1.20641325e-02 -1.20313713e+02] [-2.14709297e-02 -3.06793440e-04 -9.99769426e-01 2.24540918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.26999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.80, Y:-120.32, Z:2.25 [[ 8.76310427e-01 -4.81436879e-01 -1.72791214e-02 7.88041632e+01] [-4.81336102e-01 -8.76480707e-01 9.85529492e-03 -1.20320269e+02] [-1.98895190e-02 -3.19232734e-04 -9.99802133e-01 2.24518579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.29999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.80, Y:-120.33, Z:2.24 [[ 9.11563570e-01 -4.10777580e-01 -1.77098223e-02 7.87989013e+01] [-4.10693062e-01 -9.11735527e-01 8.33889988e-03 -1.20327125e+02] [-1.95721073e-02 -3.28136184e-04 -9.99808394e-01 2.24490828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.32999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.79, Y:-120.33, Z:2.24 [[ 9.41258064e-01 -3.37223042e-01 -1.77165805e-02 7.87937922e+01] [-3.37156539e-01 -9.41424721e-01 6.70542777e-03 -1.20334801e+02] [-1.89400516e-02 -3.38277001e-04 -9.99820564e-01 2.24382496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.35999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.79, Y:-120.34, Z:2.24 [[ 9.64770483e-01 -2.62482976e-01 -1.79053905e-02 7.87889259e+01] [-2.62431328e-01 -9.64936565e-01 5.21757906e-03 -1.20342041e+02] [-1.86470917e-02 -3.34830850e-04 -9.99826072e-01 2.24413986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.39 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.78, Y:-120.35, Z:2.24 [[ 9.82336411e-01 -1.86230504e-01 -1.82585704e-02 7.87841252e+01] [-1.86192000e-01 -9.82506024e-01 3.80158359e-03 -1.20349486e+02] [-1.86471263e-02 -3.34834236e-04 -9.99826071e-01 2.24414021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.42 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.78, Y:-120.36, Z:2.24 [[ 9.93933808e-01 -1.08469387e-01 -1.81652661e-02 7.87769944e+01] [-1.08445140e-01 -9.94099734e-01 2.31748265e-03 -1.20357787e+02] [-1.83094622e-02 -3.33489522e-04 -9.99832312e-01 2.24366639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.45 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.77, Y:-120.37, Z:2.24 [[ 9.99390608e-01 -2.99003685e-02 -1.80105456e-02 7.87693202e+01] [-2.98894666e-02 -9.99552828e-01 8.74244951e-04 -1.20366793e+02] [-1.80286321e-02 -3.35386591e-04 -9.99837415e-01 2.24476097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.48 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.76, Y:-120.37, Z:2.24 [[ 9.98644457e-01 4.88914787e-02 -1.78570062e-02 7.87625220e+01] [ 4.88897456e-02 -9.98804039e-01 -5.33850273e-04 -1.20373147e+02] [-1.78617507e-02 -3.39897876e-04 -9.99840408e-01 2.24495568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.51 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.76, Y:-120.38, Z:2.25 [[ 9.91760661e-01 1.26893788e-01 -1.75714852e-02 7.87575704e+01] [ 1.26879864e-01 -9.91916253e-01 -1.90948761e-03 -1.20379595e+02] [-1.76717439e-02 -3.35712965e-04 -9.99843786e-01 2.24535332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.54 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.75, Y:-120.39, Z:2.24 [[ 9.78810578e-01 2.04056192e-01 -1.70564597e-02 7.87527238e+01] [ 2.04031047e-01 -9.78959122e-01 -3.22013208e-03 -1.20387619e+02] [-1.73546647e-02 -3.28147987e-04 -9.99849343e-01 2.24471686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.75, Y:-120.40, Z:2.24 [[ 9.59945270e-01 2.79695573e-01 -1.65971618e-02 7.87494836e+01] [ 2.79659490e-01 -9.60088686e-01 -4.50380752e-03 -1.20397050e+02] [-1.71944423e-02 -3.18145086e-04 -9.99852114e-01 2.24492331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.6 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.75, Y:-120.41, Z:2.25 [[ 9.35058365e-01 3.54145062e-01 -1.57203253e-02 7.87459035e+01] [ 3.54100598e-01 -9.35190450e-01 -5.62033723e-03 -1.20408179e+02] [-1.66919128e-02 -3.11233249e-04 -9.99860632e-01 2.24657279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.63 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.74, Y:-120.42, Z:2.25 [[ 9.04392067e-01 4.26462087e-01 -1.43205008e-02 7.87439543e+01] [ 4.26413791e-01 -9.04505390e-01 -6.42482105e-03 -1.20416277e+02] [-1.56929128e-02 -2.95901865e-04 -9.99876815e-01 2.24520620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.66 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.74, Y:-120.43, Z:2.24 [[ 8.68136300e-01 4.96154952e-01 -1.30241523e-02 7.87426996e+01] [ 4.96103991e-01 -8.68233945e-01 -7.11664745e-03 -1.20426133e+02] [-1.48389710e-02 -2.83113944e-04 -9.99889856e-01 2.24480166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.69 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.74, Y:-120.44, Z:2.25 [[ 8.25901194e-01 5.63687610e-01 -1.19789736e-02 7.87415472e+01] [ 5.63633417e-01 -8.25988010e-01 -7.82166051e-03 -1.20437351e+02] [-1.43034617e-02 -2.91831055e-04 -9.99897658e-01 2.24509957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.72 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.74, Y:-120.45, Z:2.25 [[ 7.78829190e-01 6.27136690e-01 -1.11653697e-02 7.87420239e+01] [ 6.27077671e-01 -7.78909163e-01 -8.60874833e-03 -1.20446942e+02] [-1.40956707e-02 -2.96809550e-04 -9.99900607e-01 2.24547265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.74, Y:-120.46, Z:2.25 [[ 7.26811288e-01 6.86759240e-01 -1.03487569e-02 7.87418369e+01] [ 6.86695534e-01 -7.26884897e-01 -9.35895656e-03 -1.20457144e+02] [-1.39497050e-02 -3.04249842e-04 -9.99902652e-01 2.24631735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.78 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.74, Y:-120.47, Z:2.25 [[ 6.70243941e-01 7.42078499e-01 -9.62081101e-03 7.87432530e+01] [ 7.42008758e-01 -6.70312913e-01 -1.01785141e-02 -1.20466708e+02] [-1.40022103e-02 -3.16638611e-04 -9.99901914e-01 2.24605253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.81 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.75, Y:-120.48, Z:2.25 [[ 6.09643628e-01 7.92625491e-01 -8.91498250e-03 7.87457139e+01] [ 7.92548526e-01 -6.09708719e-01 -1.10504416e-02 -1.20477949e+02] [-1.41944043e-02 -3.28724920e-04 -9.99899200e-01 2.24763144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.84 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.75, Y:-120.49, Z:2.25 [[ 5.45291109e-01 8.38207442e-01 -8.11728817e-03 7.87473133e+01] [ 8.38123693e-01 -5.45351417e-01 -1.18535560e-02 -1.20485987e+02] [-1.43625135e-02 -3.39652845e-04 -9.99896796e-01 2.24786775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.87 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.75, Y:-120.49, Z:2.25 [[ 4.77995455e-01 8.78332805e-01 -7.19920086e-03 7.87501578e+01] [ 8.78243719e-01 -4.78049545e-01 -1.25140826e-02 -1.20494639e+02] [-1.44331040e-02 -3.40978308e-04 -9.99895779e-01 2.24774269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.9 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.75, Y:-120.50, Z:2.25 [[ 4.07656304e-01 9.13114808e-01 -6.13885523e-03 7.87536237e+01] [ 9.13023493e-01 -4.07702383e-01 -1.29177712e-02 -1.20503737e+02] [-1.42982341e-02 -3.38908168e-04 -9.99897718e-01 2.24705691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.92999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.76, Y:-120.51, Z:2.25 [[ 3.35088110e-01 9.42172875e-01 -5.12172687e-03 7.87583989e+01] [ 9.42077723e-01 -3.35127080e-01 -1.33941851e-02 -1.20513026e+02] [-1.43360673e-02 -3.36832618e-04 -9.99897177e-01 2.24758610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.95999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.76, Y:-120.52, Z:2.25 [[ 2.60618499e-01 9.65433078e-01 -4.11949900e-03 7.87630601e+01] [ 9.65332122e-01 -2.60650836e-01 -1.39654893e-02 -1.20521237e+02] [-1.45564962e-02 -3.37019868e-04 -9.99893992e-01 2.24829901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.98999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.77, Y:-120.53, Z:2.25 [[ 1.84603608e-01 9.82808541e-01 -2.97988325e-03 7.87684268e+01] [ 9.82707582e-01 -1.84627367e-01 -1.40905798e-02 -1.20529508e+02] [-1.43985102e-02 -3.27181990e-04 -9.99896283e-01 2.24889926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.01999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.77, Y:-120.54, Z:2.25 [[ 1.07492255e-01 9.94204209e-01 -1.84532652e-03 7.87734345e+01] [ 9.94104077e-01 -1.07507625e-01 -1.41136237e-02 -1.20536766e+02] [-1.42302107e-02 -3.17341382e-04 -9.99898695e-01 2.24897231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.04999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.78, Y:-120.54, Z:2.25 [[ 3.01678595e-02 9.99544602e-01 -6.99364128e-04 7.87804257e+01] [ 9.99452895e-01 -3.01745673e-02 -1.35427673e-02 -1.20543754e+02] [-1.35577029e-02 -2.90425201e-04 -9.99908048e-01 2.24853518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.07999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.79, Y:-120.55, Z:2.25 [[-4.73520283e-02 9.98878205e-01 3.41625622e-04 7.87875030e+01] [ 9.98797176e-01 4.73525393e-02 -1.27254646e-02 -1.20551319e+02] [-1.27273661e-02 -2.61361855e-04 -9.99918970e-01 2.24799116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.10999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.79, Y:-120.56, Z:2.25 [[-1.23201601e-01 9.92381029e-01 1.12197930e-03 7.87924877e+01] [ 9.92324257e-01 1.23206556e-01 -1.06166205e-02 -1.20558606e+02] [-1.06739680e-02 -1.94617367e-04 -9.99943013e-01 2.24647497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.14 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.80, Y:-120.57, Z:2.25 [[-1.99477350e-01 9.79900888e-01 1.74236244e-03 7.88005075e+01] [ 9.79856008e-01 1.99484892e-01 -9.37982932e-03 -1.20565044e+02] [-9.53887807e-03 -1.63799196e-04 -9.99954490e-01 2.24588390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.17 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.81, Y:-120.57, Z:2.25 [[-2.74700135e-01 9.61527422e-01 2.20289019e-03 7.88085983e+01] [ 9.61492377e-01 2.74708933e-01 -8.21047562e-03 -1.20570332e+02] [-8.49975107e-03 -1.37356633e-04 -9.99963867e-01 2.24543650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.2 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.82, Y:-120.58, Z:2.25 [[-3.48146203e-01 9.37436640e-01 2.60156532e-03 7.88178379e+01] [ 9.37407900e-01 3.48155904e-01 -7.34131790e-03 -1.20576483e+02] [-7.78777071e-03 -1.17124070e-04 -9.99969668e-01 2.24561652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.23 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.83, Y:-120.58, Z:2.25 [[-4.19057928e-01 9.07956062e-01 2.49849409e-03 7.88255972e+01] [ 9.07938733e-01 4.19065368e-01 -5.61013339e-03 -1.20581593e+02] [-6.14078697e-03 -8.24913174e-05 -9.99981142e-01 2.24530590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.26 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.84, Y:-120.59, Z:2.25 [[-4.88613938e-01 8.72495596e-01 2.80270459e-03 7.88359706e+01] [ 8.72480328e-01 4.88621970e-01 -5.16217803e-03 -1.20585728e+02] [-5.87344063e-03 -7.70075167e-05 -9.99982748e-01 2.24591220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.29 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.85, Y:-120.59, Z:2.25 [[-5.55841666e-01 8.31282269e-01 3.13554287e-03 7.88456779e+01] [ 8.31268242e-01 5.55850504e-01 -4.82983706e-03 -1.20588872e+02] [-5.75785100e-03 -7.81474660e-05 -9.99983420e-01 2.24613242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.32 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.86, Y:-120.59, Z:2.25 [[-6.19725584e-01 7.84809094e-01 3.85821536e-03 7.88563997e+01] [ 7.84792974e-01 6.19737588e-01 -5.03096654e-03 -1.20589963e+02] [-6.33942937e-03 -8.99183746e-05 -9.99979902e-01 2.24675303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.35 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.87, Y:-120.59, Z:2.25 [[-6.79920040e-01 7.33271943e-01 4.58223586e-03 7.88674354e+01] [ 7.33254262e-01 6.79935473e-01 -5.09302679e-03 -1.20589481e+02] [-6.85019835e-03 -1.02907005e-04 -9.99976532e-01 2.24767500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.38 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.88, Y:-120.59, Z:2.25 [[-7.36813815e-01 6.76069704e-01 5.92935694e-03 7.88805598e+01] [ 6.76046257e-01 7.36837658e-01 -5.63234349e-03 -1.20587304e+02] [-8.17683028e-03 -1.41468922e-04 -9.99966559e-01 2.25047955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.41 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.90, Y:-120.57, Z:2.25 [[-7.83516309e-01 6.21335311e-01 6.68027086e-03 7.89015437e+01] [ 6.21310959e-01 7.83544770e-01 -5.50327581e-03 -1.20568644e+02] [-8.65367088e-03 -1.61380854e-04 -9.99962543e-01 2.25103301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.44 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.92, Y:-120.55, Z:2.25 [[-8.26098702e-01 5.63477824e-01 7.32636402e-03 7.89226908e+01] [ 5.63453725e-01 8.26131170e-01 -5.21442641e-03 -1.20548672e+02] [-8.99075133e-03 -1.79563793e-04 -9.99959566e-01 2.25202162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.47 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.95, Y:-120.53, Z:2.25 [[-8.65204753e-01 5.01362987e-01 7.47603491e-03 7.89504187e+01] [ 5.01342282e-01 8.65237029e-01 -4.56066107e-03 -1.20530715e+02] [-8.75508889e-03 -1.97853229e-04 -9.99961654e-01 2.25191141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.97, Y:-120.51, Z:2.25 [[-8.98851924e-01 4.38198483e-01 6.87803771e-03 7.89698411e+01] [ 4.38184108e-01 8.98878221e-01 -3.55396449e-03 -1.20508805e+02] [-7.73986015e-03 -1.80641007e-04 -9.99970031e-01 2.25145481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.53 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.35, Y:-119.79, Z:1.44 [[-8.42655011e-01 -5.38424714e-01 5.60001468e-03 7.93491696e+01] [ 5.38413484e-01 -8.42673614e-01 -3.47853809e-03 -1.19792413e+02] [ 6.59191549e-03 8.39158659e-05 9.99978270e-01 1.43824125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.92, Y:-120.48, Z:2.25 [[-9.00955206e-01 4.33881282e-01 5.17208779e-03 7.89225239e+01] [ 4.33873225e-01 9.00970040e-01 -2.64791601e-03 -1.20483514e+02] [-5.80877734e-03 -1.41623297e-04 -9.99983119e-01 2.24973255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.59 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.95, Y:-120.46, Z:2.25 [[-9.29477196e-01 3.68846084e-01 4.97069932e-03 7.89468698e+01] [ 3.68840043e-01 9.29490478e-01 -2.11521977e-03 -1.20463672e+02] [-5.40040822e-03 -1.32655590e-04 -9.99985409e-01 2.24973295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.62 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.97, Y:-120.44, Z:2.25 [[-9.53248455e-01 3.02155089e-01 4.43677859e-03 7.89653637e+01] [ 3.02151255e-01 9.53258773e-01 -1.52656265e-03 -1.20441950e+02] [-4.69065679e-03 -1.14615270e-04 -9.99988992e-01 2.24952820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.65 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:79.24, Y:-119.68, Z:1.44 [[-9.11876525e-01 -4.10451486e-01 3.28336223e-03 7.92362127e+01] [ 4.10448906e-01 -9.11882436e-01 -1.45534119e-03 -1.19681788e+02] [ 3.59138730e-03 2.05609663e-05 9.99993551e-01 1.43931661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.67999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.91, Y:-120.42, Z:2.25 [[-9.54034250e-01 2.99683605e-01 2.89596525e-03 7.89113005e+01] [ 2.99681999e-01 9.54038643e-01 -9.83398336e-04 -1.20424623e+02] [-3.05757112e-03 -7.03270374e-05 -9.99995323e-01 2.24922148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.70999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.93, Y:-120.40, Z:2.25 [[-9.72773265e-01 2.31741298e-01 2.85400489e-03 7.89333965e+01] [ 2.31740099e-01 9.72777450e-01 -7.48402972e-04 -1.20403674e+02] [-2.94974748e-03 -6.66390272e-05 -9.99995647e-01 2.24880530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.73999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.94, Y:-120.38, Z:2.25 [[-9.86683332e-01 1.62630051e-01 2.73295347e-03 7.89361165e+01] [ 1.62629254e-01 9.86687115e-01 -5.12734738e-04 -1.20375553e+02] [-2.77995605e-03 -6.14486362e-05 -9.99996134e-01 2.24892497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.76999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.94, Y:-120.35, Z:2.25 [[-9.95709023e-01 9.25074767e-02 2.43066864e-03 7.89448018e+01] [ 9.25070703e-02 9.95711988e-01 -2.79333797e-04 -1.20349978e+02] [-2.44608636e-03 -5.32811480e-05 -9.99997007e-01 2.24923597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.79999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.96, Y:-120.32, Z:2.25 [[-9.99764825e-01 2.15509247e-02 2.41906957e-03 7.89606099e+01] [ 2.15507341e-02 9.99767750e-01 -1.04823334e-04 -1.20323057e+02] [-2.42076678e-03 -5.26659573e-05 -9.99997069e-01 2.24957253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.82999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.96, Y:-120.30, Z:2.25 [[-9.98768492e-01 -4.95502808e-02 2.50378630e-03 7.89574762e+01] [-4.95502619e-02 9.98771629e-01 6.96446510e-05 -1.20295368e+02] [-2.50416163e-03 -5.45043838e-05 -9.99996863e-01 2.25019300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.85999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.96, Y:-120.27, Z:2.25 [[-9.92725798e-01 -1.20372357e-01 2.44662260e-03 7.89610421e+01] [-1.20372123e-01 9.92728811e-01 2.43197581e-04 -1.20268640e+02] [-2.45810701e-03 -5.30766447e-05 -9.99996977e-01 2.25092704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.89, Y:-119.47, Z:1.44 [[-9.99952770e-01 9.14263974e-03 3.29700058e-03 7.88895975e+01] [-9.14216889e-03 -9.99958197e-01 1.57853323e-04 -1.19465027e+02] [ 3.29830595e-03 1.27704131e-04 9.99994552e-01 1.43625887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.92 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.85, Y:-120.28, Z:2.25 [[-9.92018089e-01 -1.26044514e-01 3.59053197e-03 7.88544294e+01] [-1.26043966e-01 9.92024584e-01 3.79501635e-04 -1.20278872e+02] [-3.60973009e-03 -7.60924018e-05 -9.99993482e-01 2.25297100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.95 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.85, Y:-120.25, Z:2.25 [[-9.80653361e-01 -1.95717920e-01 3.67169073e-03 7.88538792e+01] [-1.95716835e-01 9.80660232e-01 6.56170772e-04 -1.20251619e+02] [-3.72910546e-03 -7.51356147e-05 -9.99993044e-01 2.25359307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.98 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.83, Y:-120.23, Z:2.25 [[-9.64214340e-01 -2.65101061e-01 3.48348409e-03 7.88322000e+01] [-2.65099593e-01 9.64220630e-01 8.85178831e-04 -1.20228728e+02] [-3.59350907e-03 -6.99680923e-05 -9.99993541e-01 2.25362325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.01 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.79, Y:-120.21, Z:2.25 [[-9.42681892e-01 -3.33675780e-01 3.36518704e-03 7.87891264e+01] [-3.33673900e-01 9.42687896e-01 1.12215749e-03 -1.20214807e+02] [-3.54675786e-03 -6.50375320e-05 -9.99993708e-01 2.25346844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.04 meters Centerline goodness [0,1] 0.9999551529285138 Centerline is valid? [True, True] Translation: X:78.73, Y:-120.21, Z:2.25 [[-9.15995813e-01 -4.01178882e-01 2.67847741e-03 7.87337902e+01] [-4.01177325e-01 9.15999728e-01 1.11885895e-03 -1.20207779e+02] [-2.90234716e-03 -4.96742861e-05 -9.99995787e-01 2.25321806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.66, Y:-120.21, Z:2.25 [[-8.84218322e-01 -4.67067563e-01 2.41878733e-03 7.86632751e+01] [-4.67065948e-01 8.84221629e-01 1.22902635e-03 -1.20210598e+02] [-2.71278242e-03 -4.30055816e-05 -9.99996319e-01 2.25331148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.1 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.59, Y:-120.22, Z:2.25 [[-8.47471324e-01 -5.30837929e-01 1.85696232e-03 7.85867754e+01] [-5.30836736e-01 8.47473358e-01 1.12619283e-03 -1.20223774e+02] [-2.17155196e-03 -3.13276894e-05 -9.99997642e-01 2.25321071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.13 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.51, Y:-120.25, Z:2.25 [[-8.06482028e-01 -5.91256069e-01 1.73178171e-03 7.85077003e+01] [-5.91254773e-01 8.06483887e-01 1.23815318e-03 -1.20246731e+02] [-2.12871963e-03 -2.53759118e-05 -9.99997734e-01 2.25305581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.16 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.42, Y:-120.28, Z:2.25 [[-7.59966685e-01 -6.49958940e-01 2.00328153e-03 7.84201488e+01] [-6.49956783e-01 7.59969325e-01 1.67503935e-03 -1.20280413e+02] [-2.61113931e-03 -2.90723166e-05 -9.99996591e-01 2.25348011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.19 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.33, Y:-120.32, Z:2.25 [[-7.08938428e-01 -7.05266740e-01 2.26499454e-03 7.83325085e+01] [-7.05263287e-01 7.08942045e-01 2.20720723e-03 -1.20323744e+02] [-3.16241972e-03 -3.26434707e-05 -9.99994999e-01 2.25395226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.22 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.25, Y:-120.38, Z:2.25 [[-6.53614518e-01 -7.56824159e-01 2.29194553e-03 7.82470421e+01] [-7.56819683e-01 6.53618536e-01 2.60327032e-03 -1.20375873e+02] [-3.46827596e-03 -3.30542125e-05 -9.99993985e-01 2.25450569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.25 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.16, Y:-120.44, Z:2.26 [[-5.94530373e-01 -8.04068475e-01 2.74282799e-03 7.81630225e+01] [-8.04060221e-01 5.94536699e-01 3.64336700e-03 -1.20436499e+02] [-4.56022845e-03 -3.93065416e-05 -9.99989601e-01 2.25554170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.28 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.08, Y:-120.51, Z:2.26 [[-5.31433480e-01 -8.47095234e-01 2.84985695e-03 7.80801328e+01] [-8.47083489e-01 5.31441119e-01 4.46094559e-03 -1.20507979e+02] [-5.29337692e-03 -4.33709328e-05 -9.99985989e-01 2.25601171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.31 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.00, Y:-120.59, Z:2.26 [[-4.64634632e-01 -8.85498966e-01 2.49794723e-03 7.80009693e+01] [-8.85486668e-01 4.64641345e-01 4.66716731e-03 -1.20588699e+02] [-5.29342139e-03 -4.33713985e-05 -9.99985989e-01 2.25601387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.34 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.92, Y:-120.69, Z:2.26 [[-3.95433155e-01 -9.18491841e-01 2.31480949e-03 7.79237234e+01] [-9.18476760e-01 3.95439927e-01 5.26351526e-03 -1.20687170e+02] [-5.74986392e-03 -4.47302768e-05 -9.99983468e-01 2.25633014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.37 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.86, Y:-120.77, Z:2.26 [[-3.24320475e-01 -9.45945078e-01 2.03460902e-03 7.78616176e+01] [-9.45927255e-01 3.24326854e-01 5.80692814e-03 -1.20771292e+02] [-6.15291343e-03 -4.12864347e-05 -9.99981070e-01 2.25682597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.4 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.80, Y:-120.88, Z:2.26 [[-2.53108590e-01 -9.67436503e-01 1.62909788e-03 7.78026799e+01] [-9.67417070e-01 2.53113831e-01 6.13199912e-03 -1.20876784e+02] [-6.34466700e-03 -2.39554454e-05 -9.99979872e-01 2.25751854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.42999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.75, Y:-121.00, Z:2.26 [[-1.79581285e-01 -9.83742466e-01 1.15033292e-03 7.77501305e+01] [-9.83722655e-01 1.79584969e-01 6.24319388e-03 -1.20995432e+02] [-6.34827744e-03 -1.04477760e-05 -9.99979849e-01 2.25732432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.45999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.71, Y:-121.10, Z:2.26 [[-1.05377932e-01 -9.94432025e-01 6.63081220e-04 7.77097490e+01] [-9.94411970e-01 1.05380018e-01 6.31548783e-03 -1.21102348e+02] [-6.35019886e-03 6.13714645e-06 -9.99979837e-01 2.25676472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.48999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.85, Y:-121.11, Z:1.43 [[-1.65174586e-01 9.86263841e-01 9.96434741e-04 7.68503900e+01] [-9.86247367e-01 -1.65177586e-01 5.70056343e-03 -1.21113928e+02] [ 5.78684827e-03 -4.11429352e-05 9.99983255e-01 1.43328865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.51999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.69, Y:-121.39, Z:2.25 [[-1.03546576e-01 -9.94624502e-01 4.55157104e-04 7.76858661e+01] [-9.94612780e-01 1.03547566e-01 4.82894553e-03 -1.21388934e+02] [-4.85011795e-03 4.73157048e-05 -9.99988237e-01 2.25456579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.54999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.65, Y:-121.51, Z:2.25 [[-2.82292764e-02 -9.99601472e-01 6.99011795e-05 7.76525660e+01] [-9.99592264e-01 2.82293164e-02 4.29089641e-03 -1.21508117e+02] [-4.29115963e-03 5.12562224e-05 -9.99990792e-01 2.25301366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.57999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.63, Y:-121.62, Z:2.25 [[ 4.78221623e-02 -9.98855845e-01 -2.05286476e-04 7.76277183e+01] [-9.98850258e-01 -4.78225815e-02 3.34097006e-03 -1.21623665e+02] [-3.34696480e-03 4.52780370e-05 -9.99994398e-01 2.25174339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.60999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.61, Y:-121.74, Z:2.25 [[ 1.22786716e-01 -9.92433046e-01 -2.68088149e-04 7.76133621e+01] [-9.92431204e-01 -1.22787005e-01 1.91218747e-03 -1.21744424e+02] [-1.93063578e-03 3.12678250e-05 -9.99998136e-01 2.25058803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.64 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.61, Y:-121.88, Z:2.25 [[ 1.98548051e-01 -9.80091050e-01 -4.53448534e-04 7.76083569e+01] [-9.80088889e-01 -1.98548566e-01 2.05820177e-03 -1.21878191e+02] [-2.10725669e-03 3.57679194e-05 -9.99997779e-01 2.25049070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.67 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.61, Y:-121.99, Z:2.25 [[ 2.73642983e-01 -9.61831057e-01 -7.31291429e-04 7.76077590e+01] [-9.61828035e-01 -2.73643957e-01 2.41167807e-03 -1.21988597e+02] [-2.51974035e-03 4.34378166e-05 -9.99996825e-01 2.25096017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.7 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.62, Y:-122.11, Z:2.25 [[ 3.47206939e-01 -9.37788136e-01 -8.68474982e-04 7.76210174e+01] [-9.37785495e-01 -3.47208022e-01 2.22590759e-03 -1.22110494e+02] [-2.38897121e-03 4.15926809e-05 -9.99997146e-01 2.25129690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.73 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.64, Y:-122.23, Z:2.25 [[ 4.19015150e-01 -9.07978681e-01 -1.00941379e-03 7.76409656e+01] [-9.07976272e-01 -4.19016364e-01 2.09192982e-03 -1.22227270e+02] [-2.32238858e-03 3.99734780e-05 -9.99997302e-01 2.25111319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.76 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.67, Y:-122.34, Z:2.25 [[ 4.88349556e-01 -8.72647235e-01 -1.23100146e-03 7.76690251e+01] [-8.72644670e-01 -4.88351106e-01 2.11605859e-03 -1.22344542e+02] [-2.44773360e-03 4.08505883e-05 -9.99997003e-01 2.25081970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.79 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.71, Y:-122.46, Z:2.25 [[ 5.54633021e-01 -8.32092653e-01 -2.00707665e-03 7.77080648e+01] [-8.32087572e-01 -5.54636650e-01 2.90835832e-03 -1.22461598e+02] [-3.53322186e-03 5.69919792e-05 -9.99993757e-01 2.25113152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.82 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.75, Y:-122.56, Z:2.25 [[ 6.17421973e-01 -7.86626219e-01 -3.04936429e-03 7.77452718e+01] [-7.86617224e-01 -6.17429498e-01 3.76271297e-03 -1.22560743e+02] [-4.84261614e-03 7.55008106e-05 -9.99988272e-01 2.25200575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.85 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.79, Y:-122.66, Z:2.25 [[ 6.76119085e-01 -7.36779440e-01 -4.36352382e-03 7.77938766e+01] [-7.36765024e-01 -6.76133158e-01 4.61005885e-03 -1.22661556e+02] [-6.34691972e-03 9.79429607e-05 -9.99979853e-01 2.25300647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.88 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.85, Y:-122.76, Z:2.25 [[ 7.30210221e-01 -6.83197632e-01 -5.83346265e-03 7.78540229e+01] [-6.83177194e-01 -7.30233510e-01 5.28595592e-03 -1.22761850e+02] [-7.87114248e-03 1.25429610e-04 -9.99969014e-01 2.25491549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.91 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.85, Y:-122.77, Z:2.25 [[ 7.80753712e-01 -6.24807785e-01 -6.23492838e-03 7.78475038e+01] [-6.24789209e-01 -7.80778595e-01 4.81968156e-03 -1.22771291e+02] [-7.87947318e-03 1.32531706e-04 -9.99968948e-01 2.25478342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.94 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.84, Y:-122.78, Z:2.25 [[ 8.26567211e-01 -5.62794180e-01 -7.02541088e-03 7.78400372e+01] [-5.62775388e-01 -8.26597053e-01 4.60151509e-03 -1.22777972e+02] [-8.39688984e-03 1.50266845e-04 -9.99964734e-01 2.25487709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.97 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.83, Y:-122.78, Z:2.25 [[ 8.67115581e-01 -4.98058416e-01 -6.95579988e-03 7.78334075e+01] [-4.98043834e-01 -8.67143465e-01 3.81438703e-03 -1.22784749e+02] [-7.93146398e-03 1.56778817e-04 -9.99968533e-01 2.25466339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.0 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.83, Y:-122.79, Z:2.25 [[ 9.02578150e-01 -4.30469973e-01 -6.94872249e-03 7.78277036e+01] [-4.30458616e-01 -9.02604883e-01 3.13122711e-03 -1.22791527e+02] [-7.61985010e-03 1.64960294e-04 -9.99970955e-01 2.25435266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.03 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.82, Y:-122.80, Z:2.25 [[ 9.32634093e-01 -3.60750805e-01 -7.24603269e-03 7.78223946e+01] [-3.60741445e-01 -9.32662223e-01 2.60522762e-03 -1.22798777e+02] [-7.69793892e-03 1.84220204e-04 -9.99970353e-01 2.25436528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.06 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.82, Y:-122.81, Z:2.25 [[ 9.56643081e-01 -2.91173994e-01 -7.19168919e-03 7.78174512e+01] [-2.91167434e-01 -9.56670089e-01 1.96611362e-03 -1.22806385e+02] [-7.45255510e-03 2.13116700e-04 -9.99972207e-01 2.25448626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.09 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.81, Y:-122.81, Z:2.25 [[ 9.75992878e-01 -2.17694902e-01 -6.84333211e-03 7.78085565e+01] [-2.17691095e-01 -9.76016846e-01 1.30536134e-03 -1.22811176e+02] [-6.96337793e-03 2.15709093e-04 -9.99975732e-01 2.25417065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.12 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.80, Y:-122.82, Z:2.25 [[ 9.89777490e-01 -1.42456161e-01 -6.83825451e-03 7.78010896e+01] [-1.42454335e-01 -9.89801087e-01 7.55968285e-04 -1.22821889e+02] [-6.87620408e-03 2.25898603e-04 -9.99976333e-01 2.25308776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.15 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.79, Y:-122.83, Z:2.25 [[ 9.97813547e-01 -6.57736662e-02 -6.47692189e-03 7.77939788e+01] [-6.57737173e-02 -9.97834543e-01 2.05348443e-04 -1.22830886e+02] [-6.47640292e-03 2.21111772e-04 -9.99979003e-01 2.25272736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.17999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.79, Y:-122.84, Z:2.25 [[ 9.99915292e-01 1.13641232e-02 -6.34550007e-03 7.77881475e+01] [ 1.13624701e-02 -9.99935401e-01 -2.96497461e-04 -1.22843234e+02] [-6.34845959e-03 2.24371791e-04 -9.99979823e-01 2.25219289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.20999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.78, Y:-122.85, Z:2.25 [[ 9.95938229e-01 8.98335104e-02 -6.08146830e-03 7.77835154e+01] [ 8.98305139e-02 -9.95956773e-01 -7.64660870e-04 -1.22854711e+02] [-6.12557171e-03 2.15253571e-04 -9.99981215e-01 2.25219113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.23999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.78, Y:-122.87, Z:2.25 [[ 9.85761998e-01 1.68022878e-01 -6.44953034e-03 7.77802084e+01] [ 1.68017766e-01 -9.85783070e-01 -1.33027226e-03 -1.22870055e+02] [-6.58135399e-03 2.27696163e-04 -9.99978317e-01 2.25231631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.26999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.78, Y:-122.88, Z:2.25 [[ 9.69374081e-01 2.45509224e-01 -6.25396163e-03 7.77770174e+01] [ 2.45502647e-01 -9.69394230e-01 -1.81034456e-03 -1.22883559e+02] [-6.50701060e-03 2.19536961e-04 -9.99978805e-01 2.25268510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.29999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.78, Y:-122.90, Z:2.25 [[ 9.46828653e-01 3.21673689e-01 -6.44508443e-03 7.77764286e+01] [ 3.21664613e-01 -9.46850562e-01 -2.42685527e-03 -1.22898510e+02] [-6.88318730e-03 2.24660515e-04 -9.99976285e-01 2.25301409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.32999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.78, Y:-122.91, Z:2.25 [[ 9.17829821e-01 3.96932941e-01 -5.71491325e-03 7.77765126e+01] [ 3.96923939e-01 -9.17847593e-01 -2.68001898e-03 -1.22914563e+02] [-6.30920719e-03 1.91415463e-04 -9.99980078e-01 2.25385077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.35999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.78, Y:-122.93, Z:2.25 [[ 8.83377186e-01 4.68629740e-01 -5.56014384e-03 7.77792465e+01] [ 4.68619121e-01 -8.83394664e-01 -3.16025014e-03 -1.22930063e+02] [-6.39278860e-03 1.86103154e-04 -9.99979549e-01 2.25321600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.39 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.78, Y:-122.95, Z:2.25 [[ 8.43396740e-01 5.37266368e-01 -5.17577711e-03 7.77841691e+01] [ 5.37254968e-01 -8.43412603e-01 -3.50441843e-03 -1.22945183e+02] [-6.24812181e-03 1.74903120e-04 -9.99980465e-01 2.25294794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.42 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.79, Y:-122.96, Z:2.25 [[ 7.97241740e-01 6.03644737e-01 -4.31744838e-03 7.77902793e+01] [ 6.03634919e-01 -7.97253418e-01 -3.44565674e-03 -1.22961755e+02] [-5.52205303e-03 1.40858772e-04 -9.99984743e-01 2.25320472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.45 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.80, Y:-122.97, Z:2.25 [[ 7.46586063e-01 6.65281201e-01 -3.18972131e-03 7.77957330e+01] [ 6.65274520e-01 -7.46592869e-01 -2.98335277e-03 -1.22973852e+02] [-4.36619170e-03 1.05289279e-04 -9.99990463e-01 2.25301929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.48 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.80, Y:-122.98, Z:2.25 [[ 6.90914491e-01 7.22932232e-01 -2.48085886e-03 7.78020052e+01] [ 7.22927138e-01 -6.90918940e-01 -2.71490312e-03 -1.22984597e+02] [-3.67676335e-03 8.22857132e-05 -9.99993237e-01 2.25294866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.51 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.81, Y:-122.99, Z:2.25 [[ 6.30923019e-01 7.75843435e-01 -1.76295647e-03 7.78085579e+01] [ 7.75840138e-01 -6.30925479e-01 -2.26263627e-03 -1.22994501e+02] [-2.86774565e-03 5.97769184e-05 -9.99995886e-01 2.25326105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.54 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.82, Y:-123.01, Z:2.25 [[ 5.66926282e-01 8.23766696e-01 -1.73800587e-03 7.78184595e+01] [ 8.23762493e-01 -5.66928943e-01 -2.63232491e-03 -1.23005381e+02] [-3.15374743e-03 6.06301281e-05 -9.99995025e-01 2.25384003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.83, Y:-123.01, Z:2.25 [[ 4.99356780e-01 8.66394686e-01 -1.74753328e-03 7.78258079e+01] [ 8.66388927e-01 -4.99359834e-01 -3.15956786e-03 -1.23014548e+02] [-3.61008073e-03 6.37081497e-05 -9.99993482e-01 2.25473822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.6 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.84, Y:-123.02, Z:2.26 [[ 4.27796868e-01 9.03873043e-01 -1.83335402e-03 7.78398667e+01] [ 9.03864060e-01 -4.27800792e-01 -4.03033769e-03 -1.23024248e+02] [-4.42722389e-03 6.70630341e-05 -9.99990198e-01 2.25697170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.63 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.85, Y:-123.03, Z:2.26 [[ 3.54497279e-01 9.35055615e-01 -1.63565331e-03 7.78507338e+01] [ 9.35044782e-01 -3.54501046e-01 -4.50155934e-03 -1.23031094e+02] [-4.78904915e-03 6.63814505e-05 -9.99988530e-01 2.25759850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.66 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.86, Y:-123.04, Z:2.26 [[ 2.78944058e-01 9.60306541e-01 -1.24879191e-03 7.78624615e+01] [ 9.60295953e-01 -2.78946847e-01 -4.50997446e-03 -1.23037359e+02] [-4.67930454e-03 5.88207621e-05 -9.99989050e-01 2.25829667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.69 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.87, Y:-123.04, Z:2.26 [[ 2.01603431e-01 9.79466815e-01 -9.02812345e-04 7.78725381e+01] [ 9.79455771e-01 -2.01605445e-01 -4.65154495e-03 -1.23042888e+02] [-4.73804580e-03 5.35026589e-05 -9.99988774e-01 2.25908035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.72 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.89, Y:-123.05, Z:2.26 [[ 1.21996700e-01 9.92530358e-01 -5.42067230e-04 7.78918628e+01] [ 9.92518929e-01 -1.21997897e-01 -4.76322021e-03 -1.23046923e+02] [-4.79377172e-03 4.30851608e-05 -9.99988509e-01 2.25937910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.91, Y:-123.05, Z:2.26 [[ 4.30684359e-02 9.99072111e-01 -1.64382745e-04 7.79052765e+01] [ 9.99060997e-01 -4.30687322e-02 -4.71269730e-03 -1.23049873e+02] [-4.71540419e-03 3.87401119e-05 -9.99988882e-01 2.26002319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.78 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.92, Y:-123.05, Z:2.26 [[-3.63757665e-02 9.99338160e-01 2.12074640e-04 7.79171092e+01] [ 9.99326311e-01 3.63763679e-02 -4.86659537e-03 -1.23050626e+02] [-4.87108897e-03 3.49056311e-05 -9.99988136e-01 2.26012747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.81 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.93, Y:-123.05, Z:2.26 [[-1.15160487e-01 9.93346714e-01 6.07458082e-04 7.79278321e+01] [ 9.93334345e-01 1.15162084e-01 -4.95724384e-03 -1.23051401e+02] [-4.99421802e-03 3.25303616e-05 -9.99987528e-01 2.26054969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.84 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.94, Y:-123.05, Z:2.26 [[-1.93867126e-01 9.81027291e-01 9.95861973e-04 7.79439236e+01] [ 9.81015031e-01 1.93869682e-01 -4.90454446e-03 -1.23049317e+02] [-5.00455941e-03 2.61256261e-05 -9.99987477e-01 2.26057673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.87 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.96, Y:-123.05, Z:2.26 [[-2.70273214e-01 9.62782758e-01 1.32303558e-03 7.79558225e+01] [ 9.62771660e-01 2.70276451e-01 -4.62282600e-03 -1.23047435e+02] [-4.80836252e-03 2.43551239e-05 -9.99988439e-01 2.26080024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.9 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.96, Y:-123.04, Z:2.26 [[-3.44908596e-01 9.38635252e-01 1.38691262e-03 7.79649885e+01] [ 9.38627896e-01 3.44911384e-01 -3.71613428e-03 -1.23044413e+02] [-3.96645659e-03 2.00682244e-05 -9.99992133e-01 2.26040300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.92999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.98, Y:-123.04, Z:2.26 [[-4.16862555e-01 9.08968858e-01 1.10675711e-03 7.79761698e+01] [ 9.08965751e-01 4.16864024e-01 -2.37690400e-03 -1.23040307e+02] [-2.62189894e-03 1.51620371e-05 -9.99996563e-01 2.25904425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.95999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.99, Y:-123.04, Z:2.26 [[-4.86734734e-01 8.73549184e-01 1.05917621e-03 7.79854636e+01] [ 8.73547172e-01 4.86735886e-01 -1.87482110e-03 -1.23035779e+02] [-2.15328751e-03 1.26998303e-05 -9.99997682e-01 2.25867035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.98999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.99, Y:-123.03, Z:2.26 [[-5.53480607e-01 8.32861153e-01 1.23177831e-03 7.79937760e+01] [ 8.32859144e-01 5.53481977e-01 -1.82937399e-03 -1.23031672e+02] [-2.20538163e-03 1.33748080e-05 -9.99997568e-01 2.25879429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.01999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.00, Y:-123.03, Z:2.26 [[-6.17071323e-01 7.86905309e-01 1.73701899e-03 7.80024521e+01] [ 7.86902266e-01 6.17073768e-01 -2.18828093e-03 -1.23025009e+02] [-2.79383873e-03 1.65387662e-05 -9.99996097e-01 2.25931120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.04999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.01, Y:-123.02, Z:2.26 [[-6.76947925e-01 7.36023459e-01 3.31276974e-03 7.80105868e+01] [ 7.36014840e-01 6.76956030e-01 -3.56203904e-03 -1.23019198e+02] [-4.86434375e-03 2.69327568e-05 -9.99988169e-01 2.26086002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.07999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.02, Y:-123.01, Z:2.26 [[-7.32647359e-01 6.80595924e-01 4.12742750e-03 7.80176535e+01] [ 6.80585353e-01 7.32658984e-01 -3.79345548e-03 -1.23011732e+02] [-5.60580718e-03 2.98015623e-05 -9.99984287e-01 2.26152328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.10999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.03, Y:-122.99, Z:2.26 [[-7.79210587e-01 6.26745727e-01 4.54475940e-03 7.80343407e+01] [ 6.26735278e-01 7.79223840e-01 -3.61914147e-03 -1.22989317e+02] [-5.80966632e-03 2.82876991e-05 -9.99983123e-01 2.26144390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.14 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.05, Y:-122.97, Z:2.26 [[-8.21715123e-01 5.69879772e-01 4.61549823e-03 7.80522746e+01] [ 5.69870962e-01 8.21728085e-01 -3.16889318e-03 -1.22968476e+02] [-5.59857265e-03 2.63109637e-05 -9.99984328e-01 2.26173674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.17 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.07, Y:-122.94, Z:2.26 [[-8.60207724e-01 5.09918404e-01 5.08862185e-03 7.80662004e+01] [ 5.09909657e-01 8.60222774e-01 -2.98679451e-03 -1.22943930e+02] [-5.90036989e-03 2.54737099e-05 -9.99982592e-01 2.26085013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.2 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.08, Y:-122.92, Z:2.26 [[-8.94144312e-01 4.47747691e-01 5.28730703e-03 7.80787194e+01] [ 4.47740031e-01 8.94159944e-01 -2.61911643e-03 -1.22919423e+02] [-5.90040149e-03 2.54709591e-05 -9.99982592e-01 2.26085045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.23 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.09, Y:-122.89, Z:2.26 [[-9.23827611e-01 3.82764639e-01 5.81181597e-03 7.80896213e+01] [ 3.82757227e-01 9.23845891e-01 -2.38209812e-03 -1.22894625e+02] [-6.28100523e-03 2.38665546e-05 -9.99980274e-01 2.26085173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.26 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.10, Y:-122.87, Z:2.26 [[-9.48601183e-01 3.16418049e-01 5.95097697e-03 7.80952596e+01] [ 3.16411984e-01 9.48619849e-01 -1.95934488e-03 -1.22867852e+02] [-6.26518696e-03 2.43235587e-05 -9.99980373e-01 2.26101435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.29 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.10, Y:-122.84, Z:2.26 [[-9.68537531e-01 2.48787205e-01 6.32282227e-03 7.81023541e+01] [ 2.48782095e-01 9.68558168e-01 -1.59486412e-03 -1.22842060e+02] [-6.52080295e-03 2.83192153e-05 -9.99978739e-01 2.26151318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.32 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.11, Y:-122.82, Z:2.26 [[-9.83550643e-01 1.80501875e-01 6.87058505e-03 7.81080481e+01] [ 1.80497740e-01 9.83574640e-01 -1.22242243e-03 -1.22816234e+02] [-6.97838276e-03 3.78107030e-05 -9.99975650e-01 2.26202861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.35 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.11, Y:-122.79, Z:2.26 [[-9.93726849e-01 1.11603423e-01 7.18514092e-03 7.81081152e+01] [ 1.11600863e-01 9.93752823e-01 -7.57578323e-04 -1.22789680e+02] [-7.22480241e-03 4.90420049e-05 -9.99973900e-01 2.26257929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.38 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.18, Y:-122.13, Z:1.43 [[-9.87053764e-01 -1.60213585e-01 7.51493369e-03 7.81772657e+01] [ 1.60208724e-01 -9.87082371e-01 -1.24827920e-03 -1.22133130e+02] [ 7.61784985e-03 -2.81607461e-05 9.99970983e-01 1.42578497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.41 meters Centerline goodness [0,1] 0.9999787897427196 Centerline is valid? [True, True] Translation: X:78.05, Y:-122.79, Z:2.26 [[-9.93338183e-01 1.14985010e-01 7.59618641e-03 7.80495967e+01] [ 1.14982513e-01 9.93367221e-01 -7.66120967e-04 -1.22791679e+02] [-7.63389501e-03 1.12411393e-04 -9.99970855e-01 2.26271384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.44 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:78.12, Y:-122.12, Z:1.43 [[-9.88710188e-01 -1.49645033e-01 7.65035882e-03 7.81207504e+01] [ 1.49639717e-01 -9.88739780e-01 -1.26585138e-03 -1.22121606e+02] [ 7.75364247e-03 -1.06762630e-04 9.99969934e-01 1.42645185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.47 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.99, Y:-122.79, Z:2.26 [[-9.92726586e-01 1.20121014e-01 8.05404103e-03 7.79915584e+01] [ 1.20118674e-01 9.92759237e-01 -7.75364781e-04 -1.22794247e+02] [-8.08886123e-03 1.97715496e-04 -9.99967265e-01 2.26143300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.99, Y:-122.77, Z:2.26 [[-9.98610215e-01 5.20350546e-02 8.36614652e-03 7.79911462e+01] [ 5.20351407e-02 9.98645233e-01 -2.07534730e-04 -1.22768455e+02] [-8.36561142e-03 2.28087310e-04 -9.99964982e-01 2.26146790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.53 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.99, Y:-122.74, Z:2.26 [[-9.99821338e-01 -1.66600447e-02 8.92946925e-03 7.79865137e+01] [-1.66570050e-02 9.99861176e-01 4.14677200e-04 -1.22742899e+02] [-8.93513817e-03 2.65864899e-04 -9.99960046e-01 2.26146728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.98, Y:-122.72, Z:2.26 [[-9.96252988e-01 -8.60299446e-02 8.87879618e-03 7.79761112e+01] [-8.60239946e-02 9.96292512e-01 1.05058367e-03 -1.22716554e+02] [-8.93625980e-03 2.82857605e-04 -9.99960031e-01 2.26129092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.59 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.96, Y:-122.69, Z:2.26 [[-9.87752249e-01 -1.55767666e-01 9.05141764e-03 7.79551771e+01] [-1.55758273e-01 9.87793673e-01 1.73793279e-03 -1.22691882e+02] [-9.21164681e-03 3.06813844e-04 -9.99957525e-01 2.26092022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.62 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.92, Y:-122.67, Z:2.26 [[-9.74136312e-01 -2.25771796e-01 9.24885998e-03 7.79192476e+01] [-2.25758392e-01 9.74180162e-01 2.48207571e-03 -1.22674227e+02] [-9.57043861e-03 3.29872321e-04 -9.99954148e-01 2.26133501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.65 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.86, Y:-122.66, Z:2.26 [[-9.55207286e-01 -2.95768550e-01 1.00002437e-02 7.78608829e+01] [-2.95748199e-01 9.55259558e-01 3.48993675e-03 -1.22664795e+02] [-1.05850419e-02 3.76058961e-04 -9.99943906e-01 2.26207786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.67999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.79, Y:-122.66, Z:2.26 [[-9.30717794e-01 -3.65597221e-01 1.01518628e-02 7.77925919e+01] [-3.65570848e-01 9.30773076e-01 4.40865322e-03 -1.22661132e+02] [-1.10608719e-02 3.91986911e-04 -9.99938750e-01 2.26241776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.70999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.72, Y:-122.66, Z:2.26 [[-9.00799699e-01 -4.34108559e-01 1.04718925e-02 7.77180134e+01] [-4.34073841e-01 9.00860471e-01 5.50571726e-03 -1.22663401e+02] [-1.18237930e-02 4.13973857e-04 -9.99930011e-01 2.26198625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.73999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.63, Y:-122.68, Z:2.26 [[-8.64753748e-01 -5.02069289e-01 1.12865113e-02 7.76346412e+01] [-5.02019868e-01 8.64827288e-01 7.05788506e-03 -1.22678745e+02] [-1.33044303e-02 4.37279633e-04 -9.99911397e-01 2.26144773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.76999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.55, Y:-122.70, Z:2.26 [[-8.23737479e-01 -5.66875600e-01 1.04220988e-02 7.75495392e+01] [-5.66823948e-01 8.23803308e-01 7.66301313e-03 -1.22702558e+02] [-1.29297346e-02 4.04815912e-04 -9.99916326e-01 2.26112974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.79999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.46, Y:-122.74, Z:2.26 [[-7.77391527e-01 -6.28937233e-01 1.00185700e-02 7.74590911e+01] [-6.28878504e-01 7.77455984e-01 8.60350110e-03 -1.22736905e+02] [-1.32000594e-02 3.87825531e-04 -9.99912800e-01 2.26038957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.82999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.37, Y:-122.78, Z:2.26 [[-7.25894812e-01 -6.87748524e-01 8.87071609e-03 7.73689460e+01] [-6.87691410e-01 7.25948933e-01 8.86967189e-03 -1.22782520e+02] [-1.25397906e-02 3.38133547e-04 -9.99921317e-01 2.26010854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.85999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.28, Y:-122.84, Z:2.26 [[-6.69812163e-01 -7.42483018e-01 8.40441977e-03 7.72784011e+01] [-7.42418566e-01 6.69864813e-01 9.78802854e-03 -1.22838482e+02] [-1.28972700e-02 3.16543295e-04 -9.99916777e-01 2.25955276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.19, Y:-122.90, Z:2.26 [[-6.07278528e-01 -7.94455291e-01 7.31978527e-03 7.71896288e+01] [-7.94392756e-01 6.07322593e-01 9.97083023e-03 -1.22902204e+02] [-1.23668498e-02 2.40286718e-04 -9.99923499e-01 2.25799605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.92 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.11, Y:-122.97, Z:2.26 [[-5.42862836e-01 -8.39796644e-01 6.44499147e-03 7.71057919e+01] [-8.39732865e-01 5.42901053e-01 1.03519424e-02 -1.22974645e+02] [-1.21925192e-02 2.07613683e-04 -9.99925647e-01 2.25768150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.95 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.03, Y:-123.05, Z:2.26 [[-4.74945110e-01 -8.79997571e-01 5.60518772e-03 7.70264653e+01] [-8.79931819e-01 4.74978151e-01 1.07587112e-02 -1.23053236e+02] [-1.21299814e-02 1.77614255e-04 -9.99926413e-01 2.25701303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.98 meters Centerline goodness [0,1] 0.9999575470696865 Centerline is valid? [True, True] Translation: X:76.95, Y:-123.14, Z:2.26 [[-4.04176550e-01 -9.14669487e-01 4.58755599e-03 7.69522242e+01] [-9.14606430e-01 4.04202559e-01 1.07410379e-02 -1.23143663e+02] [-1.16788015e-02 1.45467442e-04 -9.99931790e-01 2.25711547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.01 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.89, Y:-123.24, Z:2.26 [[-3.30792949e-01 -9.43695886e-01 3.75500927e-03 7.68853142e+01] [-9.43630902e-01 3.30814239e-01 1.10752003e-02 -1.23238813e+02] [-1.16938315e-02 1.20255389e-04 -9.99931618e-01 2.25729085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.04 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.82, Y:-123.34, Z:2.26 [[-2.53120957e-01 -9.67429622e-01 3.11564436e-03 7.68244622e+01] [-9.67352735e-01 2.53140121e-01 1.21969124e-02 -1.23340578e+02] [-1.25883490e-02 7.33670530e-05 -9.99920761e-01 2.25850626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.77, Y:-123.45, Z:2.26 [[-1.75654988e-01 -9.84449010e-01 2.33918716e-03 7.67722250e+01] [-9.84358228e-01 1.75670556e-01 1.33692024e-02 -1.23447687e+02] [-1.35722244e-02 4.57689542e-05 -9.99907892e-01 2.25806942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.1 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.73, Y:-123.56, Z:2.26 [[-9.74264994e-02 -9.95241795e-01 1.35869368e-03 7.67291694e+01] [-9.95142243e-01 9.74359711e-02 1.40764891e-02 -1.23559095e+02] [-1.41418960e-02 1.93295876e-05 -9.99899998e-01 2.25773050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.13 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.70, Y:-123.67, Z:2.26 [[-1.86160075e-02 -9.99826667e-01 2.83218638e-04 7.66952992e+01] [-9.99718512e-01 1.86181594e-02 1.47058040e-02 -1.23673903e+02] [-1.47085280e-02 -9.37555926e-06 -9.99891824e-01 2.25834591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.16 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.67, Y:-123.79, Z:2.26 [[ 6.00803658e-02 -9.98193171e-01 -8.62159714e-04 7.66704772e+01] [-9.98081945e-01 -6.00865415e-02 1.49009460e-02 -1.23792494e+02] [-1.49258268e-02 -3.47482442e-05 -9.99888603e-01 2.25842022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.19 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.66, Y:-123.91, Z:2.26 [[ 1.39134215e-01 -9.90271299e-01 -2.10333408e-03 7.66561738e+01] [-9.90150006e-01 -1.39150092e-01 1.54989295e-02 -1.23911931e+02] [-1.56408242e-02 -7.38151307e-05 -9.99877672e-01 2.25910698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.22 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.65, Y:-124.03, Z:2.26 [[ 2.15530473e-01 -9.76491213e-01 -3.39506246e-03 7.66501464e+01] [-9.76363556e-01 -2.15557193e-01 1.57893334e-02 -1.24028724e+02] [-1.61499755e-02 -8.82672509e-05 -9.99869577e-01 2.25956437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.25 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.65, Y:-124.15, Z:2.26 [[ 2.90492713e-01 -9.56865389e-01 -4.75507860e-03 7.66536232e+01] [-9.56731517e-01 -2.90531611e-01 1.60058823e-02 -1.24145746e+02] [-1.66969755e-02 -1.00258616e-04 -9.99860591e-01 2.25867954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.28 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.67, Y:-124.26, Z:2.26 [[ 3.63616978e-01 -9.31529937e-01 -5.88803499e-03 7.66659786e+01] [-9.31403083e-01 -3.63664632e-01 1.53730856e-02 -1.24263219e+02] [-1.64617595e-02 -1.05780983e-04 -9.99864490e-01 2.26025026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.31 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.69, Y:-124.38, Z:2.26 [[ 4.34248099e-01 -9.00767697e-01 -6.79300393e-03 7.66875321e+01] [-9.00653750e-01 -4.34301216e-01 1.43275007e-02 -1.24376424e+02] [-1.58559597e-02 -1.03545501e-04 -9.99874281e-01 2.25837961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.34 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.72, Y:-124.49, Z:2.26 [[ 5.02584352e-01 -8.64497250e-01 -7.31263142e-03 7.67238715e+01] [-8.64402737e-01 -5.02637538e-01 1.27833647e-02 -1.24494580e+02] [-1.47267867e-02 -1.03660470e-04 -9.99891550e-01 2.25813879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.37 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.76, Y:-124.59, Z:2.26 [[ 5.67557820e-01 -8.23293975e-01 -8.07169178e-03 7.67567712e+01] [-8.23208155e-01 -5.67615205e-01 1.18874873e-02 -1.24593284e+02] [-1.43685116e-02 -1.02153853e-04 -9.99896762e-01 2.25695931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.4 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.80, Y:-124.69, Z:2.26 [[ 6.29456653e-01 -7.76986953e-01 -8.69466278e-03 7.68030333e+01] [-7.76910483e-01 -6.29516691e-01 1.09012396e-02 -1.24693959e+02] [-1.39435563e-02 -1.06883141e-04 -9.99902778e-01 2.25680543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.42999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.85, Y:-124.79, Z:2.26 [[ 6.87153478e-01 -7.26450320e-01 -9.48847487e-03 7.68542263e+01] [-7.26378882e-01 -6.87218976e-01 1.01881657e-02 -1.24791141e+02] [-1.39218562e-02 -1.08605760e-04 -9.99903080e-01 2.25704364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.45999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.91, Y:-124.88, Z:2.26 [[ 7.40534426e-01 -6.71942147e-01 -1.01249208e-02 7.69088180e+01] [-6.71877405e-01 -7.40603632e-01 9.32805916e-03 -1.24880448e+02] [-1.37664692e-02 -1.05043429e-04 -9.99905232e-01 2.25759476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.48999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.91, Y:-124.89, Z:2.26 [[ 7.90898291e-01 -6.11848115e-01 -1.10353120e-02 7.69074836e+01] [-6.11786624e-01 -7.90975267e-01 8.67489785e-03 -1.24885063e+02] [-1.40363787e-02 -1.09705620e-04 -9.99901479e-01 2.25794582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.51999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.91, Y:-124.89, Z:2.26 [[ 8.36322066e-01 -5.48109899e-01 -1.18718181e-02 7.69064570e+01] [-5.48052775e-01 -8.36406316e-01 7.91388835e-03 -1.24889634e+02] [-1.42673442e-02 -1.12176625e-04 -9.99898210e-01 2.25828479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.54999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.90, Y:-124.89, Z:2.26 [[ 8.76677223e-01 -4.80910813e-01 -1.27214770e-02 7.69042373e+01] [-4.80858254e-01 -8.76769512e-01 7.11077251e-03 -1.24894973e+02] [-1.45734506e-02 -1.16625066e-04 -9.99893795e-01 2.25841716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.57999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.90, Y:-124.90, Z:2.26 [[ 9.11678160e-01 -4.10665554e-01 -1.40262241e-02 7.69030416e+01] [-4.10614798e-01 -9.11786042e-01 6.45761687e-03 -1.24897612e+02] [-1.54408362e-02 -1.27893076e-04 -9.99880775e-01 2.26021024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.60999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.90, Y:-124.90, Z:2.26 [[ 9.40984178e-01 -3.38129683e-01 -1.47340916e-02 7.69014752e+01] [-3.38086076e-01 -9.41099517e-01 5.43182269e-03 -1.24902008e+02] [-1.57029070e-02 -1.29867997e-04 -9.99876693e-01 2.25943666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.64 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.90, Y:-124.91, Z:2.26 [[ 9.64464133e-01 -2.63778888e-01 -1.51536736e-02 7.68997880e+01] [-2.63744269e-01 -9.64583165e-01 4.27535910e-03 -1.24906360e+02] [-1.57447279e-02 -1.26735952e-04 -9.99876036e-01 2.26095904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.67 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.90, Y:-124.91, Z:2.26 [[ 9.82064673e-01 -1.87946256e-01 -1.50060682e-02 7.68995859e+01] [-1.87922494e-01 -9.82179307e-01 2.99081333e-03 -1.24906602e+02] [-1.53007618e-02 -1.17194354e-04 -9.99882930e-01 2.26104381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.7 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.90, Y:-124.91, Z:2.26 [[ 9.93645166e-01 -1.11688291e-01 -1.39646225e-02 7.68951929e+01] [-1.11675984e-01 -9.93743286e-01 1.66045059e-03 -1.24907158e+02] [-1.40627027e-02 -9.03857497e-05 -9.99901111e-01 2.25904489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.73 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.89, Y:-124.91, Z:2.26 [[ 9.99329879e-01 -3.40504351e-02 -1.34298813e-02 7.68901500e+01] [-3.40462859e-02 -9.99420113e-01 5.37528740e-04 -1.24911498e+02] [-1.34403966e-02 -7.99309536e-05 -9.99909671e-01 2.25853259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.76 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.88, Y:-124.92, Z:2.26 [[ 9.98956968e-01 4.38832335e-02 -1.26189386e-02 7.68842646e+01] [ 4.38806211e-02 -9.99036664e-01 -4.83953568e-04 -1.24915758e+02] [-1.26280197e-02 -7.02780734e-05 -9.99920261e-01 2.25799237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.79 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.88, Y:-124.92, Z:2.26 [[ 9.92452640e-01 1.22051665e-01 -1.18805898e-02 7.68791828e+01] [ 1.22043733e-01 -9.92523746e-01 -1.39309514e-03 -1.24921257e+02] [-1.19617971e-02 -6.73705748e-05 -9.99928453e-01 2.25693557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.82 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.87, Y:-124.92, Z:2.26 [[ 9.79656613e-01 2.00415502e-01 -1.03221323e-02 7.68736041e+01] [ 2.00405134e-01 -9.79710989e-01 -2.03974566e-03 -1.24924868e+02] [-1.05215031e-02 -7.03579885e-05 -9.99944645e-01 2.25651725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.85 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.87, Y:-124.93, Z:2.26 [[ 9.60660069e-01 2.77571952e-01 -9.27592786e-03 7.68686130e+01] [ 2.77559768e-01 -9.60704849e-01 -2.60180829e-03 -1.24929451e+02] [-9.63361788e-03 -7.51710538e-05 -9.99953593e-01 2.25599890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.88 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.87, Y:-124.94, Z:2.26 [[ 9.35565823e-01 3.53049369e-01 -8.52848213e-03 7.68652994e+01] [ 3.53035493e-01 -9.35604690e-01 -3.13113579e-03 -1.24936834e+02] [-9.08473340e-03 -8.14732651e-05 -9.99958730e-01 2.25547309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.91 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.86, Y:-124.94, Z:2.26 [[ 9.04413685e-01 4.26573429e-01 -8.42584745e-03 7.68619588e+01] [ 4.26555916e-01 -9.04452929e-01 -3.86655031e-03 -1.24944354e+02] [-9.27015003e-03 -9.71340652e-05 -9.99957027e-01 2.25560865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.94 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.86, Y:-124.95, Z:2.26 [[ 8.67743631e-01 4.96949480e-01 -7.88702862e-03 7.68598094e+01] [ 4.96930039e-01 -8.67779467e-01 -4.39681452e-03 -1.24953261e+02] [-9.02919618e-03 -1.03993651e-04 -9.99959231e-01 2.25578974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.97 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.86, Y:-124.96, Z:2.26 [[ 8.26002824e-01 5.63597735e-01 -8.77082316e-03 7.68580449e+01] [ 5.63567556e-01 -8.26049380e-01 -5.83368453e-03 -1.24961583e+02] [-1.05329844e-02 -1.24311470e-04 -9.99944519e-01 2.25652146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.0 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.86, Y:-124.97, Z:2.26 [[ 7.79520466e-01 6.26317800e-01 -8.59399132e-03 7.68575301e+01] [ 6.26281511e-01 -7.79567827e-01 -6.74322185e-03 -1.24973646e+02] [-1.09229990e-02 -1.25778429e-04 -9.99940334e-01 2.25755759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.03 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.86, Y:-124.98, Z:2.26 [[ 7.28535427e-01 6.84958640e-01 -8.23368284e-03 7.68582159e+01] [ 6.84916773e-01 -7.28581943e-01 -7.57405834e-03 -1.24984886e+02] [-1.11868293e-02 -1.21417654e-04 -9.99937418e-01 2.25856686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.06 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.86, Y:-125.00, Z:2.26 [[ 6.73931477e-01 7.38744827e-01 -8.51142422e-03 7.68607723e+01] [ 7.38688041e-01 -6.73985213e-01 -9.16028376e-03 -1.24996915e+02] [-1.25036863e-02 -1.13883720e-04 -9.99921819e-01 2.26043693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.09 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.86, Y:-125.01, Z:2.26 [[ 6.14749461e-01 7.88683592e-01 -7.82885747e-03 7.68625180e+01] [ 7.88621767e-01 -6.14799301e-01 -9.87561149e-03 -1.25007898e+02] [-1.26019088e-02 -1.02980566e-04 -9.99920588e-01 2.26119490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.12 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.86, Y:-125.02, Z:2.26 [[ 5.51108176e-01 8.34404180e-01 -7.03151096e-03 7.68627385e+01] [ 8.34338642e-01 -5.51153022e-01 -1.04583447e-02 -1.25016932e+02] [-1.26019251e-02 -1.02982022e-04 -9.99920587e-01 2.26119504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.15 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.87, Y:-125.03, Z:2.26 [[ 4.84642478e-01 8.74692554e-01 -5.88253431e-03 7.68661122e+01] [ 8.74630369e-01 -4.84678169e-01 -1.04302484e-02 -1.25026364e+02] [-1.19743966e-02 -9.01017234e-05 -9.99928300e-01 2.25986794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.17999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.87, Y:-125.04, Z:2.26 [[ 4.14495967e-01 9.10039739e-01 -4.55711811e-03 7.68693333e+01] [ 9.09986919e-01 -4.14521009e-01 -9.80515157e-03 -1.25035631e+02] [-1.08120988e-02 -8.27220930e-05 -9.99941544e-01 2.25861639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.20999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.87, Y:-125.05, Z:2.26 [[ 3.42417654e-01 9.39541500e-01 -3.45265235e-03 7.68742370e+01] [ 9.39495804e-01 -3.42435053e-01 -9.26656330e-03 -1.25045167e+02] [-9.88862998e-03 -7.07175299e-05 -9.99951104e-01 2.25664207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.23999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.88, Y:-125.06, Z:2.26 [[ 2.67959014e-01 9.63427463e-01 -2.34309976e-03 7.68794100e+01] [ 9.63392537e-01 -2.67969252e-01 -8.20363049e-03 -1.25055020e+02] [-8.53148160e-03 -5.90880850e-05 -9.99963605e-01 2.25573005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.26999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.88, Y:-125.06, Z:2.25 [[ 1.93133404e-01 9.81171855e-01 -1.13094662e-03 7.68847861e+01] [ 9.81155952e-01 -1.93136712e-01 -5.58635489e-03 -1.25064124e+02] [-5.69960151e-03 -3.07232703e-05 -9.99983757e-01 2.25431896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.29999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.89, Y:-125.07, Z:2.25 [[ 1.16558523e-01 9.93183643e-01 -6.02429966e-04 7.68910116e+01] [ 9.93171355e-01 -1.16560078e-01 -4.94036213e-03 -1.25073917e+02] [-4.97690613e-03 -2.24748744e-05 -9.99987615e-01 2.25441772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.32999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.90, Y:-125.08, Z:2.25 [[ 3.95762274e-02 9.99216535e-01 -1.93750720e-04 7.68977355e+01] [ 9.99206356e-01 -3.95766988e-02 -4.51034721e-03 -1.25082591e+02] [-4.51448152e-03 -1.50944241e-05 -9.99989810e-01 2.25499214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.35999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.90, Y:-125.09, Z:2.26 [[-3.78327655e-02 9.99284073e-01 1.49657893e-04 7.69039705e+01] [ 9.99275171e-01 3.78330602e-02 -4.21812287e-03 -1.25091152e+02] [-4.22076502e-03 -1.00338366e-05 -9.99991092e-01 2.25518915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.39 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.91, Y:-125.10, Z:2.26 [[-1.14459552e-01 9.93427777e-01 5.13263840e-04 7.69105719e+01] [ 9.93417643e-01 1.14460703e-01 -4.48705174e-03 -1.25098854e+02] [-4.51631037e-03 -3.70057823e-06 -9.99989801e-01 2.25508898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.42 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.92, Y:-125.11, Z:2.25 [[-1.91779807e-01 9.81437503e-01 9.66368685e-04 7.69200424e+01] [ 9.81424953e-01 1.91782242e-01 -4.96312728e-03 -1.25105281e+02] [-5.05633159e-03 -3.40925218e-06 -9.99987217e-01 2.25452545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.45 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.93, Y:-125.11, Z:2.25 [[-2.68046530e-01 9.63404849e-01 1.46814743e-03 7.69298583e+01] [ 9.63390327e-01 2.68050550e-01 -5.28958241e-03 -1.25112062e+02] [-5.48954707e-03 -3.45517771e-06 -9.99984932e-01 2.25490828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.48 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.94, Y:-125.12, Z:2.26 [[-3.43207541e-01 9.39256838e-01 2.27522372e-03 7.69403035e+01] [ 9.39236048e-01 3.43215083e-01 -6.24927051e-03 -1.25116912e+02] [-6.65056115e-03 -7.82463357e-06 -9.99977885e-01 2.25560437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.51 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.95, Y:-125.12, Z:2.26 [[-4.16172803e-01 9.09279170e-01 3.40418746e-03 7.69515820e+01] [ 9.09248486e-01 4.16186726e-01 -7.46992650e-03 -1.25121779e+02] [-8.20902620e-03 -1.35279548e-05 -9.99966305e-01 2.25761162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.54 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.96, Y:-125.13, Z:2.26 [[-4.86426889e-01 8.73709453e-01 4.54692816e-03 7.69626638e+01] [ 8.73670927e-01 4.86448139e-01 -8.20487243e-03 -1.25125015e+02] [-9.38051935e-03 -1.85516260e-05 -9.99956002e-01 2.25899727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.97, Y:-125.13, Z:2.26 [[-5.52749711e-01 8.33326639e-01 5.87117134e-03 7.69733360e+01] [ 8.33279383e-01 5.52780891e-01 -8.87446381e-03 -1.25128093e+02] [-1.06407984e-02 -1.30312703e-05 -9.99943385e-01 2.26065607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.6 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.98, Y:-125.13, Z:2.26 [[-6.15261083e-01 7.88295369e-01 6.64908137e-03 7.69846556e+01] [ 7.88249364e-01 6.15297010e-01 -8.51637998e-03 -1.25129435e+02] [-1.08045828e-02 1.33699385e-06 -9.99941629e-01 2.26012233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.63 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.00, Y:-125.13, Z:2.26 [[-6.73668909e-01 7.39000792e-01 6.93042067e-03 7.69957488e+01] [ 7.38962018e-01 6.73704556e-01 -7.57010808e-03 -1.25131504e+02] [-1.02633718e-02 2.15711970e-05 -9.99947330e-01 2.26008734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.66 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.00, Y:-125.14, Z:2.26 [[-7.25842125e-01 6.87833624e-01 6.17377673e-03 7.70038653e+01] [ 6.87809476e-01 7.25868378e-01 -5.76388316e-03 -1.25135309e+02] [-8.44594195e-03 6.27129380e-05 -9.99964330e-01 2.25687138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.69 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.03, Y:-125.12, Z:2.26 [[-7.70943074e-01 6.36879214e-01 5.62534447e-03 7.70271577e+01] [ 6.36862954e-01 7.70963593e-01 -4.55155003e-03 -1.25121812e+02] [-7.23572339e-03 7.35875265e-05 -9.99973819e-01 2.25518949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.72 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.05, Y:-125.11, Z:2.25 [[-8.12505787e-01 5.82933319e-01 4.80542545e-03 7.70482048e+01] [ 5.82923671e-01 8.12519994e-01 -3.35460617e-03 -1.25105962e+02] [-5.86001596e-03 7.55593140e-05 -9.99982827e-01 2.25428002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.07, Y:-125.09, Z:2.25 [[-8.50402951e-01 5.26115655e-01 4.13991037e-03 7.70712615e+01] [ 5.26109844e-01 8.50413024e-01 -2.47380843e-03 -1.25089481e+02] [-4.82214304e-03 7.43136110e-05 -9.99988371e-01 2.25296601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.78 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.09, Y:-125.07, Z:2.25 [[-8.84556423e-01 4.66420951e-01 3.38110375e-03 7.70879306e+01] [ 4.66417829e-01 8.84562882e-01 -1.70780544e-03 -1.25070020e+02] [-3.78735511e-03 6.63568007e-05 -9.99992826e-01 2.25281672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.81 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.11, Y:-125.05, Z:2.25 [[-9.14649197e-01 4.04237435e-01 2.99044861e-03 7.71122146e+01] [ 4.04235496e-01 9.14654084e-01 -1.25340288e-03 -1.25050827e+02] [-3.24189840e-03 6.24215441e-05 -9.99994743e-01 2.25246834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.84 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.13, Y:-125.03, Z:2.25 [[-9.40332854e-01 3.40242343e-01 3.04491469e-03 7.71307998e+01] [ 3.40240791e-01 9.40337782e-01 -1.02987372e-03 -1.25031248e+02] [-3.21365497e-03 6.75800816e-05 -9.99994834e-01 2.25276618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.87 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.43, Y:-124.20, Z:1.44 [[-9.31281861e-01 -3.64283058e-01 3.45682442e-03 7.74261860e+01] [ 3.64280363e-01 -9.31288275e-01 -1.40200271e-03 -1.24196823e+02] [ 3.73002588e-03 -4.64064362e-05 9.99993042e-01 1.43589852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.9 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.09, Y:-125.02, Z:2.25 [[-9.41978884e-01 3.35646026e-01 4.18655234e-03 7.70889918e+01] [ 3.35643124e-01 9.41988183e-01 -1.39858611e-03 -1.25016968e+02] [-4.41311271e-03 8.77489182e-05 -9.99990258e-01 2.25399851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.92999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.10, Y:-124.99, Z:2.25 [[-9.63744747e-01 2.66774846e-01 5.21954579e-03 7.71042672e+01] [ 2.66771492e-01 9.63758876e-01 -1.34142195e-03 -1.24989801e+02] [-5.38824122e-03 9.96376644e-05 -9.99985478e-01 2.25436829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.95999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.33, Y:-124.14, Z:1.43 [[-9.54054823e-01 -2.99538974e-01 7.46979205e-03 7.73285384e+01] [ 2.99529932e-01 -9.54084065e-01 -2.32756624e-03 -1.24143821e+02] [ 7.82400636e-03 1.68005056e-05 9.99969392e-01 1.43368953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.98999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.05, Y:-124.97, Z:2.26 [[-9.66358056e-01 2.57069512e-01 8.20820673e-03 7.70535888e+01] [ 2.57061157e-01 9.66392909e-01 -2.07523781e-03 -1.24972629e+02] [-8.46583315e-03 1.04588336e-04 -9.99964159e-01 2.25572145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.01999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.27, Y:-124.13, Z:1.43 [[-9.53913876e-01 -2.99963097e-01 8.39384868e-03 7.72683652e+01] [ 2.99950692e-01 -9.53950802e-01 -2.72933527e-03 -1.24132287e+02] [ 8.82601854e-03 -8.58100641e-05 9.99961046e-01 1.43292106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.04999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.00, Y:-124.96, Z:2.26 [[-9.68338741e-01 2.49491493e-01 8.60677763e-03 7.69992965e+01] [ 2.49482327e-01 9.68376987e-01 -2.13992858e-03 -1.24955573e+02] [-8.86849936e-03 7.50631629e-05 -9.99960671e-01 2.25671390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.07999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.01, Y:-124.93, Z:2.26 [[-9.84119795e-01 1.77316239e-01 8.19633580e-03 7.70126220e+01] [ 1.77310483e-01 9.84153926e-01 -1.42953040e-03 -1.24926936e+02] [-8.31993501e-03 4.64670918e-05 -9.99965388e-01 2.25694374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.10999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.17, Y:-124.09, Z:1.43 [[-9.72460816e-01 -2.32954560e-01 7.22043115e-03 7.71665077e+01] [ 2.32947393e-01 -9.72487616e-01 -1.82995977e-03 -1.24087034e+02] [ 7.44807734e-03 -9.75835584e-05 9.99972258e-01 1.43273028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.14 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.95, Y:-124.92, Z:2.26 [[-9.84993662e-01 1.72458017e-01 6.76156748e-03 7.69548616e+01] [ 1.72454194e-01 9.85016868e-01 -1.14882724e-03 -1.24916089e+02] [-6.85838250e-03 3.44731237e-05 -9.99976480e-01 2.25583159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.17 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.96, Y:-124.89, Z:2.26 [[-9.94705345e-01 1.02588410e-01 6.07407058e-03 7.69633955e+01] [ 1.02586703e-01 9.94723890e-01 -5.92777823e-04 -1.24889883e+02] [-6.10283525e-03 3.34796080e-05 -9.99981377e-01 2.25506977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.2 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:77.06, Y:-124.04, Z:1.44 [[-9.87502591e-01 -1.57510243e-01 5.39965813e-03 7.70562830e+01] [ 1.57507502e-01 -9.87517351e-01 -9.31874192e-04 -1.24041126e+02] [ 5.47903583e-03 -6.97415152e-05 9.99984988e-01 1.43506356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.23 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.90, Y:-124.89, Z:2.25 [[-9.94941433e-01 1.00397083e-01 3.45982386e-03 7.68950677e+01] [ 1.00396578e-01 9.94947448e-01 -3.19736991e-04 -1.24885286e+02] [-3.47444359e-03 2.92348954e-05 -9.99993964e-01 2.25293242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.26 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.90, Y:-124.86, Z:2.25 [[-9.99546070e-01 3.00041309e-02 2.72153957e-03 7.69033872e+01] [ 3.00040863e-02 9.99549774e-01 -5.71974488e-05 -1.24857715e+02] [-2.72203042e-03 2.44858231e-05 -9.99996295e-01 2.25234974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.29 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.90, Y:-124.83, Z:2.25 [[-9.99161633e-01 -4.08715724e-02 2.35500628e-03 7.69046325e+01] [-4.08714071e-02 9.99164408e-01 1.18262737e-04 -1.24829936e+02] [-2.35787204e-03 2.19111693e-05 -9.99997220e-01 2.25207770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.32 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.87, Y:-123.98, Z:1.44 [[-9.99961450e-01 -8.40945569e-03 2.52590266e-03 7.68678101e+01] [ 8.40939804e-03 -9.99964640e-01 -3.34474675e-05 -1.23975083e+02] [ 2.52609462e-03 -1.22048573e-05 9.99996809e-01 1.43697170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.35 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.80, Y:-124.83, Z:2.25 [[-9.98790691e-01 -4.90114501e-02 3.87715915e-03 7.67962938e+01] [-4.90109658e-02 9.98798216e-01 2.19883390e-04 -1.24832559e+02] [-3.88327645e-03 2.95941683e-05 -9.99992460e-01 2.25342021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.38 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.79, Y:-124.80, Z:2.25 [[-9.92601802e-01 -1.21307400e-01 5.11635828e-03 7.67905769e+01] [-1.21305617e-01 9.92614988e-01 6.58560950e-04 -1.24803952e+02] [-5.15846223e-03 3.30457859e-05 -9.99986695e-01 2.25470792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.41 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.77, Y:-124.78, Z:2.26 [[-9.81052430e-01 -1.93643692e-01 6.18469651e-03 7.67735124e+01] [-1.93639642e-01 9.81071924e-01 1.25286742e-03 -1.24777277e+02] [-6.31024197e-03 3.15262043e-05 -9.99980090e-01 2.25622582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.44 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.74, Y:-124.76, Z:2.26 [[-9.63966030e-01 -2.65917226e-01 7.58433217e-03 7.67368562e+01] [-2.65908777e-01 9.63995865e-01 2.11988593e-03 -1.24756320e+02] [-7.87497904e-03 2.67575289e-05 -9.99968992e-01 2.25743023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.47 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.68, Y:-124.74, Z:2.26 [[-9.41261257e-01 -3.37566924e-01 8.70735766e-03 7.66808763e+01] [-3.37552309e-01 9.41301531e-01 3.14116401e-03 -1.24743933e+02] [-9.25660216e-03 1.74672980e-05 -9.99957157e-01 2.25825713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.61, Y:-124.74, Z:2.26 [[-9.12575319e-01 -4.08773836e-01 1.04994386e-02 7.66109614e+01] [-4.08746896e-01 9.12635716e-01 4.69297354e-03 -1.24740584e+02] [-1.15005275e-02 -8.92110602e-06 -9.99933867e-01 2.26037269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.53 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.54, Y:-124.75, Z:2.26 [[-8.79016242e-01 -4.76672783e-01 1.06538019e-02 7.65383013e+01] [-4.76638045e-01 8.79080802e-01 5.75472474e-03 -1.24745395e+02] [-1.21086734e-02 -1.95108182e-05 -9.99926687e-01 2.26083499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.46, Y:-124.76, Z:2.26 [[-8.40440079e-01 -5.41800920e-01 1.05941614e-02 7.64555912e+01] [-5.41758268e-01 8.40506849e-01 6.79824816e-03 -1.24761957e+02] [-1.25877623e-02 -2.59543041e-05 -9.99920771e-01 2.26142769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.59 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.37, Y:-124.79, Z:2.26 [[-7.97027536e-01 -6.03864305e-01 9.74720931e-03 7.63662948e+01] [-6.03819563e-01 7.97087135e-01 7.35080375e-03 -1.24790927e+02] [-1.22082631e-02 -2.67626707e-05 -9.99925476e-01 2.26163700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.62 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.28, Y:-124.83, Z:2.26 [[-7.49191802e-01 -6.62299938e-01 8.39262941e-03 7.62763916e+01] [-6.62258665e-01 7.49238808e-01 7.39387238e-03 -1.24831163e+02] [-1.11850449e-02 -1.86629743e-05 -9.99937445e-01 2.26050516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.65 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.19, Y:-124.87, Z:2.26 [[-6.96629052e-01 -7.17391043e-01 7.61935915e-03 7.61940505e+01] [-7.17348378e-01 6.96670719e-01 7.82392383e-03 -1.24873119e+02] [-1.09209973e-02 -1.53622849e-05 -9.99940364e-01 2.25919527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.67999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.11, Y:-124.93, Z:2.26 [[-6.39856965e-01 -7.68469629e-01 6.12326915e-03 7.61057799e+01] [-7.68434620e-01 6.39886263e-01 7.33521090e-03 -1.24931350e+02] [-9.55508261e-03 -1.18462173e-05 -9.99954349e-01 2.25844264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.70999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.02, Y:-125.00, Z:2.26 [[-5.78136218e-01 -8.15928805e-01 4.32422982e-03 7.60181543e+01] [-8.15906207e-01 5.78152389e-01 6.07261306e-03 -1.24999139e+02] [-7.45488371e-03 -1.73683973e-05 -9.99972212e-01 2.25671758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.73999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.93, Y:-125.08, Z:2.26 [[-5.13143316e-01 -8.58295784e-01 3.50499127e-03 7.59337918e+01] [-8.58276028e-01 5.13155286e-01 5.82348936e-03 -1.25076946e+02] [-6.79688116e-03 -1.99653384e-05 -9.99976901e-01 2.25666184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.76999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.86, Y:-125.16, Z:2.26 [[-4.44500396e-01 -8.95774059e-01 2.86922426e-03 7.58576830e+01] [-8.95755769e-01 4.44509656e-01 5.72433313e-03 -1.25157175e+02] [-6.40310701e-03 -2.56558359e-05 -9.99979500e-01 2.25661046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.79999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.79, Y:-125.25, Z:2.26 [[-3.73461252e-01 -9.27642213e-01 2.57259303e-03 7.57851801e+01] [-9.27620777e-01 3.73470111e-01 6.30638714e-03 -1.25248642e+02] [-6.81085752e-03 -3.11995064e-05 -9.99976805e-01 2.25735740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.82999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.72, Y:-125.35, Z:2.26 [[-2.99602738e-01 -9.54061490e-01 2.20742296e-03 7.57190915e+01] [-9.54036610e-01 2.99610867e-01 6.89019755e-03 -1.25348270e+02] [-7.23504005e-03 -4.16402662e-05 -9.99973826e-01 2.25808227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.85999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.66, Y:-125.45, Z:2.26 [[-2.23870240e-01 -9.74617268e-01 1.81595078e-03 7.56607945e+01] [-9.74587126e-01 2.23877598e-01 7.66514561e-03 -1.25453254e+02] [-7.87713397e-03 -5.38042667e-05 -9.99968973e-01 2.25871104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.61, Y:-125.56, Z:2.26 [[-1.45673996e-01 -9.89331670e-01 1.39059699e-03 7.56100560e+01] [-9.89291701e-01 1.45680611e-01 8.89330647e-03 -1.25563636e+02] [-9.00101276e-03 -8.01825716e-05 -9.99959487e-01 2.25951820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.92 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.57, Y:-125.68, Z:2.26 [[-6.74172869e-02 -9.97724619e-01 7.02353624e-04 7.55687162e+01] [-9.97683651e-01 6.74208838e-02 9.04196576e-03 -1.25677136e+02] [-9.06874515e-03 -9.11419284e-05 -9.99958874e-01 2.25907097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.95 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.54, Y:-125.80, Z:2.26 [[ 1.11463403e-02 -9.99937878e-01 -8.18988306e-07 7.55355515e+01] [-9.99893918e-01 -1.11458580e-02 9.37674203e-03 -1.25798546e+02] [-9.37616866e-03 -1.03697456e-04 -9.99956037e-01 2.25950642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.98 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.51, Y:-125.92, Z:2.26 [[ 8.94738584e-02 -9.95988894e-01 -7.42551847e-04 7.55122533e+01] [-9.95943228e-01 -8.94768671e-02 9.53815923e-03 -1.25915766e+02] [-9.56634187e-03 -1.13876424e-04 -9.99954235e-01 2.25946082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.01 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.50, Y:-126.03, Z:2.26 [[ 1.66254904e-01 -9.86081701e-01 -1.47822740e-03 7.54986111e+01] [-9.86036405e-01 -1.66261436e-01 9.45212536e-03 -1.26034427e+02] [-9.56634007e-03 -1.13876162e-04 -9.99954235e-01 2.25946073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.04 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.50, Y:-126.16, Z:2.26 [[ 2.41954736e-01 -9.70285252e-01 -2.10621241e-03 7.54956069e+01] [-9.70244572e-01 -2.41963880e-01 8.88547838e-03 -1.26158343e+02] [-9.13107595e-03 -1.06342415e-04 -9.99958305e-01 2.25874206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.50, Y:-126.28, Z:2.26 [[ 3.15629191e-01 -9.48878986e-01 -2.62366182e-03 7.55007806e+01] [-9.48843710e-01 -3.15640082e-01 8.18245431e-03 -1.26277810e+02] [-8.59229178e-03 -9.31764234e-05 -9.99963081e-01 2.25856470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.1 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.51, Y:-126.39, Z:2.26 [[ 3.87044063e-01 -9.22055091e-01 -3.36183719e-03 7.55128886e+01] [-9.22018339e-01 -3.87058654e-01 8.23293210e-03 -1.26388552e+02] [-8.89244513e-03 -8.68319563e-05 -9.99960458e-01 2.25840889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.13 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.54, Y:-126.52, Z:2.26 [[ 4.56126015e-01 -8.89907062e-01 -3.80518922e-03 7.55414516e+01] [-8.89874755e-01 -4.56141881e-01 7.58318072e-03 -1.26515462e+02] [-8.48403224e-03 -7.27441801e-05 -9.99964007e-01 2.25877347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.16 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.57, Y:-126.62, Z:2.26 [[ 5.22207064e-01 -8.52806964e-01 -4.47925931e-03 7.55700407e+01] [-8.52774590e-01 -5.22226271e-01 7.43111425e-03 -1.26620855e+02] [-8.67649287e-03 -6.07818361e-05 -9.99962357e-01 2.25896824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.19 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.61, Y:-126.73, Z:2.26 [[ 5.85476371e-01 -8.10672881e-01 -5.18640025e-03 7.56075156e+01] [-8.10640294e-01 -5.85499340e-01 7.26890194e-03 -1.26725598e+02] [-8.92933560e-03 -5.14653026e-05 -9.99960131e-01 2.25952265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.22 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.66, Y:-126.83, Z:2.26 [[ 6.43931063e-01 -7.65057980e-01 -6.25082957e-03 7.56554552e+01] [-7.65021527e-01 -6.43961401e-01 7.46840389e-03 -1.26827563e+02] [-9.73905496e-03 -2.71180770e-05 -9.99952574e-01 2.25950354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.25 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.71, Y:-126.93, Z:2.26 [[ 6.99725046e-01 -7.14382923e-01 -6.47296790e-03 7.57099646e+01] [-7.14352205e-01 -6.99754985e-01 6.62483026e-03 -1.26927091e+02] [-9.26215716e-03 -1.15807681e-05 -9.99957105e-01 2.26008809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.28 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.76, Y:-127.01, Z:2.26 [[ 7.51438334e-01 -6.59767981e-01 -6.82949801e-03 7.57622850e+01] [-6.59740763e-01 -7.51469368e-01 5.99289865e-03 -1.27012776e+02] [-9.08608120e-03 2.40444923e-06 -9.99958721e-01 2.25925470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.31 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.76, Y:-127.02, Z:2.26 [[ 7.99011688e-01 -6.01286319e-01 -5.92329974e-03 7.57590190e+01] [-6.01270005e-01 -7.99033642e-01 4.42930843e-03 -1.27017132e+02] [-7.39619833e-03 2.24332644e-05 -9.99972648e-01 2.25838430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.34 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.75, Y:-127.02, Z:2.26 [[ 8.43009990e-01 -5.37858503e-01 -6.51057810e-03 7.57536105e+01] [-5.37842746e-01 -8.43035130e-01 4.11719061e-03 -1.27021611e+02] [-7.70311203e-03 3.08343873e-05 -9.99970330e-01 2.25821916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.37 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.75, Y:-127.03, Z:2.26 [[ 8.82189713e-01 -4.70845182e-01 -6.79159052e-03 7.57460369e+01] [-4.70831536e-01 -8.82215854e-01 3.58481133e-03 -1.27028243e+02] [-7.67953997e-03 3.52113195e-05 -9.99970511e-01 2.25832772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.4 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.74, Y:-127.03, Z:2.26 [[ 9.16249902e-01 -4.00537835e-01 -7.45385758e-03 7.57385589e+01] [-4.00524919e-01 -9.16280220e-01 3.21686271e-03 -1.27034658e+02] [-8.11829749e-03 3.80055638e-05 -9.99967045e-01 2.25903204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.42999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.73, Y:-127.04, Z:2.26 [[ 9.45192261e-01 -3.26405226e-01 -8.43910449e-03 7.57314038e+01] [-3.26392495e-01 -9.45229934e-01 2.88294688e-03 -1.27040972e+02] [-8.91790310e-03 2.95212962e-05 -9.99960234e-01 2.26054242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.45999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.73, Y:-127.05, Z:2.26 [[ 9.68095163e-01 -2.50412831e-01 -9.22871894e-03 7.57259124e+01] [-2.50401657e-01 -9.68139150e-01 2.36571414e-03 -1.27049656e+02] [-9.52708929e-03 2.06500999e-05 -9.99954616e-01 2.25992158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.48999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.72, Y:-127.06, Z:2.26 [[ 9.84976351e-01 -1.72395952e-01 -1.00609614e-02 7.57176373e+01] [-1.72387031e-01 -9.85027733e-01 1.75383259e-03 -1.27057195e+02] [-1.02126797e-02 6.89564557e-06 -9.99947849e-01 2.26091763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.51999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.71, Y:-127.06, Z:2.26 [[ 9.95582383e-01 -9.32759473e-02 -1.07385692e-02 7.57091519e+01] [-9.32704310e-02 -9.95640295e-01 1.01444795e-03 -1.27064661e+02] [-1.07863758e-02 -8.37552799e-06 -9.99941825e-01 2.26199061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.54999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.70, Y:-127.07, Z:2.26 [[ 9.99841524e-01 -1.37111212e-02 -1.13548488e-02 7.57021098e+01] [-1.37099719e-02 -9.99905998e-01 1.79050984e-04 -1.27072105e+02] [-1.13562364e-02 -2.33479509e-05 -9.99935516e-01 2.26271044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.57999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.70, Y:-127.08, Z:2.26 [[ 9.97780470e-01 6.55489215e-02 -1.17248877e-02 7.56956935e+01] [ 6.55448091e-02 -9.97849356e-01 -7.35078397e-04 -1.27079253e+02] [-1.17478552e-02 -3.50586563e-05 -9.99930991e-01 2.26304470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.60999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.69, Y:-127.09, Z:2.26 [[ 9.89450103e-01 1.44491982e-01 -1.05147557e-02 7.56888227e+01] [ 1.44484283e-01 -9.89505970e-01 -1.49220659e-03 -1.27085422e+02] [-1.06200254e-02 -4.27529723e-05 -9.99943605e-01 2.26222036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.64 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.68, Y:-127.09, Z:2.26 [[ 9.75072518e-01 2.21707131e-01 -8.91815415e-03 7.56836818e+01] [ 2.21698220e-01 -9.75113299e-01 -1.98810498e-03 -1.27092634e+02] [-9.13698777e-03 -3.85923785e-05 -9.99958256e-01 2.26063871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.67 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.68, Y:-127.10, Z:2.26 [[ 9.54626842e-01 2.97686251e-01 -8.39568580e-03 7.56799855e+01] [ 2.97675107e-01 -9.54663760e-01 -2.57612355e-03 -1.27101566e+02] [-8.78193353e-03 -3.99499827e-05 -9.99961437e-01 2.25935214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.7 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.68, Y:-127.11, Z:2.26 [[ 9.28255157e-01 3.71881361e-01 -6.82767604e-03 7.56771650e+01] [ 3.71871591e-01 -9.28280266e-01 -2.69585094e-03 -1.27112057e+02] [-7.34053365e-03 -3.65812122e-05 -9.99973057e-01 2.25827532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.73 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.67, Y:-127.12, Z:2.26 [[ 8.96192602e-01 4.43626193e-01 -5.88404262e-03 7.56736702e+01] [ 4.43616881e-01 -8.96211917e-01 -2.87449831e-03 -1.27123089e+02] [-6.54855186e-03 -3.41565166e-05 -9.99978557e-01 2.25841831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.76 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.67, Y:-127.13, Z:2.26 [[ 8.58586699e-01 5.12639881e-01 -5.40673191e-03 7.56711682e+01] [ 5.12629969e-01 -8.58603722e-01 -3.18807251e-03 -1.27132683e+02] [-6.27657325e-03 -3.44161519e-05 -9.99980302e-01 2.25882787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.79 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.67, Y:-127.14, Z:2.26 [[ 8.15896705e-01 5.78176734e-01 -4.92253635e-03 7.56707652e+01] [ 5.78166449e-01 -8.15911554e-01 -3.44864241e-03 -1.27143625e+02] [-6.01027908e-03 -3.23093854e-05 -9.99981938e-01 2.25819642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.82 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.67, Y:-127.15, Z:2.26 [[ 7.68296623e-01 6.40080451e-01 -4.16120384e-03 7.56698780e+01] [ 6.40071257e-01 -7.68307891e-01 -3.43084100e-03 -1.27154728e+02] [-5.39310000e-03 -2.75634214e-05 -9.99985457e-01 2.25844982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.85 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.67, Y:-127.17, Z:2.26 [[ 7.16583233e-01 6.97494305e-01 -3.18813983e-03 7.56700460e+01] [ 6.97487513e-01 -7.16590325e-01 -3.07822021e-03 -1.27165874e+02] [-4.43163122e-03 -1.78867237e-05 -9.99990180e-01 2.25796406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.88 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.67, Y:-127.18, Z:2.26 [[ 6.60595445e-01 7.50736674e-01 -2.84663747e-03 7.56707243e+01] [ 7.50729787e-01 -6.60601579e-01 -3.21581765e-03 -1.27176995e+02] [-4.29472545e-03 -1.27010463e-05 -9.99990778e-01 2.25823069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.91 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.67, Y:-127.19, Z:2.26 [[ 6.00922420e-01 7.99303151e-01 -2.59190168e-03 7.56715364e+01] [ 7.99295763e-01 -6.00928009e-01 -3.43659232e-03 -1.27187143e+02] [-4.30442539e-03 -6.57066349e-06 -9.99990736e-01 2.25844532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.94 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.67, Y:-127.20, Z:2.26 [[ 5.37647565e-01 8.43166817e-01 -2.19431243e-03 7.56732883e+01] [ 8.43159798e-01 -5.37652043e-01 -3.44017098e-03 -1.27197813e+02] [-4.08041457e-03 -5.56472648e-07 -9.99991675e-01 2.25844722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.97 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.68, Y:-127.21, Z:2.26 [[ 4.72305932e-01 8.81432931e-01 -1.75926617e-03 7.56750444e+01] [ 8.81426742e-01 -4.72309209e-01 -3.30309158e-03 -1.27208202e+02] [-3.74237130e-03 9.40549577e-06 -9.99992997e-01 2.25873343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.0 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.68, Y:-127.22, Z:2.26 [[ 4.02760005e-01 9.15304229e-01 -1.59555594e-03 7.56780740e+01] [ 9.15296906e-01 -4.02763165e-01 -3.66137976e-03 -1.27219517e+02] [-3.99390754e-03 1.42499129e-05 -9.99992024e-01 2.25908900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.03 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.68, Y:-127.23, Z:2.26 [[ 3.30702389e-01 9.43734030e-01 -1.41787954e-03 7.56837169e+01] [ 9.43725103e-01 -3.30705428e-01 -4.10495584e-03 -1.27230430e+02] [-4.34288698e-03 1.94301841e-05 -9.99990569e-01 2.25989008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.06 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.69, Y:-127.24, Z:2.26 [[ 2.56277287e-01 9.66602384e-01 -1.33510033e-03 7.56894004e+01] [ 9.66588722e-01 -2.56280764e-01 -5.13930162e-03 -1.27240671e+02] [-5.30982173e-03 2.65933580e-05 -9.99985902e-01 2.26137243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.09 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.70, Y:-127.25, Z:2.26 [[ 1.80240063e-01 9.83621984e-01 -1.14565489e-03 7.56955083e+01] [ 9.83600835e-01 -1.80243701e-01 -6.45018321e-03 -1.27250778e+02] [-6.55103908e-03 3.57143249e-05 -9.99978541e-01 2.26271266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.12 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.70, Y:-127.26, Z:2.26 [[ 1.03391015e-01 9.94640536e-01 -7.08679229e-04 7.57042326e+01] [ 9.94614065e-01 -1.03393434e-01 -7.25668061e-03 -1.27260263e+02] [-7.29106147e-03 4.54132479e-05 -9.99973419e-01 2.26374164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.15 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.71, Y:-127.27, Z:2.26 [[ 2.51079101e-02 9.99684738e-01 -1.33651432e-04 7.57134285e+01] [ 9.99659717e-01 -2.51082273e-02 -7.07300237e-03 -1.27269268e+02] [-7.07412827e-03 4.39823547e-05 -9.99974977e-01 2.26376965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.17999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.72, Y:-127.28, Z:2.26 [[-5.28154058e-02 9.98604200e-01 4.28624083e-04 7.57224042e+01] [ 9.98578280e-01 5.28171232e-02 -7.19514136e-03 -1.27278704e+02] [-7.20773708e-03 4.80003887e-05 -9.99974023e-01 2.26384140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.20999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.73, Y:-127.29, Z:2.26 [[-1.30553351e-01 9.91440861e-01 9.17719797e-04 7.57332625e+01] [ 9.91418818e-01 1.30556569e-01 -6.61129996e-03 -1.27285705e+02] [-6.67452727e-03 4.67173097e-05 -9.99977724e-01 2.26364061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.23999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.74, Y:-127.29, Z:2.26 [[-2.07763477e-01 9.78178279e-01 1.26159278e-03 7.57441675e+01] [ 9.78161438e-01 2.07767303e-01 -5.74014118e-03 -1.27293194e+02] [-5.87699915e-03 4.14497170e-05 -9.99982729e-01 2.26354226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.26999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.75, Y:-127.30, Z:2.26 [[-2.83962942e-01 9.58834089e-01 1.49584825e-03 7.57538461e+01] [ 9.58821431e-01 2.83966880e-01 -4.92691948e-03 -1.27300157e+02] [-5.14886971e-03 3.51888059e-05 -9.99986744e-01 2.26297119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.29999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.77, Y:-127.30, Z:2.26 [[-3.58379070e-01 9.33574509e-01 1.75467779e-03 7.57665202e+01] [ 9.33563752e-01 3.58383365e-01 -4.48169905e-03 -1.27304920e+02] [-4.81284732e-03 3.19564437e-05 -9.99988418e-01 2.26169718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.32999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.78, Y:-127.31, Z:2.26 [[-4.30692047e-01 9.02497026e-01 1.86490963e-03 7.57786373e+01] [ 9.02488837e-01 4.30696084e-01 -3.84477181e-03 -1.27310523e+02] [-4.27310440e-03 2.71474825e-05 -9.99990870e-01 2.26142432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.35999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.79, Y:-127.31, Z:2.26 [[-5.00903708e-01 8.65500865e-01 1.93080371e-03 7.57911307e+01] [ 8.65494592e-01 5.00907429e-01 -3.29530633e-03 -1.27313832e+02] [-3.81924440e-03 2.04690059e-05 -9.99992706e-01 2.26129639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.39 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.80, Y:-127.31, Z:2.26 [[-5.68057232e-01 8.22985588e-01 2.38791121e-03 7.58044834e+01] [ 8.22978449e-01 5.68062251e-01 -3.42795290e-03 -1.27314850e+02] [-4.17763805e-03 1.79260256e-05 -9.99991273e-01 2.26165994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.42 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.82, Y:-127.32, Z:2.26 [[-6.31566304e-01 7.75316505e-01 2.88458594e-03 7.58175514e+01] [ 7.75308526e-01 6.31572891e-01 -3.51762887e-03 -1.27316610e+02] [-4.54910200e-03 1.48282075e-05 -9.99989653e-01 2.26238162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.45 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.83, Y:-127.32, Z:2.26 [[-6.91137331e-01 7.22714187e-01 3.65984999e-03 7.58298568e+01] [ 7.22704141e-01 6.91147021e-01 -3.81054423e-03 -1.27315998e+02] [-5.28342879e-03 1.13793732e-05 -9.99986043e-01 2.26230620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.48 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.84, Y:-127.31, Z:2.26 [[-7.47311336e-01 6.64465243e-01 3.42177610e-03 7.58431765e+01] [ 6.64458266e-01 7.47319170e-01 -3.04500079e-03 -1.27314295e+02] [-4.58045606e-03 -1.93619856e-06 -9.99989510e-01 2.26245848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.51 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.86, Y:-127.29, Z:2.26 [[-7.93138752e-01 6.09030877e-01 3.50871614e-03 7.58635666e+01] [ 6.09024878e-01 7.93146513e-01 -2.70305483e-03 -1.27293665e+02] [-4.42916982e-03 -7.00211457e-06 -9.99990191e-01 2.26220776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.54 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.89, Y:-127.28, Z:2.26 [[-8.34668847e-01 5.50744674e-01 2.86686547e-03 7.58911454e+01] [ 5.50741388e-01 8.34673771e-01 -1.90243202e-03 -1.27278092e+02] [-3.44065171e-03 -8.99926867e-06 -9.99994081e-01 2.26142786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.91, Y:-127.26, Z:2.26 [[-8.72053333e-01 4.89402622e-01 2.83865253e-03 7.59144740e+01] [ 4.89399985e-01 8.72057953e-01 -1.60680813e-03 -1.27259326e+02] [-3.26184563e-03 -1.19858813e-05 -9.99994680e-01 2.26126564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.6 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.93, Y:-127.24, Z:2.26 [[-9.04808632e-01 4.25810211e-01 2.64645494e-03 7.59298781e+01] [ 4.25808348e-01 9.04812502e-01 -1.25967186e-03 -1.27235557e+02] [-2.93092666e-03 -1.28793718e-05 -9.99995705e-01 2.26125383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.63 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.30, Y:-126.49, Z:1.43 [[-8.69605516e-01 -4.93739076e-01 2.82342221e-03 7.63019937e+01] [ 4.93736593e-01 -8.69610099e-01 -1.56591820e-03 -1.26485274e+02] [ 3.22843147e-03 3.22957570e-05 9.99994788e-01 1.42753137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.66 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.89, Y:-127.22, Z:2.26 [[-9.06497260e-01 4.22200703e-01 3.04685664e-03 7.58931050e+01] [ 4.22198259e-01 9.06502381e-01 -1.43675638e-03 -1.27219704e+02] [-3.36858235e-03 -1.60381505e-05 -9.99994326e-01 2.26183594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.69 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.26, Y:-126.46, Z:1.43 [[-8.71571834e-01 -4.90260261e-01 2.72290749e-03 7.62595264e+01] [ 4.90257869e-01 -8.71576088e-01 -1.53142195e-03 -1.26464149e+02] [ 3.12401638e-03 1.82588101e-07 9.99995120e-01 1.42710624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.72 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.85, Y:-127.20, Z:2.26 [[-9.07655624e-01 4.19701106e-01 3.49998924e-03 7.58528546e+01] [ 4.19697923e-01 9.07662372e-01 -1.63464889e-03 -1.27203702e+02] [-3.86287248e-03 -1.47600414e-05 -9.99992539e-01 2.26226895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.87, Y:-127.18, Z:2.26 [[-9.34617181e-01 3.55636715e-01 3.64022796e-03 7.58706900e+01] [ 3.55633977e-01 9.34624271e-01 -1.39552797e-03 -1.27183980e+02] [-3.89854639e-03 -9.69566859e-06 -9.99992401e-01 2.26236129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.78 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.87, Y:-127.16, Z:2.26 [[-9.57363102e-01 2.88864574e-01 3.62598387e-03 7.58722471e+01] [ 2.88862470e-01 9.57369969e-01 -1.10265306e-03 -1.27156539e+02] [-3.78992547e-03 -8.22869567e-06 -9.99992818e-01 2.26275111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.81 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.90, Y:-127.14, Z:2.26 [[-9.75279090e-01 2.20944632e-01 3.76389271e-03 7.59016032e+01] [ 2.20942959e-01 9.75286353e-01 -8.59846290e-04 -1.27136988e+02] [-3.86085162e-03 -6.98451446e-06 -9.99992547e-01 2.26265321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.84 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.91, Y:-127.11, Z:2.26 [[-9.88435833e-01 1.51588101e-01 3.95613187e-03 7.59074570e+01] [ 1.51586863e-01 9.88443750e-01 -6.12640051e-04 -1.27110945e+02] [-4.00328276e-03 -5.85776066e-06 -9.99991987e-01 2.26330190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.87 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.92, Y:-127.09, Z:2.26 [[-9.96694119e-01 8.11084584e-02 4.71721547e-03 7.59225410e+01] [ 8.11075193e-02 9.96705281e-01 -3.90369928e-04 -1.27087089e+02] [-4.73333588e-03 -6.47776683e-06 -9.99988798e-01 2.26351178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.9 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:76.00, Y:-126.23, Z:1.43 [[-9.88528766e-01 -1.50951893e-01 4.94004012e-03 7.59998134e+01] [ 1.50950128e-01 -9.88541110e-01 -7.30366756e-04 -1.26234543e+02] [ 4.99368298e-03 2.37111386e-05 9.99987531e-01 1.42526600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.92999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.85, Y:-127.08, Z:2.26 [[-9.97105725e-01 7.58640289e-02 4.98227180e-03 7.58477793e+01] [ 7.58630418e-02 9.97118172e-01 -3.87087189e-04 -1.27081480e+02] [-4.99727975e-03 -7.99655816e-06 -9.99987514e-01 2.26379627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.95999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.85, Y:-127.05, Z:2.26 [[-9.99972424e-01 4.86073545e-03 5.61472015e-03 7.58520614e+01] [ 4.86059787e-03 9.99988187e-01 -3.81482643e-05 -1.27054770e+02] [-5.61483925e-03 -1.08563155e-05 -9.99984237e-01 2.26393478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.98999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.87, Y:-126.20, Z:1.43 [[-9.97077335e-01 -7.62002023e-02 5.50610287e-03 7.58665354e+01] [ 7.61990656e-02 -9.97092538e-01 -4.16226446e-04 -1.26196841e+02] [ 5.52181062e-03 4.54993830e-06 9.99984755e-01 1.42535633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.01999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.75, Y:-127.05, Z:2.26 [[-9.99982359e-01 -2.03288339e-03 5.58121821e-03 7.57505694e+01] [-2.03294146e-03 9.99997934e-01 -4.73074199e-06 -1.27054042e+02] [-5.58119706e-03 -1.60769484e-05 -9.99984425e-01 2.26349691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.04999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.78, Y:-126.20, Z:1.43 [[-9.97420853e-01 -7.15749923e-02 5.35376786e-03 7.57755494e+01] [ 7.15739676e-02 -9.97435221e-01 -3.82994934e-04 -1.26195325e+02] [ 5.36744949e-03 1.18327387e-06 9.99985595e-01 1.42563445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.07999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.67, Y:-127.05, Z:2.26 [[-9.99942924e-01 -9.33349035e-03 5.19947152e-03 7.56695925e+01] [-9.33347104e-03 9.99956442e-01 2.79788938e-05 -1.27053449e+02] [-5.19950618e-03 -2.05518200e-05 -9.99986482e-01 2.26292503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.10999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.66, Y:-127.03, Z:2.26 [[-9.96695018e-01 -8.11018927e-02 4.63937131e-03 7.56593369e+01] [-8.11011153e-02 9.96705815e-01 3.55744585e-04 -1.27026410e+02] [-4.65293993e-03 -2.16893318e-05 -9.99989175e-01 2.26259741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.14 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.66, Y:-127.00, Z:2.26 [[-9.88301720e-01 -1.52456438e-01 4.09204593e-03 7.56564168e+01] [-1.52455220e-01 9.88310191e-01 6.09749325e-04 -1.26999256e+02] [-4.13717090e-03 -2.12374564e-05 -9.99991442e-01 2.26249789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.17 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.64, Y:-126.97, Z:2.26 [[-9.74663801e-01 -2.23647490e-01 3.50362293e-03 7.56392846e+01] [-2.23646120e-01 9.74670098e-01 7.82974426e-04 -1.26974989e+02] [-3.58998677e-03 -2.04348446e-05 -9.99993556e-01 2.26226777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.2 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.60, Y:-126.96, Z:2.26 [[-9.55593592e-01 -2.94674220e-01 2.82684168e-03 7.56003162e+01] [-2.94672987e-01 9.55597773e-01 8.52885316e-04 -1.26957793e+02] [-2.95264693e-03 -1.79821402e-05 -9.99995641e-01 2.26164536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.23 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.54, Y:-126.95, Z:2.26 [[-9.31226990e-01 -3.64430936e-01 2.52719227e-03 7.55448412e+01] [-3.64429643e-01 9.31230419e-01 9.70900735e-04 -1.26948018e+02] [-2.70722458e-03 -1.68548080e-05 -9.99996335e-01 2.26155481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.26 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.48, Y:-126.95, Z:2.26 [[-9.01646115e-01 -4.32468082e-01 2.37495252e-03 7.54768019e+01] [-4.32466628e-01 9.01649243e-01 1.12159632e-03 -1.26947742e+02] [-2.62642875e-03 -1.58047467e-05 -9.99996551e-01 2.26159724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.29 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.40, Y:-126.96, Z:2.26 [[-8.66701968e-01 -4.98818084e-01 2.86660200e-03 7.54013259e+01] [-4.98815431e-01 8.66706708e-01 1.62699336e-03 -1.26956344e+02] [-3.29607689e-03 -1.97869703e-05 -9.99994568e-01 2.26202276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.32 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.31, Y:-126.98, Z:2.26 [[-8.26695709e-01 -5.62640809e-01 3.08614419e-03 7.53137188e+01] [-5.62636989e-01 8.26701470e-01 2.07338434e-03 -1.26978765e+02] [-3.71789058e-03 -2.23209325e-05 -9.99993088e-01 2.26219435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.35 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.23, Y:-127.00, Z:2.26 [[-7.81750787e-01 -6.23584283e-01 2.88948523e-03 7.52318791e+01] [-6.23580125e-01 7.81756127e-01 2.27738327e-03 -1.27004946e+02] [-3.67901319e-03 -2.14793912e-05 -9.99993232e-01 2.26192373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.38 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.14, Y:-127.05, Z:2.26 [[-7.32194104e-01 -6.81092029e-01 2.33302938e-03 7.51415222e+01] [-6.81088649e-01 7.32197820e-01 2.14570630e-03 -1.27045617e+02] [-3.16966248e-03 -1.79263269e-05 -9.99994976e-01 2.26183375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.41 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.05, Y:-127.10, Z:2.26 [[-6.78085797e-01 -7.34980425e-01 1.85108615e-03 7.50519236e+01] [-7.34977747e-01 6.78088324e-01 1.98407720e-03 -1.27095819e+02] [-2.71345781e-03 -1.51325536e-05 -9.99996318e-01 2.26162014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.44 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.96, Y:-127.16, Z:2.26 [[-6.20127189e-01 -7.84500918e-01 7.60872507e-04 7.49616075e+01] [-7.84500340e-01 6.20127656e-01 9.52496514e-04 -1.27158245e+02] [-1.21907247e-03 -6.23575385e-06 -9.99999257e-01 2.26134996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.47 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.87, Y:-127.23, Z:2.26 [[-5.58157273e-01 -8.29734517e-01 1.04352804e-03 7.48746285e+01] [-8.29733098e-01 5.58158249e-01 1.53480051e-03 -1.27230463e+02] [-1.85593075e-03 -9.18968634e-06 -9.99998278e-01 2.26103591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.79, Y:-127.31, Z:2.26 [[-4.92740453e-01 -8.70175901e-01 8.64180826e-04 7.47924915e+01] [-8.70174593e-01 4.92741210e-01 1.50926601e-03 -1.27310673e+02] [-1.73914442e-03 -8.31178168e-06 -9.99998488e-01 2.26111475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.53 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.72, Y:-127.38, Z:2.26 [[-4.24590872e-01 -9.05384940e-01 8.37596210e-04 7.47232731e+01] [-9.05383216e-01 4.24591698e-01 1.76679711e-03 -1.27384379e+02] [-1.95526789e-03 -8.17962508e-06 -9.99998088e-01 2.26153719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.65, Y:-127.48, Z:2.26 [[-3.53383365e-01 -9.35477926e-01 1.11727808e-03 7.46529353e+01] [-9.35473365e-01 3.53385131e-01 2.92097612e-03 -1.27478303e+02] [-3.12733814e-03 -1.29595155e-05 -9.99995110e-01 2.26234822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.59 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.59, Y:-127.58, Z:2.26 [[-2.79923490e-01 -9.60021864e-01 9.27480108e-04 7.45892548e+01] [-9.60016755e-01 2.79925026e-01 3.13210961e-03 -1.27579351e+02] [-3.26651860e-03 -1.36453905e-05 -9.99994665e-01 2.26327939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.62 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.53, Y:-127.68, Z:2.26 [[-2.04437150e-01 -9.78879330e-01 8.42542478e-04 7.45342754e+01] [-9.78871370e-01 2.04438885e-01 3.94760817e-03 -1.27681202e+02] [-4.03648048e-03 -1.77029466e-05 -9.99991853e-01 2.26397434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.65 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.49, Y:-127.79, Z:2.26 [[-1.27817443e-01 -9.91797537e-01 5.89523400e-04 7.44870007e+01] [-9.91787735e-01 1.27818801e-01 4.40950832e-03 -1.27790174e+02] [-4.44869167e-03 -2.10699983e-05 -9.99990104e-01 2.26430151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.67999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.45, Y:-127.90, Z:2.27 [[-4.99647705e-02 -9.98750945e-01 2.67201980e-04 7.44476253e+01] [-9.98739284e-01 4.99654784e-02 4.82634704e-03 -1.27904755e+02] [-4.83366955e-03 -2.57177913e-05 -9.99988317e-01 2.26511061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.70999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.42, Y:-128.03, Z:2.27 [[ 2.82652225e-02 -9.99600451e-01 -1.27562219e-04 7.44173239e+01] [-9.99584162e-01 -2.82654902e-02 5.70662363e-03 -1.28029980e+02] [-5.70794916e-03 -3.37898128e-05 -9.99983709e-01 2.26548748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.73999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.40, Y:-128.15, Z:2.27 [[ 1.06997647e-01 -9.94259029e-01 -6.98223836e-04 7.43958591e+01] [-9.94234681e-01 -1.06999913e-01 6.95821954e-03 -1.28150528e+02] [-6.99298249e-03 -5.03147624e-05 -9.99975548e-01 2.26669080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.76999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.38, Y:-128.27, Z:2.27 [[ 1.84360887e-01 -9.82857646e-01 -1.38262995e-03 7.43833020e+01] [-9.82827491e-01 -1.84366062e-01 7.69919461e-03 -1.28268511e+02] [-7.82212233e-03 -6.05436187e-05 -9.99969405e-01 2.26783288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.79999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.39, Y:-128.41, Z:2.27 [[ 2.60110919e-01 -9.65576641e-01 -2.01496011e-03 7.43859798e+01] [-9.65545778e-01 -2.60118715e-01 7.72045020e-03 -1.28407111e+02] [-7.97881521e-03 -6.26371701e-05 -9.99968167e-01 2.26750833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.82999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.39, Y:-128.52, Z:2.27 [[ 3.34135681e-01 -9.42521592e-01 -2.52872537e-03 7.43920039e+01] [-9.42493221e-01 -3.34145244e-01 7.31324697e-03 -1.28519813e+02] [-7.73785474e-03 -6.03102375e-05 -9.99970061e-01 2.26694495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.85999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.40, Y:-128.63, Z:2.27 [[ 4.05514770e-01 -9.14083016e-01 -3.16406174e-03 7.44046464e+01] [-9.14054103e-01 -4.05527110e-01 7.27043891e-03 -1.28626390e+02] [-7.92889754e-03 -5.61467430e-05 -9.99968564e-01 2.26672483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.43, Y:-128.75, Z:2.27 [[ 4.74483507e-01 -8.80256783e-01 -3.66029486e-03 7.44343160e+01] [-8.80229766e-01 -4.74497622e-01 6.89682429e-03 -1.28751275e+02] [-7.80777757e-03 -5.05288940e-05 -9.99969518e-01 2.26682994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.92 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.47, Y:-128.86, Z:2.27 [[ 5.40495491e-01 -8.41337691e-01 -3.93879198e-03 7.44691855e+01] [-8.41314775e-01 -5.40509841e-01 6.20976025e-03 -1.28864979e+02] [-7.35346117e-03 -4.25835216e-05 -9.99972962e-01 2.26694606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.95 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.51, Y:-128.97, Z:2.27 [[ 6.02713093e-01 -7.97946424e-01 -4.29324884e-03 7.45093968e+01] [-7.97925808e-01 -6.02728382e-01 5.73601993e-03 -1.28968177e+02] [-7.16469952e-03 -3.14802623e-05 -9.99974333e-01 2.26591658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.98 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.55, Y:-129.06, Z:2.27 [[ 6.61850775e-01 -7.49620933e-01 -4.69134333e-03 7.45507342e+01] [-7.49601822e-01 -6.61867401e-01 5.35277547e-03 -1.29061703e+02] [-7.11759976e-03 -2.60990849e-05 -9.99974669e-01 2.26556460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.01 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.61, Y:-129.16, Z:2.27 [[ 7.17300116e-01 -6.96748718e-01 -4.66559252e-03 7.46086832e+01] [-6.96733778e-01 -7.17315288e-01 4.56287009e-03 -1.29162576e+02] [-6.52587473e-03 -2.22713389e-05 -9.99978706e-01 2.26564206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.04 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.60, Y:-129.17, Z:2.26 [[ 7.69066276e-01 -6.39150343e-01 -4.88897951e-03 7.46049613e+01] [-6.39137282e-01 -7.69081816e-01 4.08593465e-03 -1.29170099e+02] [-6.37155177e-03 -1.76254697e-05 -9.99979701e-01 2.26454862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.60, Y:-129.18, Z:2.26 [[ 8.16317133e-01 -5.77580291e-01 -5.22935147e-03 7.45987017e+01] [-5.77568325e-01 -8.16333882e-01 3.71784720e-03 -1.29176386e+02] [-6.41625205e-03 -1.46345955e-05 -9.99979416e-01 2.26461939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.1 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.59, Y:-129.18, Z:2.26 [[ 8.59119368e-01 -5.11743004e-01 -5.74542101e-03 7.45920674e+01] [-5.11731425e-01 -8.59138579e-01 3.44258303e-03 -1.29182608e+02] [-6.69783063e-03 -1.74772743e-05 -9.99977569e-01 2.26475122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.13 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.59, Y:-129.19, Z:2.26 [[ 8.96680826e-01 -4.42637324e-01 -5.97460154e-03 7.45856789e+01] [-4.42627347e-01 -8.96700730e-01 2.97199149e-03 -1.29188961e+02] [-6.67294392e-03 -2.04057526e-05 -9.99977735e-01 2.26490490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.16 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.58, Y:-129.20, Z:2.26 [[ 9.28684734e-01 -3.70816856e-01 -6.28685882e-03 7.45794979e+01] [-3.70808189e-01 -9.28706013e-01 2.53549155e-03 -1.29195829e+02] [-6.77884659e-03 -2.34535661e-05 -9.99977023e-01 2.26499588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.19 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.57, Y:-129.20, Z:2.27 [[ 9.54949047e-01 -2.96698298e-01 -6.51440071e-03 7.45738244e+01] [-2.96691207e-01 -9.54971266e-01 2.05148957e-03 -1.29202612e+02] [-6.82973896e-03 -2.63026030e-05 -9.99976677e-01 2.26542719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.22 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.57, Y:-129.21, Z:2.27 [[ 9.75355081e-01 -2.20530471e-01 -6.98403734e-03 7.45690234e+01] [-2.20524581e-01 -9.75380085e-01 1.61207173e-03 -1.29211293e+02] [-7.16760187e-03 -3.21904450e-05 -9.99974312e-01 2.26550924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.25 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.56, Y:-129.22, Z:2.27 [[ 9.89680530e-01 -1.43100107e-01 -7.40322153e-03 7.45610149e+01] [-1.43095825e-01 -9.89708219e-01 1.10755543e-03 -1.29218542e+02] [-7.48552050e-03 -3.67559507e-05 -9.99971982e-01 2.26534935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.28 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.55, Y:-129.23, Z:2.27 [[ 9.97887326e-01 -6.45518537e-02 -7.34455493e-03 7.45530065e+01] [-6.45498034e-02 -9.97914353e-01 5.16116660e-04 -1.29226116e+02] [-7.36255307e-03 -4.09366967e-05 -9.99972895e-01 2.26560548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.31 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.55, Y:-129.24, Z:2.27 [[ 9.99866618e-01 1.45233309e-02 -7.47124311e-03 7.45469498e+01] [ 1.45232788e-02 -9.99894530e-01 -6.12323143e-05 -1.29235409e+02] [-7.47134442e-03 -4.72827999e-05 -9.99972088e-01 2.26528804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.34 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.54, Y:-129.25, Z:2.26 [[ 9.95448567e-01 9.49839171e-02 -7.75928039e-03 7.45419143e+01] [ 9.49815529e-02 -9.95478805e-01 -6.73451579e-04 -1.29246139e+02] [-7.78816624e-03 -6.66020914e-05 -9.99969670e-01 2.26490019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.37 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.54, Y:-129.26, Z:2.27 [[ 9.84696962e-01 1.74095313e-01 -7.91925889e-03 7.45364601e+01] [ 1.74090342e-01 -9.84728803e-01 -1.31808240e-03 -1.29255615e+02] [-8.02779429e-03 -8.07547562e-05 -9.99967773e-01 2.26503161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.39999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.53, Y:-129.27, Z:2.26 [[ 9.67679439e-01 2.52061810e-01 -7.83244932e-03 7.45325937e+01] [ 2.52054329e-01 -9.67711132e-01 -1.94428386e-03 -1.29265459e+02] [-8.06962811e-03 -9.27592406e-05 -9.99967436e-01 2.26485884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.42999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.53, Y:-129.28, Z:2.27 [[ 9.44551372e-01 3.28270053e-01 -7.84077748e-03 7.45281819e+01] [ 3.28259669e-01 -9.44583909e-01 -2.61316002e-03 -1.29275520e+02] [-8.26409442e-03 -1.05547134e-04 -9.99965846e-01 2.26519202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.45999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.52, Y:-129.28, Z:2.27 [[ 9.15518756e-01 4.02190758e-01 -8.24630907e-03 7.45247411e+01] [ 4.02175661e-01 -9.15555885e-01 -3.48695191e-03 -1.29283658e+02] [-8.95237663e-03 -1.24094923e-04 -9.99959919e-01 2.26597094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.48999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.52, Y:-129.29, Z:2.27 [[ 8.81051857e-01 4.72956534e-01 -7.72933816e-03 7.45231701e+01] [ 4.72939563e-01 -8.81085752e-01 -4.00854851e-03 -1.29293107e+02] [-8.70607893e-03 -1.23770702e-04 -9.99962094e-01 2.26559110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.51999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.52, Y:-129.30, Z:2.27 [[ 8.41633252e-01 5.40003140e-01 -7.07655959e-03 7.45219078e+01] [ 5.39985189e-01 -8.41662994e-01 -4.40458859e-03 -1.29303160e+02] [-8.33457000e-03 -1.14189149e-04 -9.99965260e-01 2.26603534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.54999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.52, Y:-129.31, Z:2.26 [[ 7.97492716e-01 6.03294978e-01 -6.36685616e-03 7.45211634e+01] [ 6.03276741e-01 -7.97518125e-01 -4.69194272e-03 -1.29312201e+02] [-7.90830867e-03 -9.91860856e-05 -9.99968724e-01 2.26461681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.57999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.52, Y:-129.32, Z:2.26 [[ 7.48784993e-01 6.62790503e-01 -5.45729983e-03 7.45203062e+01] [ 6.62773674e-01 -7.48804876e-01 -4.72384133e-03 -1.29322122e+02] [-7.21736989e-03 -7.98131591e-05 -9.99973951e-01 2.26404814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.60999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.52, Y:-129.33, Z:2.26 [[ 6.96087106e-01 7.17942092e-01 -4.67904208e-03 7.45199115e+01] [ 7.17926446e-01 -6.96102829e-01 -4.74025001e-03 -1.29330675e+02] [-6.66031944e-03 -5.95811414e-05 -9.99977818e-01 2.26315616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.64 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.52, Y:-129.34, Z:2.26 [[ 6.41633176e-01 7.67005466e-01 -3.07933597e-03 7.45195096e+01] [ 7.66996772e-01 -6.41640565e-01 -3.65203224e-03 -1.29339055e+02] [-4.77695556e-03 -1.85757068e-05 -9.99988590e-01 2.26164052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.67 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.52, Y:-129.35, Z:2.26 [[ 5.81888168e-01 8.13264852e-01 -2.53758515e-03 7.45199541e+01] [ 8.13257153e-01 -5.81893702e-01 -3.53880310e-03 -1.29348752e+02] [-4.35458900e-03 -4.52161939e-06 -9.99990519e-01 2.26129374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.7 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.52, Y:-129.36, Z:2.26 [[ 5.19216242e-01 8.54640705e-01 -1.93889919e-03 7.45213068e+01] [ 8.54634687e-01 -5.19219862e-01 -3.20732780e-03 -1.29357604e+02] [-3.74782787e-03 8.24618925e-06 -9.99992977e-01 2.26161989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.73 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.53, Y:-129.37, Z:2.26 [[ 4.53237661e-01 8.91388018e-01 -1.73894657e-03 7.45251623e+01] [ 8.91381289e-01 -4.53240997e-01 -3.46352495e-03 -1.29367927e+02] [-3.87550652e-03 1.97355191e-05 -9.99992490e-01 2.26125019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.76 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.53, Y:-129.38, Z:2.26 [[ 3.84843392e-01 9.22980676e-01 -1.49517472e-03 7.45283414e+01] [ 9.22973381e-01 -3.84846295e-01 -3.66977889e-03 -1.29378362e+02] [-3.96254745e-03 3.22836893e-05 -9.99992149e-01 2.26173051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.79 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.53, Y:-129.39, Z:2.26 [[ 3.17527822e-01 9.48247521e-01 -1.64926988e-03 7.45298810e+01] [ 9.48233397e-01 -3.17532096e-01 -5.17628871e-03 -1.29387630e+02] [-5.43209906e-03 7.97229026e-05 -9.99985243e-01 2.26272001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.82 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.54, Y:-129.40, Z:2.26 [[ 2.42279955e-01 9.70205591e-01 -1.23875927e-03 7.45358894e+01] [ 9.70191175e-01 -2.42283109e-01 -5.28956776e-03 -1.29398231e+02] [-5.43209866e-03 7.97229328e-05 -9.99985243e-01 2.26272001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.85 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.54, Y:-129.41, Z:2.26 [[ 1.68489233e-01 9.85703025e-01 -9.61796531e-04 7.45422700e+01] [ 9.85682933e-01 -1.68491941e-01 -6.29457698e-03 -1.29407528e+02] [-6.36663854e-03 1.12542024e-04 -9.99979726e-01 2.26341003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.88 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.55, Y:-129.42, Z:2.26 [[ 9.34928241e-02 9.95619829e-01 -4.98497654e-04 7.45477121e+01] [ 9.95596632e-01 -9.34940494e-02 -6.79775786e-03 -1.29418188e+02] [-6.81458908e-03 1.39238994e-04 -9.99976771e-01 2.26441255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.91 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.56, Y:-129.43, Z:2.27 [[ 1.94637332e-02 9.99810563e-01 4.07032133e-05 7.45556830e+01] [ 9.99780126e-01 -1.94628229e-02 -7.80377041e-03 -1.29426806e+02] [-7.80149988e-03 1.92584769e-04 -9.99969549e-01 2.26516336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.94 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.57, Y:-129.44, Z:2.27 [[-5.75298217e-02 9.98343552e-01 6.86938092e-04 7.45654116e+01] [ 9.98309930e-01 5.75335239e-02 -8.19622903e-03 -1.29435270e+02] [-8.22217437e-03 2.14249523e-04 -9.99966174e-01 2.26568945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.97 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.58, Y:-129.44, Z:2.27 [[-1.34696081e-01 9.90885918e-01 1.43625684e-03 7.45751034e+01] [ 9.90846988e-01 1.34703525e-01 -8.78675162e-03 -1.29444482e+02] [-8.90013730e-03 2.39569763e-04 -9.99960364e-01 2.26669692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.0 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.59, Y:-129.45, Z:2.27 [[-2.11719607e-01 9.77327735e-01 2.30365405e-03 7.45874811e+01] [ 9.77282616e-01 2.11731977e-01 -9.39463410e-03 -1.29451319e+02] [-9.66939369e-03 2.62292816e-04 -9.99953216e-01 2.26707343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.03 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.60, Y:-129.46, Z:2.27 [[-2.87694585e-01 9.57717086e-01 3.13193865e-03 7.45984487e+01] [ 9.57670147e-01 2.87711505e-01 -9.48577249e-03 -1.29458202e+02] [-9.98578118e-03 2.70358770e-04 -9.99950104e-01 2.26761781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.06 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.61, Y:-129.46, Z:2.27 [[-3.62496399e-01 9.31977309e-01 3.82837968e-03 7.46100100e+01] [ 9.31932690e-01 3.62516521e-01 -9.12321225e-03 -1.29462886e+02] [-9.89047769e-03 2.60660586e-04 -9.99951054e-01 2.26778968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.09 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.62, Y:-129.47, Z:2.27 [[-4.37346332e-01 8.99282581e-01 4.36168065e-03 7.46241260e+01] [ 8.99242759e-01 4.37368026e-01 -8.46585648e-03 -1.29465834e+02] [-9.52085693e-03 2.19698459e-04 -9.99954651e-01 2.26724985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.12 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.64, Y:-129.47, Z:2.27 [[-5.08340334e-01 8.61141824e-01 4.98644000e-03 7.46384346e+01] [ 8.61104143e-01 5.08364752e-01 -8.05816854e-03 -1.29467968e+02] [-9.47415628e-03 1.97552052e-04 -9.99955100e-01 2.26713099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.14999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.65, Y:-129.47, Z:2.27 [[-5.76277060e-01 8.17235645e-01 5.53629400e-03 7.46529679e+01] [ 8.17200767e-01 5.76303627e-01 -7.55220183e-03 -1.29467438e+02] [-9.36251484e-03 1.72103038e-04 -9.99956156e-01 2.26675801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.17999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.67, Y:-129.47, Z:2.27 [[-6.40437150e-01 7.67987665e-01 5.93324741e-03 7.46670397e+01] [ 7.67956777e-01 6.40464617e-01 -6.88930142e-03 -1.29466544e+02] [-9.09093354e-03 1.44312988e-04 -9.99958666e-01 2.26694572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.20999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.68, Y:-129.46, Z:2.27 [[-7.01822602e-01 7.12331070e-01 5.42969247e-03 7.46814068e+01] [ 7.12310707e-01 7.01843600e-01 -5.38685472e-03 -1.29462778e+02] [-7.64801889e-03 8.70116800e-05 -9.99970750e-01 2.26604334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.23999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.71, Y:-129.45, Z:2.26 [[-7.51604821e-01 6.59592713e-01 5.25792114e-03 7.47064860e+01] [ 6.59577192e-01 7.51623209e-01 -4.52549212e-03 -1.29445581e+02] [-6.93695719e-03 6.66231642e-05 -9.99975937e-01 2.26483406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.26999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.73, Y:-129.43, Z:2.26 [[-7.97347692e-01 6.03497111e-01 5.28164729e-03 7.47296189e+01] [ 6.03484308e-01 7.97365183e-01 -3.93134300e-03 -1.29427202e+02] [-6.58395580e-03 5.27439956e-05 -9.99978324e-01 2.26439715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.29999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.75, Y:-129.40, Z:2.26 [[-8.38892351e-01 5.44278219e-01 4.56539414e-03 7.47483319e+01] [ 5.44270387e-01 8.38904773e-01 -2.92017804e-03 -1.29404736e+02] [-5.41932024e-03 3.50938142e-05 -9.99985315e-01 2.26380742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.32999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.77, Y:-129.38, Z:2.26 [[-8.76389295e-01 4.81585523e-01 4.14572057e-03 7.47665053e+01] [ 4.81580243e-01 8.76399100e-01 -2.25531883e-03 -1.29378914e+02] [-4.71943468e-03 1.99598447e-05 -9.99988863e-01 2.26280449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.35999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.17, Y:-128.66, Z:1.43 [[-8.46157765e-01 -5.32917465e-01 4.00147186e-03 7.51735323e+01] [ 5.32911401e-01 -8.46167227e-01 -2.54229439e-03 -1.28664821e+02] [ 4.74074743e-03 -1.87521632e-05 9.99988762e-01 1.42574756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.39 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.74, Y:-129.36, Z:2.26 [[-8.78673118e-01 4.77405236e-01 4.21805054e-03 7.47356174e+01] [ 4.77399818e-01 8.78683243e-01 -2.27447251e-03 -1.29359586e+02] [-4.79217541e-03 1.51787112e-05 -9.99988517e-01 2.26402381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.42 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.13, Y:-128.65, Z:1.42 [[-8.47872864e-01 -5.30181851e-01 4.33727070e-03 7.51321357e+01] [ 5.30174933e-01 -8.47883957e-01 -2.70837704e-03 -1.28646184e+02] [ 5.11343460e-03 3.15280807e-06 9.99986926e-01 1.42445216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.45 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.70, Y:-129.34, Z:2.27 [[-8.80274974e-01 4.74439555e-01 4.80396984e-03 7.46958466e+01] [ 4.74432604e-01 8.80288083e-01 -2.56826280e-03 -1.29337649e+02] [-5.44736286e-03 1.83824555e-05 -9.99985163e-01 2.26536756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.48 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.09, Y:-128.62, Z:1.42 [[-8.50797580e-01 -5.25464145e-01 5.55972400e-03 7.50895740e+01] [ 5.25453235e-01 -8.50815744e-01 -3.38638232e-03 -1.28623660e+02] [ 6.50972321e-03 4.02490837e-05 9.99978811e-01 1.42302449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.51 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.66, Y:-129.32, Z:2.27 [[-8.80741671e-01 4.73562404e-01 5.72350938e-03 7.46604034e+01] [ 4.73552691e-01 8.80760267e-01 -3.03320970e-03 -1.29320824e+02] [-6.47745372e-03 3.89090936e-05 -9.99979020e-01 2.26608267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.54 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.68, Y:-129.30, Z:2.27 [[-9.11851574e-01 4.10472452e-01 6.25087617e-03 7.46803812e+01] [ 4.10463143e-01 9.11872998e-01 -2.76483257e-03 -1.29300305e+02] [-6.83489280e-03 4.46373414e-05 -9.99976641e-01 2.26630918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:75.02, Y:-128.56, Z:1.42 [[-8.88442731e-01 -4.58947998e-01 6.02066122e-03 7.50172771e+01] [ 4.58937105e-01 -8.88463130e-01 -3.16238541e-03 -1.28556033e+02] [ 6.80050597e-03 -4.64934967e-05 9.99976875e-01 1.42299555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.6 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.64, Y:-129.28, Z:2.27 [[-9.13431277e-01 4.06945469e-01 6.21985003e-03 7.46394417e+01] [ 4.06936358e-01 9.13452453e-01 -2.72350033e-03 -1.29282602e+02] [-6.78985338e-03 4.33527387e-05 -9.99976948e-01 2.26634842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.63 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.65, Y:-129.26, Z:2.27 [[-9.40322592e-01 3.40226127e-01 6.29321418e-03 7.46523502e+01] [ 3.40218761e-01 9.40343651e-01 -2.23901088e-03 -1.29257433e+02] [-6.67955400e-03 3.56770162e-05 -9.99977691e-01 2.26614378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.66 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.67, Y:-129.23, Z:2.27 [[-9.62479638e-01 2.71263815e-01 6.99208482e-03 7.46668356e+01] [ 2.71256865e-01 9.62505035e-01 -1.94196507e-03 -1.29232608e+02] [-7.25670169e-03 2.75491721e-05 -9.99973669e-01 2.26657005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.69 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.89, Y:-128.45, Z:1.42 [[-9.44084241e-01 -3.29624889e-01 7.23736314e-03 7.48910933e+01] [ 3.29615180e-01 -9.44111981e-01 -2.52988896e-03 -1.28450710e+02] [ 7.66679562e-03 -2.88354543e-06 9.99970610e-01 1.42271330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.72 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.62, Y:-129.22, Z:2.27 [[-9.64830432e-01 2.62733213e-01 8.57297446e-03 7.46184168e+01] [ 2.62722750e-01 9.64868519e-01 -2.34484579e-03 -1.29217942e+02] [-8.88786204e-03 -1.00631546e-05 -9.99960502e-01 2.26775514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.62, Y:-129.19, Z:2.27 [[-9.81372762e-01 1.91901688e-01 9.01352968e-03 7.46227044e+01] [ 1.91893337e-01 9.81414154e-01 -1.79039981e-03 -1.29190282e+02] [-9.18958635e-03 -2.74133185e-05 -9.99957775e-01 2.26815100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.78 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.63, Y:-129.16, Z:2.27 [[-9.92705364e-01 1.20212991e-01 9.21391567e-03 7.46335970e+01] [ 1.20207418e-01 9.92748123e-01 -1.15832131e-03 -1.29163593e+02] [-9.28634275e-03 -4.22907662e-05 -9.99956880e-01 2.26871800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.81 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.64, Y:-129.14, Z:2.27 [[-9.98809773e-01 4.78654836e-02 9.37727103e-03 7.46394169e+01] [ 4.78628372e-02 9.98853789e-01 -5.06560703e-04 -1.29136204e+02] [-9.39076947e-03 -5.71349841e-05 -9.99955904e-01 2.26865249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.84 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.69, Y:-128.33, Z:1.42 [[-9.91629739e-01 -1.28816390e-01 8.76351641e-03 7.46893426e+01] [ 1.28811508e-01 -9.91668461e-01 -1.12162831e-03 -1.28331004e+02] [ 8.83498694e-03 1.66017730e-05 9.99960971e-01 1.42086130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.87 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.56, Y:-129.13, Z:2.27 [[-9.99226563e-01 3.85323716e-02 7.84423961e-03 7.45646345e+01] [ 3.85305465e-02 9.99257349e-01 -3.83707295e-04 -1.29131966e+02] [-7.85319923e-03 -8.11676819e-05 -9.99969160e-01 2.26705503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.89999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.61, Y:-128.33, Z:1.42 [[-9.91902721e-01 -1.26793369e-01 7.24104354e-03 7.46076261e+01] [ 1.26790276e-01 -9.91929151e-01 -8.86461436e-04 -1.28325746e+02] [ 7.29499960e-03 3.88104008e-05 9.99973390e-01 1.42262110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.92999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.49, Y:-129.13, Z:2.27 [[-9.99443948e-01 3.26776256e-02 6.63079082e-03 7.44860491e+01] [ 3.26764246e-02 9.99465941e-01 -2.89406714e-04 -1.29129220e+02] [-6.63670671e-03 -7.25752532e-05 -9.99977974e-01 2.26597935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.95999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.53, Y:-128.32, Z:1.42 [[-9.92572066e-01 -1.21510757e-01 5.98586434e-03 7.45279353e+01] [ 1.21508707e-01 -9.92590114e-01 -7.06284532e-04 -1.28319357e+02] [ 6.02733094e-03 2.62963393e-05 9.99981835e-01 1.42386515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.98999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.41, Y:-129.13, Z:2.26 [[-9.99564785e-01 2.91375987e-02 4.60878787e-03 7.44075422e+01] [ 2.91370987e-02 9.99575409e-01 -1.75593292e-04 -1.29129880e+02] [-4.61194739e-03 -4.12301641e-05 -9.99989364e-01 2.26499162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.01999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.41, Y:-129.10, Z:2.26 [[-9.99162483e-01 -4.07006794e-02 4.21753594e-03 7.44087253e+01] [-4.07004534e-02 9.99171384e-01 1.39443818e-04 -1.29104938e+02] [-4.21971668e-03 -3.23285932e-05 -9.99991096e-01 2.26468893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.04999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.39, Y:-128.28, Z:1.42 [[-9.99152531e-01 -4.09646378e-02 4.01487859e-03 7.43913289e+01] [ 4.09643778e-02 -9.99160597e-01 -1.46999829e-04 -1.28280089e+02] [ 4.01753028e-03 1.75917521e-05 9.99991930e-01 1.42436505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.07999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.31, Y:-129.11, Z:2.26 [[-9.98998760e-01 -4.45446760e-02 4.15323446e-03 7.43143268e+01] [-4.45443819e-02 9.99007393e-01 1.63322941e-04 -1.29111705e+02] [-4.15638710e-03 -2.18438468e-05 -9.99991362e-01 2.26471983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.10999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.28, Y:-128.28, Z:1.42 [[-9.99469662e-01 -3.22326013e-02 4.63194018e-03 7.42831283e+01] [ 3.22325114e-02 -9.99480393e-01 -9.40563193e-05 -1.28278556e+02] [ 4.63256508e-03 5.52926274e-05 9.99989268e-01 1.42396536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.14 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.21, Y:-129.12, Z:2.27 [[-9.98814985e-01 -4.84414970e-02 4.69542260e-03 7.42101744e+01] [-4.84410235e-02 9.98826022e-01 2.14582891e-04 -1.29118826e+02] [-4.70030499e-03 -1.31224690e-05 -9.99988953e-01 2.26550754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.17 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.21, Y:-129.09, Z:2.27 [[-9.93096138e-01 -1.17143413e-01 6.12223084e-03 7.42133973e+01] [-1.17141203e-01 9.93115009e-01 7.19548964e-04 -1.29094344e+02] [-6.16436976e-03 -2.58419064e-06 -9.99981000e-01 2.26713054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.2 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.20, Y:-129.07, Z:2.27 [[-9.82376433e-01 -1.86802186e-01 6.44098990e-03 7.41999228e+01] [-1.86798134e-01 9.82397548e-01 1.23049326e-03 -1.29070398e+02] [-6.55747151e-03 5.64268572e-06 -9.99978500e-01 2.26738949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.23 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.17, Y:-129.05, Z:2.27 [[-9.66654597e-01 -2.56000648e-01 6.52365147e-03 7.41672778e+01] [-2.55994710e-01 9.66676610e-01 1.74374173e-03 -1.29051752e+02] [-6.75266030e-03 1.55756938e-05 -9.99977200e-01 2.26769234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.26 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.12, Y:-129.04, Z:2.27 [[-9.45675571e-01 -3.25040195e-01 6.82542282e-03 7.41185775e+01] [-3.25031516e-01 9.45700201e-01 2.37551005e-03 -1.29040448e+02] [-7.22693999e-03 2.79842941e-05 -9.99973885e-01 2.26834340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.29 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:74.05, Y:-129.04, Z:2.27 [[-9.19600482e-01 -3.92797562e-01 6.71033149e-03 7.40535531e+01] [-3.92786781e-01 9.19624963e-01 2.91055380e-03 -1.29037935e+02] [-7.31424679e-03 4.08171757e-05 -9.99973250e-01 2.26783698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.32 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.98, Y:-129.04, Z:2.27 [[-8.88228057e-01 -4.59359572e-01 6.30090829e-03 7.39789433e+01] [-4.59347624e-01 8.88250404e-01 3.31345036e-03 -1.29044272e+02] [-7.11884948e-03 4.87923269e-05 -9.99974659e-01 2.26750507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.35 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.89, Y:-129.06, Z:2.27 [[-8.51874927e-01 -5.23715846e-01 5.55172628e-03 7.38919622e+01] [-5.23704314e-01 8.51893016e-01 3.47591693e-03 -1.29062168e+02] [-6.54986962e-03 5.35834764e-05 -9.99978548e-01 2.26746494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.38 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.81, Y:-129.09, Z:2.27 [[-8.10098863e-01 -5.86271131e-01 5.09830256e-03 7.38076770e+01] [-5.86259088e-01 8.10114904e-01 3.75823930e-03 -1.29085284e+02] [-6.33355810e-03 5.56191747e-05 -9.99979941e-01 2.26732669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.41 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.72, Y:-129.12, Z:2.27 [[-7.63724893e-01 -6.45526940e-01 4.38833762e-03 7.37191798e+01] [-6.45515863e-01 7.63737498e-01 3.78213308e-03 -1.29120556e+02] [-5.79300679e-03 5.57676370e-05 -9.99983219e-01 2.26732838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.44 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.63, Y:-129.17, Z:2.27 [[-7.12727069e-01 -7.01430608e-01 3.90222641e-03 7.36276039e+01] [-7.01419656e-01 7.12737749e-01 3.92016914e-03 -1.29167665e+02] [-5.53099069e-03 5.69123560e-05 -9.99984702e-01 2.26707754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.47 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.54, Y:-129.22, Z:2.27 [[-6.58014484e-01 -7.53001015e-01 2.53175777e-03 7.35395779e+01] [-7.52995174e-01 6.58019353e-01 2.96616995e-03 -1.29222783e+02] [-3.89947460e-03 4.53814029e-05 -9.99992396e-01 2.26641184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.45, Y:-129.29, Z:2.27 [[-5.98852314e-01 -8.00857187e-01 1.91622928e-03 7.34481139e+01] [-8.00852870e-01 5.98855379e-01 2.62973816e-03 -1.29292338e+02] [-3.25358892e-03 4.02070611e-05 -9.99994706e-01 2.26574536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.53 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.37, Y:-129.36, Z:2.27 [[-5.36155847e-01 -8.44117638e-01 1.52381831e-03 7.33673613e+01] [-8.44114022e-01 5.36158011e-01 2.47084824e-03 -1.29361817e+02] [-2.90269397e-03 3.84833233e-05 -9.99995786e-01 2.26516892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.29, Y:-129.45, Z:2.27 [[-4.69962787e-01 -8.82685230e-01 1.32809953e-03 7.32897538e+01] [-8.82681461e-01 4.69964662e-01 2.57957612e-03 -1.29446161e+02] [-2.90111359e-03 4.00159469e-05 -9.99995791e-01 2.26545068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.59 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.21, Y:-129.54, Z:2.27 [[-4.00932949e-01 -9.16106644e-01 1.17807826e-03 7.32143382e+01] [-9.16102364e-01 4.00934677e-01 2.80067612e-03 -1.29536833e+02] [-3.03805042e-03 4.36430570e-05 -9.99995384e-01 2.26529420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.62 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.15, Y:-129.64, Z:2.27 [[-3.29023186e-01 -9.44321339e-01 9.75562682e-04 7.31467666e+01] [-9.44316777e-01 3.29024630e-01 2.93568072e-03 -1.29635258e+02] [-3.09321010e-03 4.46668188e-05 -9.99995215e-01 2.26578479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.64999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.08, Y:-129.74, Z:2.27 [[-2.54401742e-01 -9.67098261e-01 8.41467256e-04 7.30849058e+01] [-9.67092322e-01 2.54403129e-01 3.38939891e-03 -1.29737051e+02] [-3.49195369e-03 4.84924633e-05 -9.99993902e-01 2.26638291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.67999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.03, Y:-129.85, Z:2.27 [[-1.78254797e-01 -9.83984154e-01 6.42525734e-04 7.30325433e+01] [-9.83976665e-01 1.78255947e-01 3.83920932e-03 -1.29848323e+02] [-3.89225516e-03 5.21271478e-05 -9.99992424e-01 2.26644666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.70999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.99, Y:-129.96, Z:2.27 [[-1.00705557e-01 -9.94916203e-01 3.74488284e-04 7.29879635e+01] [-9.94907200e-01 1.00706239e-01 4.23275903e-03 -1.29963828e+02] [-4.24895384e-03 5.36812655e-05 -9.99990972e-01 2.26644054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.73999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.95, Y:-130.08, Z:2.27 [[-2.32983065e-02 -9.99728557e-01 4.53271363e-05 7.29544284e+01] [-9.99719528e-01 2.32982888e-02 4.24905109e-03 -1.30081428e+02] [-4.24895376e-03 5.36812713e-05 -9.99990972e-01 2.26644054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.76999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.93, Y:-130.20, Z:2.27 [[ 5.49951497e-02 -9.98486573e-01 -3.11805103e-04 7.29289209e+01] [-9.98475762e-01 -5.49960053e-02 4.64670514e-03 -1.30200316e+02] [-4.65682072e-03 5.57835936e-05 -9.99989155e-01 2.26668924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.79999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.91, Y:-130.32, Z:2.27 [[ 1.33155715e-01 -9.91094891e-01 -6.87310743e-04 7.29107492e+01] [-9.91083578e-01 -1.33157479e-01 4.73564244e-03 -1.30319162e+02] [-4.78499159e-03 5.06045366e-05 -9.99988551e-01 2.26692839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.82999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.90, Y:-130.44, Z:2.27 [[ 2.10096378e-01 -9.77680161e-01 -1.00770695e-03 7.29034206e+01] [-9.77669939e-01 -2.10098789e-01 4.47084023e-03 -1.30439216e+02] [-4.58276981e-03 4.58974566e-05 -9.99989498e-01 2.26715770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.85999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.91, Y:-130.56, Z:2.27 [[ 2.85635725e-01 -9.58337390e-01 -1.29629816e-03 7.29062455e+01] [-9.58328175e-01 -2.85638663e-01 4.20281005e-03 -1.30561672e+02] [-4.39798289e-03 4.18063502e-05 -9.99990328e-01 2.26788857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.92, Y:-130.68, Z:2.27 [[ 3.59468822e-01 -9.33155726e-01 -1.59893789e-03 7.29186811e+01] [-9.33146971e-01 -3.59472376e-01 4.04244999e-03 -1.30683857e+02] [-4.34700936e-03 3.89093130e-05 -9.99990551e-01 2.26810435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.92 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.94, Y:-130.80, Z:2.27 [[ 4.31427475e-01 -9.02145851e-01 -1.78819382e-03 7.29397820e+01] [-9.02138411e-01 -4.31431180e-01 3.66386673e-03 -1.30803423e+02] [-4.07682474e-03 3.25055588e-05 -9.99991689e-01 2.26775057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.95 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.97, Y:-130.92, Z:2.27 [[ 5.00299420e-01 -8.65850076e-01 -2.03378596e-03 7.29687657e+01] [-8.65843162e-01 -5.00303553e-01 3.46027434e-03 -1.30916975e+02] [-4.01358915e-03 2.97664239e-05 -9.99991945e-01 2.26746977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.98 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.01, Y:-131.03, Z:2.27 [[ 5.66073607e-01 -8.24350413e-01 -2.65871379e-03 7.30057000e+01] [-8.24341580e-01 -5.66079850e-01 3.81622994e-03 -1.31027540e+02] [-4.65095503e-03 3.14212764e-05 -9.99989184e-01 2.26776791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.01 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.05, Y:-131.13, Z:2.27 [[ 6.28390584e-01 -7.77890481e-01 -3.41666366e-03 7.30486068e+01] [-7.77879262e-01 -6.28399872e-01 4.17783162e-03 -1.31132356e+02] [-5.39692646e-03 3.24417558e-05 -9.99985436e-01 2.26797324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.04 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.10, Y:-131.23, Z:2.27 [[ 6.87402878e-01 -7.26263116e-01 -4.37820968e-03 7.30992667e+01] [-7.26248644e-01 -6.87416821e-01 4.58499981e-03 -1.31232955e+02] [-6.33957123e-03 2.79267816e-05 -9.99979904e-01 2.26943336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.16, Y:-131.33, Z:2.27 [[ 7.41581614e-01 -6.70847043e-01 -4.57756603e-03 7.31558516e+01] [-6.70834446e-01 -7.41595742e-01 4.11121106e-03 -1.31327029e+02] [-6.15269726e-03 2.19904405e-05 -9.99981072e-01 2.26973498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.1 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.15, Y:-131.33, Z:2.27 [[ 7.92032190e-01 -6.10457712e-01 -5.13729523e-03 7.31504269e+01] [-6.10445031e-01 -7.92048850e-01 3.93486886e-03 -1.31334556e+02] [-6.47105982e-03 1.94935500e-05 -9.99979062e-01 2.27022674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.13 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.15, Y:-131.34, Z:2.27 [[ 8.37530212e-01 -5.46362562e-01 -5.57619359e-03 7.31452275e+01] [-5.46350592e-01 -8.37548775e-01 3.61662928e-03 -1.31342251e+02] [-6.64632495e-03 1.75203748e-05 -9.99977913e-01 2.27028169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.16 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.14, Y:-131.35, Z:2.27 [[ 8.77863907e-01 -4.78874597e-01 -5.83786386e-03 7.31393284e+01] [-4.78864121e-01 -8.77883318e-01 3.16763883e-03 -1.31348110e+02] [-6.64186506e-03 1.47877469e-05 -9.99977942e-01 2.27027074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.19 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.13, Y:-131.35, Z:2.27 [[ 9.12837269e-01 -4.08281062e-01 -5.89027489e-03 7.31347469e+01] [-4.08272638e-01 -9.12856273e-01 2.62265710e-03 -1.31354462e+02] [-6.44775561e-03 1.07789270e-05 -9.99979213e-01 2.26956713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.22 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.13, Y:-131.36, Z:2.27 [[ 9.41958822e-01 -3.35678561e-01 -5.78625352e-03 7.31304874e+01] [-3.35672295e-01 -9.41976594e-01 2.05111113e-03 -1.31361523e+02] [-6.13902941e-03 1.02227752e-05 -9.99981156e-01 2.26901903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.25 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.13, Y:-131.37, Z:2.27 [[ 9.65386417e-01 -2.60759607e-01 -5.78743276e-03 7.31265875e+01] [-2.60754973e-01 -9.65403764e-01 1.55450078e-03 -1.31367713e+02] [-5.99256039e-03 8.40793381e-06 -9.99982044e-01 2.26884405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.28 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.12, Y:-131.38, Z:2.27 [[ 9.82859446e-01 -1.84254657e-01 -6.12623708e-03 7.31197165e+01] [-1.84251128e-01 -9.82878538e-01 1.14035271e-03 -1.31375025e+02] [-6.23146225e-03 7.95965949e-06 -9.99980584e-01 2.26873218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.31 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.11, Y:-131.38, Z:2.27 [[ 9.94301351e-01 -1.06428913e-01 -6.14078228e-03 7.31131624e+01] [-1.06426919e-01 -9.94320314e-01 6.51473804e-04 -1.31383752e+02] [-6.17524021e-03 5.78325746e-06 -9.99980933e-01 2.26883818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.34 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.11, Y:-131.39, Z:2.27 [[ 9.99619146e-01 -2.66622412e-02 -7.11951508e-03 7.31060625e+01] [-2.66615296e-02 -9.99644499e-01 1.94849383e-04 -1.31392643e+02] [-7.12217921e-03 -4.95801174e-06 -9.99974637e-01 2.27034697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.37 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.10, Y:-131.40, Z:2.27 [[ 9.98588334e-01 5.26035654e-02 -7.36240566e-03 7.31005812e+01] [ 5.26022215e-02 -9.98615474e-01 -3.76192305e-04 -1.31401214e+02] [-7.37200128e-03 -1.16176460e-05 -9.99972826e-01 2.27075147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.39999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.10, Y:-131.41, Z:2.27 [[ 9.91263855e-01 1.31662386e-01 -7.80932464e-03 7.30953204e+01] [ 1.31658463e-01 -9.91294616e-01 -1.01654100e-03 -1.31409622e+02] [-7.87518168e-03 -2.05033301e-05 -9.99968990e-01 2.27126955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.42999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.09, Y:-131.42, Z:2.27 [[ 9.77431698e-01 2.11062082e-01 -8.94833660e-03 7.30910918e+01] [ 2.11053654e-01 -9.77472657e-01 -1.88674048e-03 -1.31417409e+02] [-9.14497373e-03 -4.44191791e-05 -9.99958183e-01 2.27187015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.45999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.09, Y:-131.43, Z:2.27 [[ 9.57718740e-01 2.87575334e-01 -8.67425860e-03 7.30877497e+01] [ 2.87564014e-01 -9.57758020e-01 -2.55206055e-03 -1.31426136e+02] [-9.04175040e-03 -5.02484067e-05 -9.99959121e-01 2.27161165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.48999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.08, Y:-131.43, Z:2.27 [[ 9.31929550e-01 3.62530128e-01 -8.90055902e-03 7.30841150e+01] [ 3.62514225e-01 -9.31972050e-01 -3.39621352e-03 -1.31434622e+02] [-9.52630196e-03 -6.15475131e-05 -9.99954622e-01 2.27165675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.51999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.08, Y:-131.44, Z:2.27 [[ 9.00423806e-01 4.34927245e-01 -8.67530254e-03 7.30818960e+01] [ 4.34907783e-01 -9.00465595e-01 -4.11496958e-03 -1.31442615e+02] [-9.60152384e-03 -6.77400306e-05 -9.99953902e-01 2.27132724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.54999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.08, Y:-131.45, Z:2.27 [[ 8.63372590e-01 5.04499394e-01 -8.25417252e-03 7.30787848e+01] [ 5.04477136e-01 -8.63412043e-01 -4.73955337e-03 -1.31451026e+02] [-9.51785377e-03 -7.20408458e-05 -9.99954702e-01 2.27124982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.57999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.08, Y:-131.46, Z:2.27 [[ 8.20972999e-01 5.70917761e-01 -7.49971433e-03 7.30772356e+01] [ 5.70894747e-01 -8.21007251e-01 -5.12665547e-03 -1.31458878e+02] [-9.08421851e-03 -7.27017985e-05 -9.99958735e-01 2.27091347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.60999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.07, Y:-131.47, Z:2.27 [[ 7.73307613e-01 6.33991285e-01 -7.09829096e-03 7.30745117e+01] [ 6.33965518e-01 -7.73340186e-01 -5.71652284e-03 -1.31466715e+02] [-9.11361931e-03 -7.94410705e-05 -9.99958467e-01 2.27104237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.64 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.07, Y:-131.47, Z:2.27 [[ 7.21248436e-01 6.92643223e-01 -6.78664409e-03 7.30729261e+01] [ 6.92613628e-01 -7.21280361e-01 -6.40342516e-03 -1.31474597e+02] [-9.33036214e-03 -8.20617946e-05 -9.99956468e-01 2.27011326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.67 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.07, Y:-131.48, Z:2.27 [[ 6.64909012e-01 7.46900629e-01 -5.95450508e-03 7.30730334e+01] [ 7.46871711e-01 -6.64935669e-01 -6.57284765e-03 -1.31484134e+02] [-8.86862687e-03 -7.69057640e-05 -9.99960670e-01 2.26960242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.7 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.07, Y:-131.49, Z:2.27 [[ 6.04653951e-01 7.96471647e-01 -5.14928093e-03 7.30723099e+01] [ 7.96443752e-01 -6.04675872e-01 -6.66634013e-03 -1.31493039e+02] [-8.42319684e-03 -7.02837233e-05 -9.99964522e-01 2.26969037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.73 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.07, Y:-131.50, Z:2.27 [[ 5.40643139e-01 8.41242453e-01 -4.01634553e-03 7.30730458e+01] [ 8.41220048e-01 -5.40658054e-01 -6.13993856e-03 -1.31501349e+02] [-7.33664653e-03 -5.91147222e-05 -9.99973085e-01 2.26832072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.76 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.08, Y:-131.51, Z:2.27 [[ 4.73123416e-01 8.80990815e-01 -3.06882934e-03 7.30755562e+01] [ 8.80972983e-01 -4.73133366e-01 -5.60550107e-03 -1.31511611e+02] [-6.39036051e-03 -5.14619248e-05 -9.99979580e-01 2.26714196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.79 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.08, Y:-131.52, Z:2.27 [[ 4.02766766e-01 9.15300534e-01 -1.96566246e-03 7.30785807e+01] [ 9.15290091e-01 -4.02771561e-01 -4.37246164e-03 -1.31521597e+02] [-4.79382941e-03 -3.80691434e-05 -9.99988509e-01 2.26579860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.82 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.08, Y:-131.53, Z:2.27 [[ 3.30002854e-01 9.43978525e-01 -1.63096825e-03 7.30844904e+01] [ 9.43967554e-01 -3.30006882e-01 -4.55130530e-03 -1.31531724e+02] [-4.83456521e-03 -3.76373740e-05 -9.99988313e-01 2.26583848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.85 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.09, Y:-131.54, Z:2.27 [[ 2.55409829e-01 9.66831949e-01 -1.34209977e-03 7.30893982e+01] [ 9.66819373e-01 -2.55413353e-01 -4.93148566e-03 -1.31541933e+02] [-5.11070809e-03 -3.80181448e-05 -9.99986940e-01 2.26653246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.88 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.10, Y:-131.55, Z:2.27 [[ 1.79891866e-01 9.83685548e-01 -1.28800544e-03 7.30984393e+01] [ 9.83662076e-01 -1.79896472e-01 -6.79552269e-03 -1.31551240e+02] [-6.91636509e-03 -4.45028488e-05 -9.99976081e-01 2.26837357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.91 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.11, Y:-131.56, Z:2.27 [[ 1.02913092e-01 9.94690004e-01 -8.31885064e-04 7.31074500e+01] [ 9.94660926e-01 -1.02916444e-01 -7.60580634e-03 -1.31560790e+02] [-7.65103419e-03 -4.47065200e-05 -9.99970729e-01 2.26978227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.94 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.12, Y:-131.57, Z:2.27 [[ 2.47731368e-02 9.99693067e-01 -2.53494395e-04 7.31165971e+01] [ 9.99658613e-01 -2.47743876e-02 -8.29986437e-03 -1.31568613e+02] [-8.30359703e-03 -4.77941800e-05 -9.99965523e-01 2.27011798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.97 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.13, Y:-131.58, Z:2.27 [[-5.34092640e-02 9.98572615e-01 4.28965347e-04 7.31254822e+01] [ 9.98532549e-01 5.34109638e-02 -8.94522191e-03 -1.31577404e+02] [-8.95536508e-03 -4.94218571e-05 -9.99959899e-01 2.27050460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.0 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.13, Y:-131.58, Z:2.27 [[-1.31696013e-01 9.91289510e-01 1.12584918e-03 7.31337355e+01] [ 9.91249907e-01 1.31700815e-01 -8.86102932e-03 -1.31584137e+02] [-8.93212067e-03 -5.09643374e-05 -9.99960107e-01 2.27010689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.03 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.14, Y:-131.59, Z:2.27 [[-2.09125457e-01 9.77886922e-01 1.92661278e-03 7.31429039e+01] [ 9.77842944e-01 2.09134324e-01 -9.27425269e-03 -1.31589912e+02] [-9.47209127e-03 -5.55576187e-05 -9.99955137e-01 2.26950671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.06 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.15, Y:-131.60, Z:2.27 [[-2.84713406e-01 9.58608511e-01 2.82813836e-03 7.31531119e+01] [ 9.58559260e-01 2.84727446e-01 -9.71733625e-03 -1.31596390e+02] [-1.01203699e-02 -5.57176875e-05 -9.99948786e-01 2.27065913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.09 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.16, Y:-131.60, Z:2.27 [[-3.58283886e-01 9.33604990e-01 3.79212659e-03 7.31589885e+01] [ 9.33551161e-01 3.58303950e-01 -1.00254245e-02 -1.31603105e+02] [-1.07185203e-02 -5.18038761e-05 -9.99942554e-01 2.27148284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.12 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.17, Y:-131.61, Z:2.27 [[-4.29185037e-01 9.03204318e-01 4.70783856e-03 7.31692332e+01] [ 9.03148964e-01 4.29210855e-01 -9.99953262e-03 -1.31606399e+02] [-1.10522765e-02 -3.97702578e-05 -9.99938921e-01 2.27162234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.14999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.18, Y:-131.61, Z:2.27 [[-4.96982839e-01 8.67741197e-01 5.76821822e-03 7.31801345e+01] [ 8.67682291e-01 4.97016312e-01 -1.01107599e-02 -1.31608917e+02] [-1.16404215e-02 -1.98933643e-05 -9.99932248e-01 2.27220670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.17999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.19, Y:-131.61, Z:2.27 [[-5.61708558e-01 8.27310072e-01 6.44516079e-03 7.31912643e+01] [ 8.27255699e-01 5.61745534e-01 -9.48490093e-03 -1.31611149e+02] [-1.14674944e-02 4.04597587e-06 -9.99934246e-01 2.27203575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.20999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.20, Y:-131.61, Z:2.27 [[-6.22919047e-01 7.82252480e-01 7.27453114e-03 7.32016899e+01] [ 7.82199741e-01 6.22961521e-01 -9.08344724e-03 -1.31613917e+02] [-1.16373021e-02 3.18840733e-05 -9.99932284e-01 2.27197635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.23999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.21, Y:-131.62, Z:2.27 [[-6.78358571e-01 7.34692117e-01 7.55924928e-03 7.32109231e+01] [ 7.34647959e-01 6.78400682e-01 -8.05548153e-03 -1.31615677e+02] [-1.10464986e-02 8.88821110e-05 -9.99938982e-01 2.26985667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.26999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.22, Y:-131.62, Z:2.27 [[-7.31963086e-01 6.81300180e-01 7.75281745e-03 7.32218533e+01] [ 6.81263592e-01 7.32004134e-01 -7.06161291e-03 -1.31616669e+02] [-1.04861726e-02 1.12872286e-04 -9.99945012e-01 2.26994566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.29999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.81, Y:-130.99, Z:1.42 [[-7.01713246e-01 -7.12424541e-01 7.05641784e-03 7.38100460e+01] [ 7.12386700e-01 -7.01748714e-01 -7.34385343e-03 -1.30990294e+02] [ 1.01837736e-02 -1.26381012e-04 9.99948136e-01 1.41966878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.32999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.79, Y:-130.97, Z:1.42 [[-7.03431003e-01 -7.10731515e-01 6.74817636e-03 7.37925827e+01] [ 7.10696772e-01 -7.03463355e-01 -7.02899407e-03 -1.30969754e+02] [ 9.74282238e-03 -1.48505202e-04 9.99952527e-01 1.41958401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.35999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.77, Y:-130.95, Z:1.42 [[-7.04813502e-01 -7.09360792e-01 6.72265420e-03 7.37734587e+01] [ 7.09326287e-01 -7.04845543e-01 -6.99845413e-03 -1.30948936e+02] [ 9.70286181e-03 -1.64049621e-04 9.99952913e-01 1.41949219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.39 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.75, Y:-130.93, Z:1.42 [[-7.07303650e-01 -7.06871127e-01 7.39977074e-03 7.37541723e+01] [ 7.06829232e-01 -7.07342324e-01 -7.69896533e-03 -1.30927992e+02] [ 1.06763473e-02 -2.15132013e-04 9.99942983e-01 1.41881009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.42 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.73, Y:-130.91, Z:1.42 [[-7.08324045e-01 -7.05848216e-01 7.43928817e-03 7.37344463e+01] [ 7.05805863e-01 -7.08363074e-01 -7.73560582e-03 -1.30908312e+02] [ 1.07298806e-02 -2.28622399e-04 9.99942407e-01 1.41929609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.45 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.72, Y:-130.89, Z:1.42 [[-7.09262055e-01 -7.04897852e-01 8.14595243e-03 7.37164460e+01] [ 7.04847068e-01 -7.09308783e-01 -8.46526186e-03 -1.30888207e+02] [ 1.17451405e-02 -2.62438337e-04 9.99930989e-01 1.41913828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.48 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.70, Y:-130.87, Z:1.42 [[-7.10486021e-01 -7.03659955e-01 8.50189563e-03 7.36974623e+01] [ 7.03604609e-01 -7.10536827e-01 -8.83013309e-03 -1.30866985e+02] [ 1.22543210e-02 -2.91713177e-04 9.99924870e-01 1.41905921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.51 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.68, Y:-130.85, Z:1.42 [[-7.12631354e-01 -7.01485664e-01 8.62653575e-03 7.36798156e+01] [ 7.01428591e-01 -7.12683488e-01 -8.95420560e-03 -1.30846292e+02] [ 1.24292364e-02 -3.30148839e-04 9.99922700e-01 1.41959724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.54 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.66, Y:-130.83, Z:1.42 [[-7.13574199e-01 -7.00530470e-01 8.30202206e-03 7.36595272e+01] [ 7.00477604e-01 -7.13622415e-01 -8.61248685e-03 -1.30826205e+02] [ 1.19578185e-02 -3.30267883e-04 9.99928448e-01 1.42050511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.64, Y:-130.81, Z:1.42 [[-7.14339601e-01 -6.99755661e-01 7.80697087e-03 7.36409336e+01] [ 6.99708926e-01 -7.14382190e-01 -8.09353135e-03 -1.30806961e+02] [ 1.12406553e-02 -3.18922751e-04 9.99936771e-01 1.42105156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.6 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.62, Y:-130.79, Z:1.42 [[-7.14705061e-01 -6.99391690e-01 6.92388501e-03 7.36210172e+01] [ 6.99354958e-01 -7.14738542e-01 -7.17351911e-03 -1.30787798e+02] [ 9.96586713e-03 -2.84697102e-04 9.99950299e-01 1.42169855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.63 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.60, Y:-130.77, Z:1.42 [[-7.14924875e-01 -6.99166970e-01 6.92613974e-03 7.36023295e+01] [ 6.99130248e-01 -7.14958368e-01 -7.17134216e-03 -1.30768585e+02] [ 9.96586713e-03 -2.84697102e-04 9.99950299e-01 1.42169853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.66 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.58, Y:-130.75, Z:1.42 [[-7.15098621e-01 -6.98994724e-01 6.35124580e-03 7.35814925e+01] [ 6.98963874e-01 -7.15126777e-01 -6.57237194e-03 -1.30750263e+02] [ 9.13599925e-03 -2.60602745e-04 9.99958232e-01 1.42301986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.69 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.56, Y:-130.73, Z:1.42 [[-7.14947620e-01 -6.99155285e-01 5.63811736e-03 7.35625128e+01] [ 6.99131008e-01 -7.14969815e-01 -5.83072814e-03 -1.30731387e+02] [ 8.10766812e-03 -2.26882530e-04 9.99967107e-01 1.42291676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.72 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.54, Y:-130.71, Z:1.42 [[-7.13256827e-01 -7.00883167e-01 5.24256759e-03 7.35412122e+01] [ 7.00862245e-01 -7.13276068e-01 -5.41882933e-03 -1.30714024e+02] [ 7.53736426e-03 -1.90699319e-04 9.99971576e-01 1.42363755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.52, Y:-130.70, Z:1.42 [[-7.12096949e-01 -7.02063107e-01 5.03292277e-03 7.35190301e+01] [ 7.02043875e-01 -7.12114714e-01 -5.19917268e-03 -1.30696561e+02] [ 7.23416568e-03 -1.68982394e-04 9.99973819e-01 1.42455872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.78 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.50, Y:-130.68, Z:1.42 [[-7.10622827e-01 -7.03554356e-01 5.14449053e-03 7.34973013e+01] [ 7.03534316e-01 -7.10641431e-01 -5.31253152e-03 -1.30677899e+02] [ 7.39354281e-03 -1.55880543e-04 9.99972655e-01 1.42494391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.81 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.48, Y:-130.66, Z:1.42 [[-7.08911890e-01 -7.05277589e-01 5.23979037e-03 7.34766822e+01] [ 7.05256869e-01 -7.08931240e-01 -5.40794110e-03 -1.30660308e+02] [ 7.52875075e-03 -1.38355594e-04 9.99971649e-01 1.42440626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.84 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.45, Y:-130.65, Z:1.42 [[-7.04849175e-01 -7.09329708e-01 6.24548298e-03 7.34522099e+01] [ 7.09300462e-01 -7.04876835e-01 -6.44224409e-03 -1.30645459e+02] [ 8.97197140e-03 -1.10886472e-04 9.99959745e-01 1.42274411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.87 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.43, Y:-130.63, Z:1.42 [[-7.02596113e-01 -7.11553690e-01 7.07443582e-03 7.34310234e+01] [ 7.11516326e-01 -7.02631723e-01 -7.29247032e-03 -1.30628865e+02] [ 1.01597072e-02 -9.00847223e-05 9.99948385e-01 1.42128036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.89999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.41, Y:-130.61, Z:1.42 [[-7.00557360e-01 -7.13552801e-01 7.86038501e-03 7.34093795e+01] [ 7.13506856e-01 -7.00601453e-01 -8.09750090e-03 -1.30611479e+02] [ 1.12849916e-02 -6.43252565e-05 9.99936320e-01 1.42000023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.92999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.39, Y:-130.59, Z:1.42 [[-6.96886501e-01 -7.17121344e-01 9.28346574e-03 7.33866902e+01] [ 7.17057644e-01 -6.96948333e-01 -9.55805706e-03 -1.30594402e+02] [ 1.33243827e-02 -4.10086738e-06 9.99911226e-01 1.41794083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.95999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.37, Y:-130.58, Z:1.42 [[-6.95409283e-01 -7.18545944e-01 9.88210637e-03 7.33675245e+01] [ 7.18474004e-01 -6.95479494e-01 -1.01675640e-02 -1.30576337e+02] [ 1.41786642e-02 2.94181449e-05 9.99899477e-01 1.41711874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.98999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.35, Y:-130.56, Z:1.42 [[-6.94278798e-01 -7.19632925e-01 1.02666539e-02 7.33486166e+01] [ 7.19555472e-01 -6.94354701e-01 -1.05580318e-02 -1.30558056e+02] [ 1.47266068e-02 5.72093723e-05 9.99891556e-01 1.41670726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.01999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.33, Y:-130.54, Z:1.42 [[-6.93507790e-01 -7.20378031e-01 1.01211630e-02 7.33294311e+01] [ 7.20302933e-01 -6.93581637e-01 -1.04017949e-02 -1.30538987e+02] [ 1.45130774e-02 7.65776132e-05 9.99894677e-01 1.41758940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.04999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.31, Y:-130.52, Z:1.42 [[-6.93027579e-01 -7.20847141e-01 9.60072904e-03 7.33095516e+01] [ 7.20779692e-01 -6.93094071e-01 -9.86126985e-03 -1.30519128e+02] [ 1.37626766e-02 8.58785458e-05 9.99905286e-01 1.41843721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.07999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.29, Y:-130.50, Z:1.42 [[-6.91948899e-01 -7.21907746e-01 7.47848086e-03 7.32903543e+01] [ 7.21866917e-01 -6.91989306e-01 -7.67821143e-03 -1.30500403e+02] [ 1.07179891e-02 8.55379756e-05 9.99942557e-01 1.41953258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.10999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.27, Y:-130.48, Z:1.42 [[-6.91570118e-01 -7.22278918e-01 6.62844638e-03 7.32713174e+01] [ 7.22246902e-01 -6.91601878e-01 -6.80113682e-03 -1.30480278e+02] [ 9.49656371e-03 8.39118697e-05 9.99954903e-01 1.42115018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.14 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.25, Y:-130.46, Z:1.42 [[-6.91249537e-01 -7.22593299e-01 5.74473431e-03 7.32518806e+01] [ 7.22569289e-01 -6.91273403e-01 -5.89103826e-03 -1.30459647e+02] [ 8.22800681e-03 7.87911143e-05 9.99966146e-01 1.42232861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.17 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.23, Y:-130.44, Z:1.42 [[-6.90757179e-01 -7.23068317e-01 5.16998238e-03 7.32336922e+01] [ 7.23048910e-01 -6.90776522e-01 -5.29808470e-03 -1.30440490e+02] [ 7.40217963e-03 7.84600829e-05 9.99972600e-01 1.42334606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.2 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.22, Y:-130.42, Z:1.42 [[-6.90369224e-01 -7.23442913e-01 4.54820059e-03 7.32151315e+01] [ 7.23427920e-01 -6.90384202e-01 -4.65820169e-03 -1.30419945e+02] [ 6.50994883e-03 7.44162044e-05 9.99978807e-01 1.42448410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.23 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.20, Y:-130.40, Z:1.42 [[-6.89511642e-01 -7.24260139e-01 4.57678765e-03 7.31964979e+01] [ 7.24244993e-01 -6.89526826e-01 -4.68462055e-03 -1.30399957e+02] [ 6.54870179e-03 8.46151381e-05 9.99978553e-01 1.42404577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.26 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.18, Y:-130.38, Z:1.42 [[-6.89209347e-01 -7.24547482e-01 4.62841044e-03 7.31778582e+01] [ 7.24532020e-01 -6.89224882e-01 -4.73429032e-03 -1.30381561e+02] [ 6.62023378e-03 9.05144242e-05 9.99978082e-01 1.42332170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.29 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.16, Y:-130.36, Z:1.42 [[-6.88884631e-01 -7.24853986e-01 4.96636134e-03 7.31592629e+01] [ 7.24836213e-01 -6.88902525e-01 -5.07702807e-03 -1.30361082e+02] [ 7.10144290e-03 1.02311940e-04 9.99974779e-01 1.42352406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.32 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.14, Y:-130.34, Z:1.42 [[-6.88339588e-01 -7.25366172e-01 5.70324015e-03 7.31400884e+01] [ 7.25342780e-01 -6.88363204e-01 -5.82677520e-03 -1.30341809e+02] [ 8.15244628e-03 1.26004028e-04 9.99966760e-01 1.42233872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.35 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.12, Y:-130.32, Z:1.42 [[-6.88187591e-01 -7.25503804e-01 6.48612024e-03 7.31205132e+01] [ 7.25473590e-01 -6.88218140e-01 -6.62282999e-03 -1.30321521e+02] [ 9.26875396e-03 1.47759517e-04 9.99957033e-01 1.42127364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.38 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.10, Y:-130.30, Z:1.42 [[-6.88498491e-01 -7.25184650e-01 8.77793429e-03 7.31026415e+01] [ 7.25129349e-01 -6.88554417e-01 -8.95779762e-03 -1.30299901e+02] [ 1.25401427e-02 1.97707639e-04 9.99921350e-01 1.41849127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.41 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.08, Y:-130.28, Z:1.42 [[-6.89466888e-01 -7.24250196e-01 9.85207665e-03 7.30849894e+01] [ 7.24180520e-01 -6.89537244e-01 -1.00481119e-02 -1.30278516e+02] [ 1.40707208e-02 2.06841540e-04 9.99900981e-01 1.41764845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.44 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.07, Y:-130.26, Z:1.42 [[-6.91061030e-01 -7.22719907e-01 1.05161719e-02 7.30671273e+01] [ 7.22640435e-01 -6.91141013e-01 -1.07192211e-02 -1.30256513e+02] [ 1.50151522e-02 1.91775013e-04 9.99887248e-01 1.41681325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.47 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.05, Y:-130.23, Z:1.42 [[-6.93261619e-01 -7.20598632e-01 1.12222878e-02 7.30506333e+01] [ 7.20507928e-01 -6.93352426e-01 -1.14341483e-02 -1.30234603e+02] [ 1.60204321e-02 1.58891166e-04 9.99871652e-01 1.41628262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.04, Y:-130.21, Z:1.42 [[-6.99441539e-01 -7.14602681e-01 1.11598374e-02 7.30382016e+01] [ 7.14512317e-01 -6.99530562e-01 -1.13640618e-02 -1.30207521e+02] [ 1.59274364e-02 2.53443759e-05 9.99873150e-01 1.41757283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.53 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.02, Y:-130.19, Z:1.42 [[-7.03287285e-01 -7.10830922e-01 1.03148451e-02 7.30236578e+01] [ 7.10753420e-01 -7.03362921e-01 -1.04965726e-02 -1.30185056e+02] [ 1.47163679e-02 -5.07946573e-05 9.99891707e-01 1.41857528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:73.01, Y:-130.16, Z:1.42 [[-7.07270540e-01 -7.06883144e-01 9.19804649e-03 7.30081944e+01] [ 7.06821258e-01 -7.07330339e-01 -9.35420323e-03 -1.30161907e+02] [ 1.31183859e-02 -1.14577584e-04 9.99913944e-01 1.42049552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.59 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.99, Y:-130.14, Z:1.42 [[-7.10123620e-01 -7.04037398e-01 7.46903943e-03 7.29906340e+01] [ 7.03996486e-01 -7.10162886e-01 -7.59102396e-03 -1.30140265e+02] [ 1.06485994e-02 -1.32387895e-04 9.99943293e-01 1.42276166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.62 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.97, Y:-130.12, Z:1.42 [[-7.12528714e-01 -7.01620101e-01 5.66254698e-03 7.29726119e+01] [ 7.01596540e-01 -7.12551203e-01 -5.75136522e-03 -1.30119662e+02] [ 8.07012812e-03 -1.25189499e-04 9.99967428e-01 1.42475579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.64999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.95, Y:-130.10, Z:1.43 [[-7.16623972e-01 -6.97448005e-01 4.04508057e-03 7.29548354e+01] [ 6.97435924e-01 -7.16635378e-01 -4.10682715e-03 -1.30098436e+02] [ 5.76314625e-03 -1.21866281e-04 9.99983386e-01 1.42652091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.67999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.94, Y:-130.08, Z:1.43 [[-7.18848641e-01 -6.95156602e-01 3.73217449e-03 7.29357278e+01] [ 6.95146299e-01 -7.18858318e-01 -3.78701785e-03 -1.30077251e+02] [ 5.31547514e-03 -1.27885350e-04 9.99985865e-01 1.42709900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.70999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.92, Y:-130.06, Z:1.43 [[-7.21023545e-01 -6.92900630e-01 3.71018327e-03 7.29170975e+01] [ 6.92890429e-01 -7.21033076e-01 -3.76246434e-03 -1.30056810e+02] [ 5.28217877e-03 -1.42074896e-04 9.99986039e-01 1.42717592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.73999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.90, Y:-130.04, Z:1.43 [[-7.23269238e-01 -6.90552732e-01 4.30515664e-03 7.28982170e+01] [ 6.90538972e-01 -7.23282027e-01 -4.36321874e-03 -1.30036765e+02] [ 6.12687504e-03 -1.82903452e-04 9.99981214e-01 1.42696141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.76999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.88, Y:-130.02, Z:1.43 [[-7.27229901e-01 -6.86374111e-01 5.22015480e-03 7.28797815e+01] [ 6.86353796e-01 -7.27248589e-01 -5.28735440e-03 -1.30016932e+02] [ 7.42545339e-03 -2.62249152e-04 9.99972397e-01 1.42552145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.79999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.86, Y:-130.00, Z:1.42 [[-7.29106585e-01 -6.84375739e-01 5.78231795e-03 7.28581104e+01] [ 6.84350777e-01 -7.29129447e-01 -5.85343487e-03 -1.29998480e+02] [ 8.22200711e-03 -3.10644124e-04 9.99966150e-01 1.42479263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.82999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.84, Y:-129.98, Z:1.42 [[-7.30740282e-01 -6.82623688e-01 6.59850209e-03 7.28368855e+01] [ 6.82591146e-01 -7.30769978e-01 -6.67586442e-03 -1.29979852e+02] [ 9.37909042e-03 -3.74243951e-04 9.99955945e-01 1.42397429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.85999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.82, Y:-129.96, Z:1.42 [[-7.32156780e-01 -6.81098040e-01 7.20482972e-03 7.28176391e+01] [ 6.81059213e-01 -7.32192105e-01 -7.28493637e-03 -1.29960982e+02] [ 1.02370753e-02 -4.26799891e-04 9.99947509e-01 1.42317299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.80, Y:-129.94, Z:1.42 [[-7.33403066e-01 -6.79754196e-01 7.36038443e-03 7.27993077e+01] [ 6.79713653e-01 -7.33439860e-01 -7.43786429e-03 -1.29941397e+02] [ 1.04543188e-02 -4.51998685e-04 9.99945250e-01 1.42235179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.92 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.77, Y:-129.93, Z:1.42 [[-7.34229165e-01 -6.78863006e-01 7.24935360e-03 7.27746760e+01] [ 6.78823676e-01 -7.34264811e-01 -7.32152088e-03 -1.29926339e+02] [ 1.02932549e-02 -4.54641300e-04 9.99946920e-01 1.42376714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.95 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.76, Y:-129.91, Z:1.42 [[-7.34544069e-01 -6.78521520e-01 7.31830305e-03 7.27557641e+01] [ 6.78481459e-01 -7.34580380e-01 -7.38752309e-03 -1.29908388e+02] [ 1.03884752e-02 -4.61128351e-04 9.99945932e-01 1.42335959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.98 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.73, Y:-129.89, Z:1.43 [[-7.34348863e-01 -6.78736725e-01 6.94303431e-03 7.27307307e+01] [ 6.78700716e-01 -7.34381558e-01 -7.00473945e-03 -1.29893508e+02] [ 9.85321027e-03 -4.31680094e-04 9.99951363e-01 1.42516137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.01 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.71, Y:-129.88, Z:1.43 [[-7.33884954e-01 -6.79242522e-01 6.51702236e-03 7.27103791e+01] [ 6.79210850e-01 -7.33913782e-01 -6.57129531e-03 -1.29875692e+02] [ 9.24643572e-03 -3.96142464e-04 9.99957172e-01 1.42526861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.04 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.69, Y:-129.86, Z:1.43 [[-7.32784220e-01 -6.80436353e-01 5.80144497e-03 7.26875551e+01] [ 6.80411319e-01 -7.32807107e-01 -5.84643180e-03 -1.29859227e+02] [ 8.22946484e-03 -3.36804134e-04 9.99966081e-01 1.42566464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.66, Y:-129.85, Z:1.43 [[-7.28614309e-01 -6.84910506e-01 4.33436718e-03 7.26618932e+01] [ 6.84896628e-01 -7.28627170e-01 -4.36525179e-03 -1.29846906e+02] [ 6.14794451e-03 -2.11991448e-04 9.99981079e-01 1.42599124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.1 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.64, Y:-129.83, Z:1.43 [[-7.26028100e-01 -6.87652669e-01 4.12369368e-03 7.26367892e+01] [ 6.87640166e-01 -7.26039789e-01 -4.15060941e-03 -1.29832921e+02] [ 5.84814333e-03 -1.77841661e-04 9.99982884e-01 1.42652406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.13 meters Centerline goodness [0,1] 0.9999779847213967 Centerline is valid? [True, True] Translation: X:72.61, Y:-129.82, Z:1.43 [[-7.23029778e-01 -6.90806258e-01 3.82804280e-03 7.26131813e+01] [ 6.90795535e-01 -7.23039898e-01 -3.85158470e-03 -1.29816366e+02] [ 5.42852649e-03 -1.40415558e-04 9.99985256e-01 1.42646371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.16 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.59, Y:-129.80, Z:1.43 [[-7.19898985e-01 -6.94067521e-01 3.96586066e-03 7.25909650e+01] [ 6.94056074e-01 -7.19909899e-01 -3.98792059e-03 -1.29799752e+02] [ 5.62294851e-03 -1.18370304e-04 9.99984184e-01 1.42634077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.19 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.57, Y:-129.78, Z:1.43 [[-7.16690945e-01 -6.97379417e-01 4.00466961e-03 7.25664514e+01] [ 6.97367809e-01 -7.16702128e-01 -4.02475431e-03 -1.29783825e+02] [ 5.67693604e-03 -9.17773014e-05 9.99983882e-01 1.42635859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.22 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.54, Y:-129.77, Z:1.42 [[-7.10086303e-01 -7.04095906e-01 5.13781728e-03 7.25403533e+01] [ 7.04076990e-01 -7.10104888e-01 -5.16136076e-03 -1.29771867e+02] [ 7.28248215e-03 -4.75926584e-05 9.99973481e-01 1.42471510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.25 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.52, Y:-129.76, Z:1.42 [[-7.07059959e-01 -7.07133327e-01 5.35463112e-03 7.25170985e+01] [ 7.07112893e-01 -7.07080235e-01 -5.37579250e-03 -1.29756293e+02] [ 7.58755586e-03 -1.46789221e-05 9.99971214e-01 1.42362791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.28 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.49, Y:-129.74, Z:1.42 [[-7.04156604e-01 -7.10021187e-01 5.77855472e-03 7.24937258e+01] [ 7.09997513e-01 -7.04180313e-01 -5.79806306e-03 -1.29739946e+02] [ 8.18589209e-03 2.00150951e-05 9.99966495e-01 1.42301717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.31 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.47, Y:-129.72, Z:1.42 [[-7.01698891e-01 -7.12446787e-01 6.18409714e-03 7.24716119e+01] [ 7.12419800e-01 -7.01726139e-01 -6.20122017e-03 -1.29724305e+02] [ 8.75758199e-03 5.42839357e-05 9.99961650e-01 1.42173712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.34 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.45, Y:-129.71, Z:1.42 [[-6.98288384e-01 -7.15776653e-01 7.55747367e-03 7.24478247e+01] [ 7.15736592e-01 -6.98329269e-01 -7.57385115e-03 -1.29710221e+02] [ 1.06987909e-02 1.20428170e-04 9.99942759e-01 1.41946370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.37 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.43, Y:-129.69, Z:1.42 [[-6.97615342e-01 -7.16430261e-01 7.77912184e-03 7.24277568e+01] [ 7.16387898e-01 -6.97658700e-01 -7.79213170e-03 -1.29692500e+02] [ 1.10096910e-02 1.36958121e-04 9.99939382e-01 1.41900421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.39999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.41, Y:-129.67, Z:1.42 [[-6.97574576e-01 -7.16471018e-01 7.68060380e-03 7.24080238e+01] [ 7.16429772e-01 -6.97616844e-01 -7.68899500e-03 -1.29672520e+02] [ 1.08670607e-02 1.38965801e-04 9.99940942e-01 1.41951074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.42999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.39, Y:-129.65, Z:1.42 [[-6.97913488e-01 -7.16142260e-01 7.55152728e-03 7.23888534e+01] [ 7.16102404e-01 -6.97954329e-01 -7.55658226e-03 -1.29653439e+02] [ 1.06822091e-02 1.33826155e-04 9.99942935e-01 1.41929904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.45999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.37, Y:-129.63, Z:1.42 [[-6.98638887e-01 -7.15436899e-01 7.33135868e-03 7.23708000e+01] [ 7.15399346e-01 -6.98677342e-01 -7.33134113e-03 -1.29634764e+02] [ 1.03673662e-02 1.22889199e-04 9.99946250e-01 1.41942215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.48999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.87, Y:-130.14, Z:2.27 [[-7.62301506e-01 6.47178246e-01 7.53214402e-03 7.18653348e+01] [ 6.47145267e-01 7.62338709e-01 -6.53426623e-03 -1.30143736e+02] [-9.97087990e-03 -1.06689636e-04 -9.99950284e-01 2.26886022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.51999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.88, Y:-130.12, Z:2.27 [[-8.04477618e-01 5.93943997e-01 6.80366224e-03 7.18804225e+01] [ 5.93922055e-01 8.04506385e-01 -5.10572077e-03 -1.30124636e+02] [-8.50610192e-03 -6.65930216e-05 -9.99963820e-01 2.26773795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.54999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.90, Y:-130.10, Z:2.27 [[-8.44485776e-01 5.35530282e-01 7.14787706e-03 7.18984104e+01] [ 5.35510430e-01 8.44516023e-01 -4.61151124e-03 -1.30104003e+02] [-8.50610063e-03 -6.65929304e-05 -9.99963820e-01 2.26773794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.57999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.92, Y:-130.09, Z:2.27 [[-8.79651044e-01 4.75558690e-01 7.61399713e-03 7.19191805e+01] [ 4.75540321e-01 8.79683994e-01 -4.18018933e-03 -1.30086212e+02] [-8.68583676e-03 -5.63452728e-05 -9.99962276e-01 2.26769813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.60999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.93, Y:-130.07, Z:2.27 [[-9.10478319e-01 4.13476973e-01 8.12544027e-03 7.19342594e+01] [ 4.13460075e-01 9.10514575e-01 -3.73845243e-03 -1.30065073e+02] [-8.94409579e-03 -4.42347423e-05 -9.99960000e-01 2.26829741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.64 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.24, Y:-129.40, Z:1.42 [[-8.76642386e-01 -4.81069252e-01 8.39654544e-03 7.22439043e+01] [ 4.81048083e-01 -8.76682592e-01 -4.51376939e-03 -1.29403765e+02] [ 9.53254089e-03 8.21805206e-05 9.99954561e-01 1.42017282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.67 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.89, Y:-130.05, Z:2.27 [[-9.10179786e-01 4.14084331e-01 1.03404325e-02 7.18926851e+01] [ 4.14057526e-01 9.10238522e-01 -4.71149773e-03 -1.30053549e+02] [-1.13632173e-02 -6.77611871e-06 -9.99935437e-01 2.26980139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.7 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.90, Y:-130.03, Z:2.27 [[-9.36791315e-01 3.49707347e-01 1.12607436e-02 7.19002455e+01] [ 3.49682181e-01 9.36858992e-01 -4.19532286e-03 -1.30029415e+02] [-1.20168641e-02 7.53936935e-06 -9.99927795e-01 2.27108639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.73 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.92, Y:-130.01, Z:2.27 [[-9.58822271e-01 2.83763391e-01 1.17554531e-02 7.19153450e+01] [ 2.83742387e-01 9.58894331e-01 -3.45255916e-03 -1.30007757e+02] [-1.22519472e-02 2.51296994e-05 -9.99924942e-01 2.27016203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.76 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.93, Y:-129.99, Z:2.27 [[-9.75730266e-01 2.18642223e-01 1.20841432e-02 7.19258800e+01] [ 2.18626355e-01 9.75805090e-01 -2.63507406e-03 -1.29987065e+02] [-1.23679069e-02 7.07906637e-05 -9.99923512e-01 2.26979867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.79 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.93, Y:-129.96, Z:2.27 [[-9.88401888e-01 1.51369916e-01 1.22006970e-02 7.19315617e+01] [ 1.51359647e-01 9.88477182e-01 -1.76602486e-03 -1.29963730e+02] [-1.23274336e-02 1.01150885e-04 -9.99924009e-01 2.26984075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.82 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:72.05, Y:-129.20, Z:1.42 [[-9.79982094e-01 -1.98724687e-01 1.19830997e-02 7.20520688e+01] [ 1.98708516e-01 -9.80055349e-01 -2.53730793e-03 -1.29204868e+02] [ 1.22483267e-02 -1.05372373e-04 9.99924981e-01 1.42014435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.85 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.88, Y:-129.96, Z:2.27 [[-9.88228678e-01 1.52559266e-01 1.13907892e-02 7.18757063e+01] [ 1.52551008e-01 9.88294311e-01 -1.59541510e-03 -1.29962769e+02] [-1.15008475e-02 1.61041421e-04 -9.99933850e-01 2.26785394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.88 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.88, Y:-129.94, Z:2.27 [[-9.96303084e-01 8.52066565e-02 1.09540137e-02 7.18809760e+01] [ 8.52035976e-02 9.96363282e-01 -7.46470680e-04 -1.29939884e+02] [-1.09777813e-02 1.89610338e-04 -9.99939724e-01 2.26715990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.91 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.94, Y:-129.15, Z:1.42 [[-9.93784826e-01 -1.10985642e-01 8.59686104e-03 7.19449363e+01] [ 1.10979010e-01 -9.93821969e-01 -1.24611961e-03 -1.29148552e+02] [ 8.68205075e-03 -2.84303633e-04 9.99962270e-01 1.42486135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.94 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.80, Y:-129.94, Z:2.26 [[-9.95910239e-01 9.00660342e-02 7.13483372e-03 7.18024302e+01] [ 9.00651472e-02 9.95935776e-01 -4.46181617e-04 -1.29944355e+02] [-7.14602196e-03 1.98243008e-04 -9.99974447e-01 2.26283517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.97 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.81, Y:-129.92, Z:2.26 [[-9.99741066e-01 2.19221114e-02 6.10095066e-03 7.18052029e+01] [ 2.19228437e-02 9.99759664e-01 5.31809579e-05 -1.29919051e+02] [-6.09831855e-03 1.86917376e-04 -9.99981388e-01 2.26166750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.0 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.80, Y:-129.89, Z:2.26 [[-9.98877817e-01 -4.71082362e-02 4.89088058e-03 7.18035239e+01] [-4.71068790e-02 9.98889778e-01 3.92401317e-04 -1.29892613e+02] [-4.90393595e-03 1.61566851e-04 -9.99987963e-01 2.26098572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.03 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.79, Y:-129.87, Z:2.26 [[-9.93193331e-01 -1.16427555e-01 3.41061486e-03 7.17915226e+01] [-1.16426451e-01 9.93199179e-01 5.21306918e-04 -1.29868668e+02] [-3.44811437e-03 1.20672770e-04 -9.99994048e-01 2.25996392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.06 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.76, Y:-129.85, Z:2.26 [[-9.82237465e-01 -1.87617023e-01 3.06840873e-03 7.17646212e+01] [-1.87615755e-01 9.82242251e-01 6.98672182e-04 -1.29845268e+02] [-3.14500350e-03 1.10580172e-04 -9.99995048e-01 2.26002919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.09 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.71, Y:-129.83, Z:2.26 [[-9.65595946e-01 -2.60030574e-01 2.92727505e-03 7.17114071e+01] [-2.60029046e-01 9.65600378e-01 8.97689615e-04 -1.29830403e+02] [-3.06000464e-03 1.05628915e-04 -9.99995313e-01 2.26032854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.12 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.65, Y:-129.82, Z:2.26 [[-9.43341068e-01 -3.31809669e-01 3.15794175e-03 7.16460034e+01] [-3.31807408e-01 9.43346347e-01 1.23015463e-03 -1.29820748e+02] [-3.38721001e-03 1.12626918e-04 -9.99994257e-01 2.26103214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.14999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.57, Y:-129.82, Z:2.26 [[-9.15409271e-01 -4.02505655e-01 3.88125691e-03 7.15712007e+01] [-4.02501401e-01 9.15417489e-01 1.85548209e-03 -1.29823257e+02] [-4.29981249e-03 1.36314160e-04 -9.99990746e-01 2.26223458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.17999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.49, Y:-129.83, Z:2.26 [[-8.81665296e-01 -4.71851650e-01 4.72504094e-03 7.14886865e+01] [-4.71843888e-01 8.81677943e-01 2.71131401e-03 -1.29830832e+02] [-5.44530236e-03 1.60989782e-04 -9.99985161e-01 2.26293946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.20999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.40, Y:-129.85, Z:2.27 [[-8.40956035e-01 -5.41070901e-01 5.93516760e-03 7.13998329e+01] [-5.41055934e-01 8.40976961e-01 4.02840411e-03 -1.29848210e+02] [-7.17099145e-03 1.76453101e-04 -9.99974273e-01 2.26501297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.23999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.31, Y:-129.88, Z:2.27 [[-7.96069740e-01 -6.05174009e-01 6.11458404e-03 7.13074536e+01] [-6.05154484e-01 7.96093204e-01 4.86430892e-03 -1.29878585e+02] [-7.81153213e-03 1.72061187e-04 -9.99969475e-01 2.26603575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.26999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.22, Y:-129.92, Z:2.27 [[-7.46223767e-01 -6.65669141e-01 5.88934492e-03 7.12158918e+01] [-6.65646730e-01 7.46246990e-01 5.46441431e-03 -1.29918004e+02] [-8.03239789e-03 1.57452641e-04 -9.99967727e-01 2.26686820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.29999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.12, Y:-129.97, Z:2.27 [[-6.89920071e-01 -7.23862254e-01 5.80801344e-03 7.11190339e+01] [-7.23835057e-01 6.89944506e-01 6.27610926e-03 -1.29967251e+02] [-8.55024556e-03 1.25970012e-04 -9.99963438e-01 2.26692407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.32999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.03, Y:-130.03, Z:2.27 [[-6.31142916e-01 -7.75649278e-01 5.17847512e-03 7.10286891e+01] [-7.75621778e-01 6.31164151e-01 6.53239934e-03 -1.30027577e+02] [-8.33531869e-03 1.06339496e-04 -9.99965255e-01 2.26727118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.35999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.94, Y:-130.10, Z:2.27 [[-5.68745246e-01 -8.22502056e-01 4.38330500e-03 7.09400709e+01] [-8.22476420e-01 5.68762130e-01 6.49447283e-03 -1.30098752e+02] [-7.83477514e-03 8.85355448e-05 -9.99969304e-01 2.26677328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.39 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.86, Y:-130.17, Z:2.27 [[-5.03231160e-01 -8.64144208e-01 3.63153925e-03 7.08629048e+01] [-8.64120598e-01 5.03244257e-01 6.38830621e-03 -1.30170470e+02] [-7.34796908e-03 7.67068756e-05 -9.99973000e-01 2.26683557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.42 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.79, Y:-130.26, Z:2.27 [[-4.35054894e-01 -9.00400390e-01 2.52521184e-03 7.07856773e+01] [-9.00384418e-01 4.35062218e-01 5.36338899e-03 -1.30258065e+02] [-5.92782180e-03 5.97072290e-05 -9.99982429e-01 2.26582061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.45 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.72, Y:-130.35, Z:2.26 [[-3.64421277e-01 -9.31233043e-01 1.46721068e-03 7.07174054e+01] [-9.31225029e-01 3.64424228e-01 3.86345173e-03 -1.30348803e+02] [-4.13246103e-03 4.16207087e-05 -9.99991460e-01 2.26447324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.48 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.65, Y:-130.45, Z:2.26 [[-2.91633988e-01 -9.56529560e-01 9.03943934e-04 7.06540708e+01] [-9.56524616e-01 2.91635387e-01 3.07586959e-03 -1.30450169e+02] [-3.20578222e-03 3.23834900e-05 -9.99994861e-01 2.26397516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.51 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.60, Y:-130.55, Z:2.26 [[-2.16621976e-01 -9.76255394e-01 5.70401998e-04 7.05996061e+01] [-9.76251677e-01 2.16622726e-01 2.69398539e-03 -1.30553878e+02] [-2.75357980e-03 2.67205312e-05 -9.99996209e-01 2.26403580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.54 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.55, Y:-130.66, Z:2.26 [[-1.40101070e-01 -9.90137128e-01 3.98718093e-04 7.05522856e+01] [-9.90132528e-01 1.40101634e-01 3.01798253e-03 -1.30664756e+02] [-3.04407761e-03 2.80388273e-05 -9.99995366e-01 2.26444701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.51, Y:-130.78, Z:2.27 [[-6.22218226e-02 -9.98062323e-01 2.08088140e-04 7.05137086e+01] [-9.98054910e-01 6.22221625e-02 3.84702040e-03 -1.30778584e+02] [-3.85251382e-03 3.16852309e-05 -9.99992579e-01 2.26542750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.6 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.48, Y:-130.89, Z:2.27 [[ 1.78057428e-02 -9.99841457e-01 -1.29622681e-04 7.04832599e+01] [-9.99824814e-01 -1.78061943e-02 5.76888475e-03 -1.30893499e+02] [-5.77027822e-03 2.68806953e-05 -9.99983351e-01 2.26750067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.63 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.46, Y:-131.01, Z:2.27 [[ 9.72166789e-02 -9.95262972e-01 -7.30409668e-04 7.04621580e+01] [-9.95236262e-01 -9.72194211e-02 7.29153757e-03 -1.31011088e+02] [-7.32800736e-03 1.80711206e-05 -9.99973150e-01 2.26888668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.66 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.45, Y:-131.13, Z:2.27 [[ 1.76199582e-01 -9.84353226e-01 -1.56032181e-03 7.04505423e+01] [-9.84314636e-01 -1.76206490e-01 8.71606926e-03 -1.31132509e+02] [-8.85462972e-03 7.98333368e-08 -9.99960797e-01 2.27058734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.69 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.45, Y:-131.25, Z:2.27 [[ 2.54356814e-01 -9.67106829e-01 -2.64449127e-03 7.04481544e+01] [-9.67053383e-01 -2.54370559e-01 1.01672826e-02 -1.31252910e+02] [-1.05055291e-02 -2.87533696e-05 -9.99944815e-01 2.27119185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.72 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.46, Y:-131.37, Z:2.27 [[ 3.30580870e-01 -9.43769581e-01 -3.90721046e-03 7.04555862e+01] [-9.43701422e-01 -3.30603953e-01 1.13424723e-02 -1.31374310e+02] [-1.19964195e-02 -6.23642787e-05 -9.99928038e-01 2.27247011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.47, Y:-131.49, Z:2.27 [[ 4.04539889e-01 -9.14505737e-01 -5.17061083e-03 7.04727757e+01] [-9.14427926e-01 -4.04572919e-01 1.19298031e-02 -1.31494375e+02] [-1.30017625e-02 -9.79302906e-05 -9.99915469e-01 2.27307262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.78 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.50, Y:-131.61, Z:2.27 [[ 4.76938862e-01 -8.78912393e-01 -6.50599127e-03 7.05016005e+01] [-8.78826173e-01 -4.76983210e-01 1.23115694e-02 -1.31613643e+02] [-1.39240395e-02 -1.54230473e-04 -9.99903044e-01 2.27254382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.81 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.53, Y:-131.72, Z:2.27 [[ 5.44165407e-01 -8.38943440e-01 -7.61016665e-03 7.05343320e+01] [-8.38856873e-01 -5.44218591e-01 1.20528737e-02 -1.31722054e+02] [-1.42532735e-02 -1.74916308e-04 -9.99898402e-01 2.27214168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.84 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.58, Y:-131.83, Z:2.27 [[ 6.07582532e-01 -7.94213202e-01 -8.29794025e-03 7.05759983e+01] [-7.94135082e-01 -6.07639167e-01 1.11406432e-02 -1.31827765e+02] [-1.38901994e-02 -1.79174728e-04 -9.99903510e-01 2.27104006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.87 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.63, Y:-131.93, Z:2.27 [[ 6.67438538e-01 -7.44619945e-01 -8.18141931e-03 7.06256284e+01] [-7.44560826e-01 -6.67488657e-01 9.38453960e-03 -1.31926724e+02] [-1.24489199e-02 -1.72039069e-04 -9.99922494e-01 2.26929775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.89999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.68, Y:-132.02, Z:2.27 [[ 7.22680397e-01 -6.91134469e-01 -8.13571764e-03 7.06796457e+01] [-6.91088161e-01 -7.22726172e-01 8.00212176e-03 -1.32020218e+02] [-1.14104382e-02 -1.60478393e-04 -9.99934886e-01 2.26821644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.92999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.68, Y:-132.03, Z:2.27 [[ 7.74497212e-01 -6.32522485e-01 -8.32915904e-03 7.06773043e+01] [-6.32483768e-01 -7.74541982e-01 7.00004613e-03 -1.32025812e+02] [-1.08789699e-02 -1.53458305e-04 -9.99940810e-01 2.26706658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.95999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.67, Y:-132.03, Z:2.27 [[ 8.21756737e-01 -5.69771560e-01 -8.73120042e-03 7.06741527e+01] [-5.69737381e-01 -8.21803106e-01 6.24274651e-03 -1.32030279e+02] [-1.07322670e-02 -1.55527748e-04 -9.99942395e-01 2.26640241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.98999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.67, Y:-132.04, Z:2.26 [[ 8.64387022e-01 -5.02744545e-01 -9.11030548e-03 7.06714669e+01] [-5.02714575e-01 -8.64435014e-01 5.49195286e-03 -1.32035212e+02] [-1.06363164e-02 -1.67289429e-04 -9.99943419e-01 2.26496000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.01999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.67, Y:-132.04, Z:2.26 [[ 9.01565366e-01 -4.32539734e-01 -9.44818620e-03 7.06665344e+01] [-4.32513900e-01 -9.01614855e-01 4.73077138e-03 -1.32041235e+02] [-1.05648716e-02 -1.78627773e-04 -9.99944174e-01 2.26483578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.04999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.66, Y:-132.05, Z:2.27 [[ 9.32999846e-01 -3.59733140e-01 -1.01663614e-02 7.06612094e+01] [-3.59709472e-01 -9.33055212e-01 4.13125163e-03 -1.32047106e+02] [-1.09719246e-02 -1.97520639e-04 -9.99939787e-01 2.26525323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.07999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.66, Y:-132.05, Z:2.27 [[ 9.58619376e-01 -2.84460885e-01 -1.14410456e-02 7.06576046e+01] [-2.84437741e-01 -9.58687619e-01 3.63588706e-03 -1.32053844e+02] [-1.20026564e-02 -2.31166612e-04 -9.99927939e-01 2.26514534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.10999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.65, Y:-132.06, Z:2.27 [[ 9.77995502e-01 -2.08261807e-01 -1.23214096e-02 7.06537206e+01] [-2.08242075e-01 -9.78073084e-01 2.87758196e-03 -1.32060585e+02] [-1.26505295e-02 -2.48426314e-04 -9.99919948e-01 2.26615068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.14 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.65, Y:-132.06, Z:2.27 [[ 9.91003035e-01 -1.32992313e-01 -1.50342544e-02 7.06477507e+01] [-1.32972886e-01 -9.91117033e-01 2.28898197e-03 -1.32062695e+02] [-1.52051226e-02 -2.69239888e-04 -9.99884359e-01 2.26724444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.17 meters Centerline goodness [0,1] 0.999954683463996 Centerline is valid? [True, True] Translation: X:70.64, Y:-132.07, Z:2.27 [[ 9.98263160e-01 -5.66580511e-02 -1.61409264e-02 7.06409887e+01] [-5.66464277e-02 -9.98393608e-01 1.17677272e-03 -1.32067542e+02] [-1.61816714e-02 -2.60403032e-04 -9.99869034e-01 2.26831584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.2 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.64, Y:-132.07, Z:2.27 [[ 9.99665713e-01 1.96946625e-02 -1.67506260e-02 7.06352032e+01] [ 1.96958505e-02 -9.99806014e-01 -9.40652789e-05 -1.32071646e+02] [-1.67492292e-02 -2.35883991e-04 -9.99859694e-01 2.26836396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.23 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.63, Y:-132.08, Z:2.27 [[ 9.95261225e-01 9.57360633e-02 -1.70205676e-02 7.06296290e+01] [ 9.57255527e-02 -9.95406733e-01 -1.43303894e-03 -1.32076784e+02] [-1.70795811e-02 -2.03055148e-04 -9.99854113e-01 2.26864739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.26 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.62, Y:-132.08, Z:2.27 [[ 9.85135257e-01 1.71078032e-01 -1.55187849e-02 7.06240430e+01] [ 1.71059218e-01 -9.85257471e-01 -2.54164926e-03 -1.32083561e+02] [-1.57248191e-02 -1.50762910e-04 -9.99876346e-01 2.26677660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.29 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.62, Y:-132.09, Z:2.27 [[ 9.69074476e-01 2.46343395e-01 -1.44772543e-02 7.06195253e+01] [ 2.46317793e-01 -9.69182602e-01 -3.55359419e-03 -1.32093508e+02] [-1.49065075e-02 -1.22307909e-04 -9.99888884e-01 2.26541836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.32 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.62, Y:-132.10, Z:2.26 [[ 9.47398092e-01 3.19787639e-01 -1.31423638e-02 7.06156198e+01] [ 3.19758175e-01 -9.47489239e-01 -4.34185109e-03 -1.32103378e+02] [-1.38407186e-02 -8.89168206e-05 -9.99904209e-01 2.26495080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.35 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.61, Y:-132.11, Z:2.26 [[ 9.20307280e-01 3.91011713e-01 -1.20146260e-02 7.06127180e+01] [ 3.90979189e-01 -9.20385700e-01 -5.04347334e-03 -1.32112814e+02] [-1.30301471e-02 -5.59234786e-05 -9.99915102e-01 2.26429946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.38 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.61, Y:-132.12, Z:2.26 [[ 8.88125354e-01 4.59468347e-01 -1.10541146e-02 7.06088841e+01] [ 4.59433039e-01 -8.88194144e-01 -5.69605137e-03 -1.32122316e+02] [-1.24353552e-02 -1.98178385e-05 -9.99922678e-01 2.26406098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.41 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.61, Y:-132.13, Z:2.26 [[ 8.51054140e-01 5.24990363e-01 -9.59010874e-03 7.06063759e+01] [ 5.24956818e-01 -8.51108171e-01 -5.93469867e-03 -1.32131695e+02] [-1.12778795e-02 1.63569000e-05 -9.99936403e-01 2.26269315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.44 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.61, Y:-132.14, Z:2.26 [[ 8.07322349e-01 5.90040585e-01 -9.09580941e-03 7.06053130e+01] [ 5.90002911e-01 -8.07373586e-01 -6.66761062e-03 -1.32143107e+02] [-1.12778771e-02 1.63570418e-05 -9.99936403e-01 2.26269313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.47 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.60, Y:-132.15, Z:2.26 [[ 7.63375260e-01 6.45908401e-01 -7.78135060e-03 7.06015544e+01] [ 6.45873644e-01 -7.63414913e-01 -6.70117906e-03 -1.32149667e+02] [-1.02687469e-02 8.97450438e-05 -9.99947271e-01 2.26121836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.60, Y:-132.16, Z:2.26 [[ 7.13208318e-01 7.00912966e-01 -7.41006261e-03 7.05986463e+01] [ 7.00873182e-01 -7.13246799e-01 -7.46909960e-03 -1.32158780e+02] [-1.05203922e-02 1.33509809e-04 -9.99944650e-01 2.26129064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.53 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.60, Y:-132.17, Z:2.26 [[ 6.58947777e-01 7.52159410e-01 -6.63698374e-03 7.05986635e+01] [ 7.52118654e-01 -6.58981178e-01 -7.83185094e-03 -1.32169513e+02] [-1.02644477e-02 1.68981490e-04 -9.99947305e-01 2.26081501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.60, Y:-132.18, Z:2.26 [[ 6.03520498e-01 7.97320293e-01 -6.58479506e-03 7.05986915e+01] [ 7.97268008e-01 -6.03556362e-01 -9.13464855e-03 -1.32180815e+02] [-1.12575356e-02 2.63101206e-04 -9.99936597e-01 2.26202404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.59 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.60, Y:-132.19, Z:2.26 [[ 5.42208136e-01 8.40223781e-01 -5.85967058e-03 7.05992931e+01] [ 8.40168531e-01 -5.42239713e-01 -9.64024546e-03 -1.32191299e+02] [-1.12773096e-02 3.03908699e-04 -9.99936363e-01 2.26262742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.62 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.60, Y:-132.20, Z:2.26 [[ 4.78203982e-01 8.78232017e-01 -5.42916253e-03 7.06011239e+01] [ 8.78166340e-01 -4.78234656e-01 -1.07467629e-02 -1.32202308e+02] [-1.20345649e-02 3.71437037e-04 -9.99927513e-01 2.26279874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.64999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.61, Y:-132.21, Z:2.26 [[ 4.11316759e-01 9.11480414e-01 -4.68818956e-03 7.06061919e+01] [ 9.11408891e-01 -4.11343255e-01 -1.14262605e-02 -1.32214611e+02] [-1.23432678e-02 4.26954775e-04 -9.99923728e-01 2.26226351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.67999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.61, Y:-132.23, Z:2.26 [[ 3.41892478e-01 9.39731679e-01 -3.72909386e-03 7.06112189e+01] [ 9.39660153e-01 -3.41912501e-01 -1.16033579e-02 -1.32225997e+02] [-1.21790668e-02 4.63019878e-04 -9.99925725e-01 2.26215392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.70999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.62, Y:-132.24, Z:2.26 [[ 2.70283571e-01 9.62776368e-01 -2.90785897e-03 7.06177794e+01] [ 9.62698224e-01 -2.70298714e-01 -1.22774251e-02 -1.32237076e+02] [-1.26064053e-02 5.18995630e-04 -9.99920401e-01 2.26174579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.73999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.62, Y:-132.25, Z:2.26 [[ 1.97206306e-01 9.80360194e-01 -1.88774538e-03 7.06185527e+01] [ 9.80285060e-01 -1.97214587e-01 -1.21493895e-02 -1.32248029e+02] [-1.22830688e-02 5.45407638e-04 -9.99924412e-01 2.26364793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.76999999999998 meters Centerline goodness [0,1] 0.9999773057371096 Centerline is valid? [True, True] Translation: X:70.62, Y:-132.26, Z:2.26 [[ 1.19576996e-01 9.92824477e-01 -9.48737097e-04 7.06229160e+01] [ 9.92745899e-01 -1.19579480e-01 -1.25031487e-02 -1.32258569e+02] [-1.25268815e-02 5.53234096e-04 -9.99921383e-01 2.26395895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.79999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.64, Y:-132.27, Z:2.26 [[ 3.98687102e-02 9.99204926e-01 3.45416305e-05 7.06391438e+01] [ 9.99122634e-01 -3.98649830e-02 -1.28353331e-02 -1.32268727e+02] [-1.28237511e-02 5.46239502e-04 -9.99917623e-01 2.26299165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.82999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.66, Y:-132.28, Z:2.26 [[-4.12410126e-02 9.99148661e-01 1.06419523e-03 7.06554326e+01] [ 9.99063108e-01 4.12514185e-02 -1.30853574e-02 -1.32276471e+02] [-1.31181169e-02 5.23544802e-04 -9.99913817e-01 2.26262055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.85999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.67, Y:-132.28, Z:2.26 [[-1.23134469e-01 9.92387774e-01 2.09968952e-03 7.06700534e+01] [ 9.92302121e-01 1.23151446e-01 -1.30468958e-02 -1.32283528e+02] [-1.32061597e-02 4.77003775e-04 -9.99912681e-01 2.26289983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.69, Y:-132.29, Z:2.26 [[-2.10049225e-01 9.77686443e-01 2.92264547e-03 7.06893342e+01] [ 9.77612282e-01 2.10069303e-01 -1.20463352e-02 -1.32288349e+02] [-1.23914967e-02 3.26890741e-04 -9.99923169e-01 2.26220863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.92 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.70, Y:-132.29, Z:2.26 [[-2.91507400e-01 9.56561449e-01 3.69178521e-03 7.07044673e+01] [ 9.56495051e-01 2.91530674e-01 -1.12731103e-02 -1.32293317e+02] [-1.18596914e-02 2.44979202e-04 -9.99929641e-01 2.26190811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.95 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.72, Y:-132.30, Z:2.26 [[-3.70931142e-01 9.28648917e-01 4.61269666e-03 7.07191700e+01] [ 9.28582972e-01 3.70959779e-01 -1.10682750e-02 -1.32296565e+02] [-1.19896665e-02 1.77703694e-04 -9.99928106e-01 2.26232297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.98 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.74, Y:-132.30, Z:2.26 [[-4.47881570e-01 8.94077241e-01 5.29021974e-03 7.07352700e+01] [ 8.94017566e-01 4.47912800e-01 -1.03303090e-02 -1.32297088e+02] [-1.16056513e-02 1.02794341e-04 -9.99932647e-01 2.26214765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.01 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.75, Y:-132.30, Z:2.26 [[-5.21717349e-01 8.53095852e-01 6.20281342e-03 7.07507898e+01] [ 8.53036308e-01 5.21754220e-01 -1.00792191e-02 -1.32295713e+02] [-1.18348841e-02 3.27215917e-05 -9.99929965e-01 2.26237601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.04 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.77, Y:-132.29, Z:2.26 [[-5.95163752e-01 8.03575971e-01 6.76511609e-03 7.07689080e+01] [ 8.03522418e-01 5.95202193e-01 -9.27751490e-03 -1.32291018e+02] [-1.14818000e-02 -8.57181375e-05 -9.99934078e-01 2.26291106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.78, Y:-132.29, Z:2.26 [[-6.59616817e-01 7.51568371e-01 7.11613137e-03 7.07815575e+01] [ 7.51522496e-01 6.59655188e-01 -8.30485718e-03 -1.32287163e+02] [-1.09358610e-02 -1.30090648e-04 -9.99940193e-01 2.26253288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.1 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.79, Y:-132.28, Z:2.26 [[-7.19008560e-01 6.94962549e-01 7.33112578e-03 7.07929710e+01] [ 6.94924130e-01 7.19045916e-01 -7.30921849e-03 -1.32282732e+02] [-1.03510492e-02 -1.60814459e-04 -9.99946414e-01 2.26252558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.13 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.82, Y:-132.27, Z:2.26 [[-7.69408518e-01 6.38715088e-01 7.31907227e-03 7.08221511e+01] [ 6.38683743e-01 7.69443304e-01 -6.33084393e-03 -1.32267818e+02] [-9.67521669e-03 -1.96432769e-04 -9.99953175e-01 2.26248316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.16 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.84, Y:-132.25, Z:2.26 [[-8.13559603e-01 5.81427401e-01 7.93413326e-03 7.08391114e+01] [ 5.81397136e-01 8.13598261e-01 -5.93631716e-03 -1.32245991e+02] [-9.90673448e-03 -2.16665479e-04 -9.99950904e-01 2.26244933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.19 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.31, Y:-131.64, Z:1.43 [[-7.43255791e-01 -6.68965377e-01 7.49356519e-03 7.13099547e+01] [ 6.68934270e-01 -7.43293534e-01 -6.45481649e-03 -1.31638566e+02] [ 9.88796730e-03 2.15122824e-04 9.99951090e-01 1.42611974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.22 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.81, Y:-132.22, Z:2.26 [[-8.17026814e-01 5.76546282e-01 7.84668311e-03 7.08067573e+01] [ 5.76516880e-01 8.17064458e-01 -5.82736732e-03 -1.32222005e+02] [-9.77099285e-03 -2.37370084e-04 -9.99952235e-01 2.26299195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.25 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.27, Y:-131.61, Z:1.43 [[-7.44382682e-01 -6.67710609e-01 7.54750251e-03 7.12743016e+01] [ 6.67679650e-01 -7.44420902e-01 -6.43464125e-03 -1.31611787e+02] [ 9.91499685e-03 2.49478325e-04 9.99950814e-01 1.42580577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.28 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.78, Y:-132.20, Z:2.26 [[-8.19361308e-01 5.73214424e-01 8.50126178e-03 7.07802643e+01] [ 5.73180152e-01 8.19405365e-01 -6.27382615e-03 -1.32204911e+02] [-1.05622272e-02 -2.67775883e-04 -9.99944182e-01 2.26413878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.31 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.79, Y:-132.18, Z:2.26 [[-8.57723253e-01 5.14031351e-01 9.08799041e-03 7.07906213e+01] [ 5.13999134e-01 8.57771355e-01 -5.76139115e-03 -1.32182107e+02] [-1.07569535e-02 -2.70459957e-04 -9.99942106e-01 2.26413590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.34 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.81, Y:-132.17, Z:2.26 [[-8.91643848e-01 4.52628002e-01 9.95693045e-03 7.08140334e+01] [ 4.52596299e-01 8.91699397e-01 -5.36418671e-03 -1.32165954e+02] [-1.13065700e-02 -2.76474200e-04 -9.99936040e-01 2.26461055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.37 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.83, Y:-132.15, Z:2.26 [[-9.21065667e-01 3.89259526e-01 1.07265055e-02 7.08307847e+01] [ 3.89229627e-01 9.21128083e-01 -4.83247149e-03 -1.32146360e+02] [-1.17615710e-02 -2.75949840e-04 -9.99930792e-01 2.26455395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.39999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.84, Y:-132.13, Z:2.26 [[-9.45948072e-01 3.24107885e-01 1.16757475e-02 7.08431308e+01] [ 3.24079567e-01 9.46020085e-01 -4.29328907e-03 -1.32125010e+02] [-1.24369805e-02 -2.77357324e-04 -9.99922619e-01 2.26496432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.42999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.12, Y:-131.38, Z:1.42 [[-9.04924861e-01 -4.25375541e-01 1.29091280e-02 7.11214532e+01] [ 4.25338682e-01 -9.05016840e-01 -5.61461521e-03 -1.31383110e+02] [ 1.40712982e-02 4.09946590e-04 9.99900910e-01 1.42327502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.45999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.80, Y:-132.12, Z:2.27 [[-9.45785595e-01 3.24488083e-01 1.40389823e-02 7.08012376e+01] [ 3.24448065e-01 9.45889745e-01 -5.10322587e-03 -1.32119423e+02] [-1.49352653e-02 -2.71636874e-04 -9.99888426e-01 2.26625994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.48999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.09, Y:-131.37, Z:1.42 [[-9.07724683e-01 -4.19325496e-01 1.42136934e-02 7.10906015e+01] [ 4.19279535e-01 -9.07835904e-01 -6.21634486e-03 -1.31367113e+02] [ 1.55103731e-02 3.16781116e-04 9.99879657e-01 1.42213106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.51999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.76, Y:-132.12, Z:2.27 [[-9.45348757e-01 3.25730198e-01 1.46821806e-02 7.07620769e+01] [ 3.25687544e-01 9.45462742e-01 -5.27516596e-03 -1.32116792e+02] [-1.55997356e-02 -2.05068245e-04 -9.99878296e-01 2.26574578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.54999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.05, Y:-131.34, Z:1.42 [[-9.11609674e-01 -4.10817701e-01 1.40220962e-02 7.10504153e+01] [ 4.10772191e-01 -9.11717491e-01 -6.11753245e-03 -1.31343351e+02] [ 1.52973809e-02 1.83085392e-04 9.99882971e-01 1.42231040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.57999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.72, Y:-132.11, Z:2.27 [[-9.45219304e-01 3.26125395e-01 1.42370908e-02 7.07155237e+01] [ 3.26086237e-01 9.45326509e-01 -5.05548690e-03 -1.32107808e+02] [-1.51074220e-02 -1.36024448e-04 -9.99885867e-01 2.26526798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.60999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:71.01, Y:-131.32, Z:1.42 [[-9.14884661e-01 -4.03487688e-01 1.35551692e-02 7.10058159e+01] [ 4.03445229e-01 -9.14985067e-01 -5.85447266e-03 -1.31320104e+02] [ 1.47649850e-02 1.12601108e-04 9.99890985e-01 1.42457396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.64 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.68, Y:-132.10, Z:2.26 [[-9.45081458e-01 3.26571398e-01 1.31209879e-02 7.06776035e+01] [ 3.26538955e-01 9.45172533e-01 -4.60356071e-03 -1.32102159e+02] [-1.39049886e-02 -6.62261876e-05 -9.99903319e-01 2.26491974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.67 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.69, Y:-132.08, Z:2.26 [[-9.65288773e-01 2.60870592e-01 1.28109019e-02 7.06906277e+01] [ 2.60847148e-01 9.65373779e-01 -3.49747974e-03 -1.32081423e+02] [-1.32796984e-02 -3.43906920e-05 -9.99911820e-01 2.26285984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.7 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.92, Y:-131.25, Z:1.43 [[-9.44946433e-01 -3.27047622e-01 1.07745700e-02 7.09171348e+01] [ 3.27025405e-01 -9.45007855e-01 -3.81281848e-03 -1.31250339e+02] [ 1.14290265e-02 -7.93511040e-05 9.99934683e-01 1.42759717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.73 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.65, Y:-132.08, Z:2.26 [[-9.65291354e-01 2.60983432e-01 1.00125131e-02 7.06477742e+01] [ 2.60969572e-01 9.65343280e-01 -2.68973191e-03 -1.32077236e+02] [-1.03674877e-02 1.65862925e-05 -9.99946256e-01 2.26106036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.76 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.88, Y:-131.24, Z:1.43 [[-9.46797879e-01 -3.21713050e-01 8.63077290e-03 7.08818800e+01] [ 3.21698816e-01 -9.46837212e-01 -3.02762145e-03 -1.31239292e+02] [ 9.14596228e-03 -9.00361476e-05 9.99958171e-01 1.42906612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.79 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.60, Y:-132.07, Z:2.26 [[-9.66333663e-01 2.57195697e-01 7.04456332e-03 7.06020359e+01] [ 2.57188953e-01 9.66359340e-01 -1.86268177e-03 -1.32065612e+02] [-7.28665330e-03 1.18117661e-05 -9.99973452e-01 2.25804796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.82 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.83, Y:-131.23, Z:1.43 [[-9.47646177e-01 -3.19254724e-01 6.56844195e-03 7.08295340e+01] [ 3.19246814e-01 -9.47668940e-01 -2.24758165e-03 -1.31227997e+02] [ 6.94225948e-03 -3.29579843e-05 9.99975902e-01 1.43088929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.85 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.55, Y:-132.05, Z:2.26 [[-9.67812329e-01 2.51575250e-01 7.01355554e-03 7.05511511e+01] [ 2.51568626e-01 9.67837741e-01 -1.82557125e-03 -1.32050902e+02] [-7.24725230e-03 -2.41983086e-06 -9.99973738e-01 2.25882586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.88 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.56, Y:-132.02, Z:2.26 [[-9.83431647e-01 1.81102881e-01 7.99640501e-03 7.05630418e+01] [ 1.81096788e-01 9.83464156e-01 -1.48560626e-03 -1.32024329e+02] [-8.13322528e-03 -1.28689466e-05 -9.99966925e-01 2.25910660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.91 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.73, Y:-131.18, Z:1.43 [[-9.67817787e-01 -2.51514360e-01 8.32209516e-03 7.07301055e+01] [ 2.51505444e-01 -9.67853566e-01 -2.11812503e-03 -1.31179214e+02] [ 8.58730833e-03 4.30931590e-05 9.99963127e-01 1.42911543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.94 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.51, Y:-132.01, Z:2.26 [[-9.84775573e-01 1.73566047e-01 9.58634379e-03 7.05084596e+01] [ 1.73557330e-01 9.84822230e-01 -1.74023760e-03 -1.32011753e+02] [-9.74289063e-03 -4.99632487e-05 -9.99952536e-01 2.26105273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.97 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.52, Y:-131.98, Z:2.26 [[-9.94980562e-01 9.94926299e-02 1.07189972e-02 7.05197844e+01] [ 9.94858172e-02 9.95038294e-01 -1.16824662e-03 -1.31982677e+02] [-1.07820446e-02 -9.59944831e-05 -9.99941867e-01 2.26169605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.0 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.53, Y:-131.95, Z:2.26 [[-9.99578565e-01 2.67523184e-02 1.12697115e-02 7.05254749e+01] [ 2.67492584e-02 9.99642085e-01 -4.22197403e-04 -1.31954394e+02] [-1.12769726e-02 -1.20563050e-04 -9.99936406e-01 2.26183123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.03 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.55, Y:-131.11, Z:1.43 [[-9.93105866e-01 -1.16687388e-01 1.11710630e-02 7.05544739e+01] [ 1.16681334e-01 -9.93168686e-01 -1.19442680e-03 -1.31107943e+02] [ 1.12341245e-02 1.17262262e-04 9.99936888e-01 1.42736873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.06 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.43, Y:-131.95, Z:2.26 [[-9.99781075e-01 1.78359144e-02 1.09399584e-02 7.04334883e+01] [ 1.78332172e-02 9.99840916e-01 -3.44053449e-04 -1.31947124e+02] [-1.09443546e-02 -1.48883472e-04 -9.99940098e-01 2.26155463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.09 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.43, Y:-131.92, Z:2.26 [[-9.98421363e-01 -5.52426345e-02 1.01505254e-02 7.04304563e+01] [-5.52413900e-02 9.98472947e-01 4.03154619e-04 -1.31918275e+02] [-1.01572964e-02 -1.58210950e-04 -9.99948401e-01 2.26020729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.12 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.43, Y:-131.89, Z:2.26 [[-9.91957337e-01 -1.26201608e-01 9.68481808e-03 7.04282466e+01] [-1.26197091e-01 9.92004602e-01 1.07860195e-03 -1.31890248e+02] [-9.74350541e-03 -1.52268750e-04 -9.99952519e-01 2.26015894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.14999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.35, Y:-131.06, Z:1.43 [[-9.99569900e-01 2.78698648e-02 9.12604942e-03 7.03463094e+01] [-2.78677726e-02 -9.99611555e-01 3.56367042e-04 -1.31056792e+02] [ 9.13243635e-03 1.01891099e-04 9.99958293e-01 1.42980011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.17999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.32, Y:-131.90, Z:2.26 [[-9.91169978e-01 -1.32336118e-01 8.32027431e-03 7.03195745e+01] [-1.32332519e-01 9.91204891e-01 9.84019249e-04 -1.31901342e+02] [-8.37731788e-03 -1.25712521e-04 -9.99964902e-01 2.25936672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.20999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.31, Y:-131.88, Z:2.26 [[-9.79290372e-01 -2.02295342e-01 8.18297891e-03 7.03123336e+01] [-2.02289295e-01 9.79324553e-01 1.56861320e-03 -1.31876271e+02] [-8.33111531e-03 -1.19201228e-04 -9.99965289e-01 2.25889761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.23999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.29, Y:-131.86, Z:2.26 [[-9.62539288e-01 -2.71031332e-01 7.75481043e-03 7.02850417e+01] [-2.71023408e-01 9.62570520e-01 2.07504097e-03 -1.31856941e+02] [-8.02695302e-03 -1.04426692e-04 -9.99967778e-01 2.25826753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.26999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.23, Y:-131.84, Z:2.26 [[-9.40062998e-01 -3.40919548e-01 7.44452132e-03 7.02334901e+01] [-3.40909713e-01 9.40092470e-01 2.59158554e-03 -1.31844690e+02] [-7.88206060e-03 -1.01655950e-04 -9.99968931e-01 2.25830974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.29999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.18, Y:-131.84, Z:2.26 [[-9.12374081e-01 -4.09288632e-01 7.50675467e-03 7.01752314e+01] [-4.09275696e-01 9.12404957e-01 3.25567101e-03 -1.31839936e+02] [-8.18170930e-03 -1.01942400e-04 -9.99966524e-01 2.25751740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.32999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.10, Y:-131.84, Z:2.26 [[-8.79382900e-01 -4.76058887e-01 7.32473704e-03 7.01046908e+01] [-4.76043328e-01 8.79413399e-01 3.85018425e-03 -1.31842713e+02] [-8.27438633e-03 -1.01106008e-04 -9.99965762e-01 2.25830377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.35999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:70.02, Y:-131.86, Z:2.26 [[-8.41138150e-01 -5.40774819e-01 7.01481784e-03 7.00243900e+01] [-5.40757013e-01 8.41167394e-01 4.38953570e-03 -1.31857256e+02] [-8.27438642e-03 -1.01106001e-04 -9.99965762e-01 2.25830378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.39 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.94, Y:-131.88, Z:2.26 [[-7.98076901e-01 -6.02513892e-01 7.09008434e-03 6.99386746e+01] [-6.02491277e-01 7.98108388e-01 5.22129517e-03 -1.31883342e+02] [-8.80455865e-03 -1.04718898e-04 -9.99961234e-01 2.25844215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.42 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.85, Y:-131.92, Z:2.26 [[-7.50200796e-01 -6.61178072e-01 6.50561628e-03 6.98464134e+01] [-6.61154370e-01 7.50228997e-01 5.59921896e-03 -1.31921861e+02] [-8.58278277e-03 -1.00678120e-04 -9.99963162e-01 2.25901248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.45 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.76, Y:-131.97, Z:2.26 [[-6.97636997e-01 -7.16421900e-01 6.50242360e-03 6.97578672e+01] [-7.16392208e-01 6.97667292e-01 6.52339883e-03 -1.31967757e+02] [-9.21003405e-03 -1.07321230e-04 -9.99957581e-01 2.25936190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.48 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.66, Y:-132.03, Z:2.26 [[-6.41218344e-01 -7.67333673e-01 6.17004331e-03 6.96627109e+01] [-7.67299732e-01 6.41248020e-01 7.21790011e-03 -1.32031680e+02] [-9.49506586e-03 -1.06022624e-04 -9.99954915e-01 2.26046602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.51 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.59, Y:-132.08, Z:2.26 [[-5.82234313e-01 -8.12996862e-01 6.26955003e-03 6.95916446e+01] [-8.12951444e-01 5.82268060e-01 8.59394703e-03 -1.32080643e+02] [-1.06374107e-02 -9.31489020e-05 -9.99943417e-01 2.26122540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.54 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.51, Y:-132.16, Z:2.26 [[-5.20409855e-01 -8.53893753e-01 6.24827539e-03 6.95090969e+01] [-8.53833827e-01 5.20447358e-01 1.01164595e-02 -1.32157412e+02] [-1.18902800e-02 -7.02836842e-05 -9.99929306e-01 2.26250027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.44, Y:-132.24, Z:2.26 [[-4.56752846e-01 -8.89575303e-01 5.71128299e-03 6.94352913e+01] [-8.89506347e-01 4.56788551e-01 1.10760534e-02 -1.32240489e+02] [-1.24618323e-02 -2.12035478e-05 -9.99922348e-01 2.26335279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.6 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.36, Y:-132.33, Z:2.26 [[-3.87551776e-01 -9.21834122e-01 5.04704218e-03 6.93636838e+01] [-9.21756257e-01 3.87584638e-01 1.19812613e-02 -1.32332278e+02] [-1.30008915e-02 -8.78361442e-06 -9.99915485e-01 2.26338697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.63 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.30, Y:-132.43, Z:2.26 [[-3.15957925e-01 -9.48763385e-01 4.31617044e-03 6.92972219e+01] [-9.48674702e-01 3.15987404e-01 1.29718878e-02 -1.32434834e+02] [-1.36711077e-02 3.92904847e-06 -9.99906546e-01 2.26361557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.66 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.24, Y:-132.54, Z:2.26 [[-2.42367533e-01 -9.70178897e-01 3.29967330e-03 6.92383855e+01] [-9.70088120e-01 2.42389993e-01 1.32714494e-02 -1.32542222e+02] [-1.36754879e-02 1.55945732e-05 -9.99906486e-01 2.26370640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.69 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.19, Y:-132.64, Z:2.26 [[-1.68489348e-01 -9.85700908e-01 2.24930973e-03 6.91910892e+01] [-9.85609439e-01 1.68504355e-01 1.34281674e-02 -1.32639126e+02] [-1.36151753e-02 4.55622630e-05 -9.99907308e-01 2.26399412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.72 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.15, Y:-132.75, Z:2.26 [[-9.25347193e-02 -9.95708837e-01 1.11209766e-03 6.91494208e+01] [-9.95629568e-01 9.25413852e-02 1.25640728e-02 -1.32749290e+02] [-1.26130733e-02 5.53756310e-05 -9.99920451e-01 2.26378618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.12, Y:-132.87, Z:2.26 [[-1.55483211e-02 -9.99879110e-01 1.23971393e-04 6.91160947e+01] [-9.99811057e-01 1.55487092e-02 1.16656517e-02 -1.32865084e+02] [-1.16661690e-02 5.74333285e-05 -9.99931946e-01 2.26200044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.78 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.09, Y:-132.98, Z:2.26 [[ 5.81661599e-02 -9.98306691e-01 -6.69072965e-04 6.90897645e+01] [-9.98251397e-01 -5.81699802e-02 1.05071900e-02 -1.32979044e+02] [-1.05283181e-02 5.67401260e-05 -9.99944574e-01 2.26096476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.81 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.08, Y:-133.10, Z:2.26 [[ 1.35622965e-01 -9.90759689e-01 -1.28416031e-03 6.90750006e+01] [-9.90718566e-01 -1.35629036e-01 9.02708173e-03 -1.33099084e+02] [-9.11783812e-03 4.79618648e-05 -9.99958431e-01 2.25931697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.84 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.07, Y:-133.22, Z:2.26 [[ 2.11891453e-01 -9.77291286e-01 -1.93759877e-03 6.90688740e+01] [-9.77252446e-01 -2.11900306e-01 8.71298917e-03 -1.33218966e+02] [-8.92570616e-03 4.73152050e-05 -9.99960164e-01 2.25928562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.87 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.07, Y:-133.34, Z:2.26 [[ 2.87344380e-01 -9.57823984e-01 -2.53432558e-03 6.90719362e+01] [-9.57788052e-01 -2.87355553e-01 8.29664965e-03 -1.33340624e+02] [-8.67498255e-03 4.33511098e-05 -9.99962371e-01 2.25944934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.89999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.09, Y:-133.47, Z:2.26 [[ 3.60969970e-01 -9.32572063e-01 -3.16677020e-03 6.90854607e+01] [-9.32537165e-01 -3.60983858e-01 8.06784882e-03 -1.33467190e+02] [-8.66700334e-03 4.08797575e-05 -9.99962440e-01 2.25950996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.92999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.10, Y:-133.58, Z:2.26 [[ 4.33357843e-01 -9.01213400e-01 -3.92271108e-03 6.91026237e+01] [-9.01177100e-01 -4.33375596e-01 8.08872989e-03 -1.33581794e+02] [-8.98967902e-03 2.97428564e-05 -9.99959592e-01 2.26034574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.95999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.13, Y:-133.70, Z:2.26 [[ 5.02608465e-01 -8.64502283e-01 -4.53147802e-03 6.91303500e+01] [-8.64467512e-01 -5.02628892e-01 7.75355693e-03 -1.33695591e+02] [-8.98061944e-03 2.03121823e-05 -9.99959673e-01 2.26051474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.98999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.17, Y:-133.81, Z:2.26 [[ 5.68440826e-01 -8.22706512e-01 -5.38732690e-03 6.91720195e+01] [-8.22669815e-01 -5.68466354e-01 7.77045424e-03 -1.33814204e+02] [-9.45531738e-03 1.49477955e-05 -9.99955297e-01 2.26006217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.01999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.21, Y:-133.92, Z:2.26 [[ 6.30753014e-01 -7.75959158e-01 -6.16607424e-03 6.92141142e+01] [-7.75922205e-01 -6.30783152e-01 7.57276401e-03 -1.33916888e+02] [-9.76561133e-03 7.85020609e-06 -9.99952315e-01 2.26110145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.04999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.27, Y:-134.02, Z:2.26 [[ 6.89107291e-01 -7.24627911e-01 -6.74776099e-03 6.92654421e+01] [-7.24593188e-01 -6.89140327e-01 7.09376038e-03 -1.34018070e+02] [-9.79049098e-03 1.01964890e-06 -9.99952072e-01 2.26085185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.07999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.32, Y:-134.11, Z:2.26 [[ 7.43400323e-01 -6.68799599e-01 -7.94083295e-03 6.93206704e+01] [-6.68761297e-01 -7.43442733e-01 7.15760997e-03 -1.34112171e+02] [-1.06905612e-02 -1.04478231e-05 -9.99942854e-01 2.25977228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.10999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.31, Y:-134.12, Z:2.26 [[ 7.93642101e-01 -6.08330798e-01 -8.11518306e-03 6.93143675e+01] [-6.08298800e-01 -7.93683590e-01 6.23933723e-03 -1.34118367e+02] [-1.02364686e-02 -1.53445906e-05 -9.99947606e-01 2.26121207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.14 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.31, Y:-134.12, Z:2.26 [[ 8.39054759e-01 -5.43982458e-01 -8.37840686e-03 6.93078924e+01] [-5.43955096e-01 -8.39096589e-01 5.45602342e-03 -1.34124175e+02] [-9.99827365e-03 -2.04253062e-05 -9.99950016e-01 2.25975117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.17 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.30, Y:-134.13, Z:2.26 [[ 8.79199688e-01 -4.76381523e-01 -8.27971005e-03 6.93011761e+01] [-4.76360156e-01 -8.79238673e-01 4.51197284e-03 -1.34129171e+02] [-9.42926177e-03 -2.28011419e-05 -9.99955543e-01 2.26080636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.2 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.29, Y:-134.14, Z:2.26 [[ 9.13961903e-01 -4.05723240e-01 -7.89257253e-03 6.92944499e+01] [-4.05707871e-01 -9.13995980e-01 3.53153488e-03 -1.34136666e+02] [-8.64660534e-03 -2.56095494e-05 -9.99962617e-01 2.25723234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.23 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.29, Y:-134.14, Z:2.26 [[ 9.42924847e-01 -3.32922577e-01 -7.43579427e-03 6.92872792e+01] [-3.32912025e-01 -9.42954165e-01 2.65077603e-03 -1.34143764e+02] [-7.89411637e-03 -2.40172584e-05 -9.99968841e-01 2.25693007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.26 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.28, Y:-134.15, Z:2.26 [[ 9.66108317e-01 -2.58037248e-01 -7.17628206e-03 6.92817545e+01] [-2.58029946e-01 -9.66134969e-01 1.94134724e-03 -1.34151760e+02] [-7.43419694e-03 -2.38560406e-05 -9.99972366e-01 2.25608664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.29 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.27, Y:-134.16, Z:2.26 [[ 9.83403875e-01 -1.81302524e-01 -6.79799926e-03 6.92730247e+01] [-1.81298024e-01 -9.83427371e-01 1.27772374e-03 -1.34159292e+02] [-6.91699308e-03 -2.40546467e-05 -9.99976077e-01 2.25585704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.32 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.27, Y:-134.17, Z:2.26 [[ 9.94617303e-01 -1.03422914e-01 -6.33414806e-03 6.92653625e+01] [-1.03420663e-01 -9.94637472e-01 6.82802065e-04 -1.34167368e+02] [-6.37079839e-03 -2.40449590e-05 -9.99979706e-01 2.25573608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.35 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.26, Y:-134.18, Z:2.26 [[ 9.99688439e-01 -2.41302792e-02 -6.38385645e-03 6.92592267e+01] [-2.41295881e-02 -9.99708822e-01 1.85267026e-04 -1.34179352e+02] [-6.38646816e-03 -3.11694774e-05 -9.99979606e-01 2.25555745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.38 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.25, Y:-134.19, Z:2.26 [[ 9.98465079e-01 5.50101924e-02 -6.43161069e-03 6.92537298e+01] [ 5.50092867e-02 -9.98485792e-01 -3.17767336e-04 -1.34190868e+02] [-6.43935233e-03 -3.65187278e-05 -9.99979267e-01 2.25592596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.41 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.25, Y:-134.20, Z:2.26 [[ 9.90986648e-01 1.33773967e-01 -7.07033330e-03 6.92482219e+01] [ 1.33770895e-01 -9.91011869e-01 -9.07845749e-04 -1.34201893e+02] [-7.12823035e-03 -4.61417969e-05 -9.99974593e-01 2.25659365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.44 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.24, Y:-134.21, Z:2.26 [[ 9.77107205e-01 2.12578758e-01 -8.47239700e-03 6.92443602e+01] [ 2.12571392e-01 -9.77143933e-01 -1.77111658e-03 -1.34212941e+02] [-8.65525309e-03 -7.04184516e-05 -9.99962540e-01 2.25754747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.47 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.24, Y:-134.22, Z:2.26 [[ 9.57198686e-01 2.89295573e-01 -8.87397932e-03 6.92418149e+01] [ 2.89283947e-01 -9.57239816e-01 -2.59490061e-03 -1.34223792e+02] [-9.24521959e-03 -8.32643107e-05 -9.99957259e-01 2.25814050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.24, Y:-134.23, Z:2.26 [[ 9.31353963e-01 3.63998328e-01 -9.22025690e-03 6.92390775e+01] [ 3.63981509e-01 -9.31399596e-01 -3.50049189e-03 -1.34234600e+02] [-9.86191675e-03 -9.58060226e-05 -9.99951366e-01 2.25909567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.53 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.24, Y:-134.24, Z:2.26 [[ 8.99718171e-01 4.36379306e-01 -8.96186400e-03 6.92358715e+01] [ 4.36358792e-01 -8.99762797e-01 -4.23246465e-03 -1.34244413e+02] [-9.91051181e-03 -1.02562803e-04 -9.99950884e-01 2.25970808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.23, Y:-134.25, Z:2.26 [[ 8.62114344e-01 5.06635891e-01 -8.88440189e-03 6.92349026e+01] [ 5.06610412e-01 -8.62160113e-01 -5.08236502e-03 -1.34253974e+02] [-1.02346855e-02 -1.19350718e-04 -9.99947617e-01 2.26037829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.59 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.23, Y:-134.26, Z:2.26 [[ 8.19620085e-01 5.72845055e-01 -8.45333850e-03 6.92341551e+01] [ 5.72816129e-01 -8.19663667e-01 -5.75806165e-03 -1.34262464e+02] [-1.02273716e-02 -1.22785656e-04 -9.99947692e-01 2.26037843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.62 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.23, Y:-134.27, Z:2.26 [[ 7.72001966e-01 6.35570484e-01 -7.94507838e-03 6.92326236e+01] [ 6.35538503e-01 -7.72042838e-01 -6.37710866e-03 -1.34271672e+02] [-1.01870429e-02 -1.26262797e-04 -9.99948103e-01 2.26047939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.64999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.23, Y:-134.28, Z:2.26 [[ 7.19810749e-01 6.94133708e-01 -7.13316281e-03 6.92308494e+01] [ 6.94101300e-01 -7.19846081e-01 -6.70853401e-03 -1.34280108e+02] [-9.79139888e-03 -1.22262695e-04 -9.99952056e-01 2.26049521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.67999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.23, Y:-134.29, Z:2.26 [[ 6.62998241e-01 7.48594151e-01 -6.33484709e-03 6.92300280e+01] [ 7.48561707e-01 -6.63028494e-01 -6.97046879e-03 -1.34287016e+02] [-9.41823629e-03 -1.20615403e-04 -9.99955640e-01 2.26006343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.70999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.23, Y:-134.30, Z:2.26 [[ 6.02166614e-01 7.98351926e-01 -5.43797196e-03 6.92307592e+01] [ 7.98321095e-01 -6.02191157e-01 -7.01718778e-03 -1.34295092e+02] [-8.87688400e-03 -1.15731518e-04 -9.99960593e-01 2.25936970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.73999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.23, Y:-134.30, Z:2.26 [[ 5.36747126e-01 8.43731083e-01 -4.51458542e-03 6.92319591e+01] [ 8.43703055e-01 -5.36766099e-01 -6.87820587e-03 -1.34303186e+02] [-8.22663249e-03 -1.17112277e-04 -9.99966154e-01 2.25877946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.76999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.23, Y:-134.31, Z:2.26 [[ 4.68503719e-01 8.83453404e-01 -3.78791496e-03 6.92330016e+01] [ 8.83426512e-01 -4.68519017e-01 -6.89411742e-03 -1.34312743e+02] [-7.86534170e-03 -1.16424848e-04 -9.99969061e-01 2.25861567e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.79999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.24, Y:-134.32, Z:2.26 [[ 3.97298713e-01 9.17684257e-01 -3.05573640e-03 6.92363830e+01] [ 9.17659290e-01 -3.97310447e-01 -6.77028137e-03 -1.34321725e+02] [-7.42705663e-03 -1.14300818e-04 -9.99972413e-01 2.25813482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.82999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.24, Y:-134.33, Z:2.26 [[ 3.23146854e-01 9.46345683e-01 -2.44089375e-03 6.92417139e+01] [ 9.46321398e-01 -3.23156051e-01 -6.78077037e-03 -1.34330638e+02] [-7.20574236e-03 -1.18685367e-04 -9.99974031e-01 2.25801975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.85999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.25, Y:-134.34, Z:2.26 [[ 2.45556973e-01 9.69380647e-01 -1.71323987e-03 6.92480052e+01] [ 9.69360436e-01 -2.45562918e-01 -6.26080427e-03 -1.34339852e+02] [-6.48981067e-03 -1.23362808e-04 -9.99978933e-01 2.25770438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.25, Y:-134.35, Z:2.26 [[ 1.68040037e-01 9.85779240e-01 -1.35509855e-03 6.92545346e+01] [ 9.85753707e-01 -1.68045440e-01 -7.09645039e-03 -1.34349715e+02] [-7.22325160e-03 -1.43305629e-04 -9.99973902e-01 2.25820797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.92 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.26, Y:-134.36, Z:2.26 [[ 9.00373905e-02 9.95938037e-01 -8.32989995e-04 6.92597695e+01] [ 9.95909640e-01 -9.00411149e-02 -7.52247160e-03 -1.34357132e+02] [-7.56691895e-03 -1.52279052e-04 -9.99971359e-01 2.25871214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.95 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.27, Y:-134.37, Z:2.26 [[ 1.13516461e-02 9.99935531e-01 -2.72661633e-04 6.92654467e+01] [ 9.99898974e-01 -1.13535631e-02 -8.55212355e-03 -1.34365205e+02] [-8.55466789e-03 -1.75553406e-04 -9.99963393e-01 2.25941870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.98 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.27, Y:-134.37, Z:2.26 [[-6.75745957e-02 9.97714131e-01 4.33214530e-04 6.92712658e+01] [ 9.97670846e-01 6.75757003e-02 -9.29562335e-03 -1.34372075e+02] [-9.30364954e-03 -1.95942483e-04 -9.99956701e-01 2.25952880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.01 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.28, Y:-134.38, Z:2.26 [[-1.46114060e-01 9.89266916e-01 1.28432017e-03 6.92770310e+01] [ 9.89214162e-01 1.46119535e-01 -1.02187259e-02 -1.34378845e+02] [-1.02967117e-02 -2.22631832e-04 -9.99946963e-01 2.25977314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.04 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.29, Y:-134.38, Z:2.26 [[-2.24069008e-01 9.74570599e-01 2.28618306e-03 6.92852500e+01] [ 9.74507659e-01 2.24080526e-01 -1.10787918e-02 -1.34384914e+02] [-1.13093539e-02 -2.54510988e-04 -9.99936015e-01 2.25935513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.29, Y:-134.39, Z:2.26 [[-3.00185814e-01 9.53875140e-01 3.27036990e-03 6.92949848e+01] [ 9.53808342e-01 3.00203506e-01 -1.12916673e-02 -1.34390097e+02] [-1.17526172e-02 -2.70292240e-04 -9.99930899e-01 2.25956517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.1 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.30, Y:-134.40, Z:2.26 [[-3.73918067e-01 9.27451152e-01 4.43169961e-03 6.93048698e+01] [ 9.27376635e-01 3.73944218e-01 -1.17600620e-02 -1.34396000e+02] [-1.25640915e-02 -2.87444962e-04 -9.99921027e-01 2.26026278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.13 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.31, Y:-134.40, Z:2.26 [[-4.45933072e-01 8.95045396e-01 6.11840375e-03 6.93142017e+01] [ 8.94950502e-01 4.45974915e-01 -1.30373970e-02 -1.34399802e+02] [-1.43977168e-02 -3.38137986e-04 -9.99896290e-01 2.26084652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.16 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.32, Y:-134.40, Z:2.26 [[-5.14784186e-01 8.57286625e-01 7.54216456e-03 6.93242384e+01] [ 8.57184166e-01 5.14839307e-01 -1.32586940e-02 -1.34402581e+02] [-1.52495038e-02 -3.60341961e-04 -9.99883655e-01 2.26111323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.19 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.33, Y:-134.40, Z:2.26 [[-5.80339605e-01 8.14328230e-01 8.68780398e-03 6.93339344e+01] [ 8.14227396e-01 5.80404515e-01 -1.28197747e-02 -1.34404814e+02] [-1.54819451e-02 -3.65974974e-04 -9.99880081e-01 2.26084217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.22 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.34, Y:-134.41, Z:2.26 [[-6.42526643e-01 7.66200447e-01 9.81770746e-03 6.93444103e+01] [ 7.66101964e-01 6.42601536e-01 -1.22901287e-02 -1.34407243e+02] [-1.57255760e-02 -3.75370169e-04 -9.99876275e-01 2.26054985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.25 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.35, Y:-134.41, Z:2.26 [[-7.00538476e-01 7.13533660e-01 1.07498619e-02 6.93541590e+01] [ 7.13441343e-01 7.00620849e-01 -1.14836891e-02 -1.34408833e+02] [-1.57255761e-02 -3.75370179e-04 -9.99876275e-01 2.26054985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.28 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.36, Y:-134.41, Z:2.26 [[-7.54195795e-01 6.56551135e-01 1.13714669e-02 6.93637444e+01] [ 6.56469136e-01 7.54281429e-01 -1.03826274e-02 -1.34408744e+02] [-1.53940121e-02 -3.65516902e-04 -9.99881438e-01 2.25828835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.31 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.39, Y:-134.39, Z:2.26 [[-7.98527255e-01 6.01844922e-01 1.17009974e-02 6.93884922e+01] [ 6.01773854e-01 7.98612903e-01 -9.25526699e-03 -1.34394164e+02] [-1.49148030e-02 -3.49228616e-04 -9.99888707e-01 2.25797609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.34 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.41, Y:-134.38, Z:2.26 [[-8.38924948e-01 5.44106920e-01 1.23528214e-02 6.94105736e+01] [ 5.44041832e-01 8.39015817e-01 -8.42284322e-03 -1.34377639e+02] [-1.49471398e-02 -3.45681712e-04 -9.99888226e-01 2.25754151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.37 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.43, Y:-134.36, Z:2.26 [[-8.75163866e-01 4.83659743e-01 1.27067169e-02 6.94270612e+01] [ 4.83603182e-01 8.75256043e-01 -7.40416481e-03 -1.34357476e+02] [-1.47027272e-02 -3.34848763e-04 -9.99891853e-01 2.25637413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.39999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.86, Y:-133.64, Z:1.43 [[-8.15488788e-01 -5.78650434e-01 1.19043058e-02 6.98562341e+01] [ 5.78594267e-01 -8.15575613e-01 -8.06811208e-03 -1.33637184e+02] [ 1.43774780e-02 3.08308132e-04 9.99896591e-01 1.43259015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.42999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.39, Y:-134.34, Z:2.26 [[-8.75691570e-01 4.82706442e-01 1.26002401e-02 6.93908619e+01] [ 4.82651612e-01 8.75782167e-01 -7.28125550e-03 -1.34339695e+02] [-1.45497745e-02 -2.94607873e-04 -9.99894103e-01 2.25606240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.45999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.41, Y:-134.32, Z:2.26 [[-9.07397880e-01 4.20064088e-01 1.32381335e-02 6.94139496e+01] [ 4.20014724e-01 9.07494396e-01 -6.44623598e-03 -1.34322560e+02] [-1.47213642e-02 -2.89089898e-04 -9.99891593e-01 2.25569964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.48999999999998 meters Centerline goodness [0,1] 0.9999773842639709 Centerline is valid? [True, True] Translation: X:69.43, Y:-134.30, Z:2.26 [[-9.34789733e-01 3.54926691e-01 1.39713681e-02 6.94298670e+01] [ 3.54882364e-01 9.34894090e-01 -5.61684489e-03 -1.34300444e+02] [-1.50553176e-02 -2.92376812e-04 -9.99886620e-01 2.25576939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.51999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.45, Y:-134.28, Z:2.26 [[-9.57600897e-01 2.87718626e-01 1.47822366e-02 6.94481044e+01] [ 2.87679449e-01 9.57714937e-01 -4.75757031e-03 -1.34278725e+02] [-1.55260103e-02 -3.03307923e-04 -9.99879418e-01 2.25537652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.54999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.46, Y:-134.25, Z:2.26 [[-9.75684033e-01 2.18628871e-01 1.55590852e-02 6.94580713e+01] [ 2.18595825e-01 9.75808031e-01 -3.81465546e-03 -1.34251926e+02] [-1.60166741e-02 -3.20747375e-04 -9.99871673e-01 2.25614622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.57999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.67, Y:-133.44, Z:1.43 [[-9.46416620e-01 -3.22553362e-01 1.59659020e-02 6.96703867e+01] [ 3.22514235e-01 -9.46551205e-01 -5.03835190e-03 -1.33436534e+02] [ 1.67376811e-02 3.80850701e-04 9.99859843e-01 1.43240736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.60999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.40, Y:-134.24, Z:2.26 [[-9.76811194e-01 2.13439900e-01 1.68315463e-02 6.94026492e+01] [ 2.13401642e-01 9.76956125e-01 -4.05815666e-03 -1.34236156e+02] [-1.73098549e-02 -3.72173233e-04 -9.99850104e-01 2.25721253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.64 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.42, Y:-134.21, Z:2.26 [[-9.89594091e-01 1.42812065e-01 1.75570287e-02 6.94203213e+01] [ 1.42782470e-01 9.89749744e-01 -2.93424280e-03 -1.34211810e+02] [-1.77961099e-02 -3.96873413e-04 -9.99841558e-01 2.25682945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.67 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.57, Y:-133.39, Z:1.43 [[-9.67138008e-01 -2.53645917e-01 1.75448848e-02 6.95669379e+01] [ 2.53611988e-01 -9.67297046e-01 -4.16947667e-03 -1.33390813e+02] [ 1.80286860e-02 4.17133764e-04 9.99837383e-01 1.43065698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.7 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.36, Y:-134.20, Z:2.26 [[-9.90369435e-01 1.37273799e-01 1.80079433e-02 6.93576853e+01] [ 1.37243135e-01 9.90533046e-01 -2.93364270e-03 -1.34198785e+02] [-1.82401752e-02 -4.33923479e-04 -9.99833540e-01 2.25732405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.73 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.38, Y:-134.17, Z:2.26 [[-9.97630203e-01 6.63351792e-02 1.82653487e-02 6.93821501e+01] [ 6.63159566e-02 9.97797299e-01 -1.65676511e-03 -1.34174256e+02] [-1.83350174e-02 -4.41554834e-04 -9.99831802e-01 2.25702978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.76 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.39, Y:-134.15, Z:2.26 [[-9.99819143e-01 -4.46805546e-03 1.84856244e-02 6.93880389e+01] [-4.47543793e-03 9.99989921e-01 -3.58012467e-04 -1.34147145e+02] [-1.84838385e-02 -4.40678983e-04 -9.99829062e-01 2.25687805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.79 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.37, Y:-134.12, Z:2.26 [[-9.96981153e-01 -7.55525165e-02 1.78996330e-02 6.93742304e+01] [-7.55480371e-02 9.97141732e-01 9.27280771e-04 -1.34119123e+02] [-1.79185294e-02 -4.27800682e-04 -9.99839359e-01 2.25736020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.82 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.37, Y:-134.09, Z:2.26 [[-9.89147830e-01 -1.45912669e-01 1.72064875e-02 6.93747249e+01] [-1.45897716e-01 9.89297391e-01 2.12786132e-03 -1.34091100e+02] [-1.73328151e-02 -4.05617818e-04 -9.99849693e-01 2.25753852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.85 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.28, Y:-133.27, Z:1.43 [[-9.99305371e-01 3.30141091e-02 1.72871213e-02 6.92783985e+01] [-3.30021835e-02 -9.99454804e-01 9.74757585e-04 -1.33268848e+02] [ 1.73098772e-02 4.03567741e-04 9.99850091e-01 1.43310272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.88 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.26, Y:-134.11, Z:2.26 [[-9.88256012e-01 -1.51843755e-01 1.71326654e-02 6.92625973e+01] [-1.51827775e-01 9.88404432e-01 2.23719064e-03 -1.34106420e+02] [-1.72737058e-02 -3.90297357e-04 -9.99850722e-01 2.25518619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.91 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.24, Y:-134.08, Z:2.26 [[-9.74798555e-01 -2.22408768e-01 1.73815260e-02 6.92425485e+01] [-2.22380851e-01 9.74953421e-01 3.54728591e-03 -1.34081427e+02] [-1.77351257e-02 -4.07429361e-04 -9.99842637e-01 2.25535017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.94 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.21, Y:-134.06, Z:2.25 [[-9.56077241e-01 -2.92605620e-01 1.72702040e-02 6.92149308e+01] [-2.92565730e-01 9.56233119e-01 4.84930741e-03 -1.34060307e+02] [-1.79332756e-02 -4.16357390e-04 -9.99839099e-01 2.25488079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.97 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.17, Y:-134.05, Z:2.25 [[-9.31734506e-01 -3.62762341e-01 1.65618267e-02 6.91730093e+01] [-3.62712952e-01 9.31881597e-01 6.00031198e-03 -1.34045488e+02] [-1.76103487e-02 -4.16491326e-04 -9.99844839e-01 2.25437775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.0 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.11, Y:-134.04, Z:2.25 [[-9.02278941e-01 -4.30863152e-01 1.58005731e-02 6.91113003e+01] [-4.30805011e-01 9.02417185e-01 7.08986826e-03 -1.34040756e+02] [-1.73134717e-02 -4.09927256e-04 -9.99850027e-01 2.25442448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.03 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:69.03, Y:-134.05, Z:2.25 [[-8.67874956e-01 -4.96562811e-01 1.47795648e-02 6.90334638e+01] [-4.96498457e-01 8.68000703e-01 8.00384338e-03 -1.34048547e+02] [-1.68030836e-02 -3.91695916e-04 -9.99858742e-01 2.25451568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.06 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.95, Y:-134.07, Z:2.25 [[-8.28454977e-01 -5.59890283e-01 1.36096497e-02 6.89480134e+01] [-5.59822028e-01 8.28566675e-01 8.74999869e-03 -1.34067249e+02] [-1.61755415e-02 -3.70001759e-04 -9.99869099e-01 2.25474515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.09 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.88, Y:-134.09, Z:2.25 [[-7.83786770e-01 -6.20896137e-01 1.28951825e-02 6.88755942e+01] [-6.20819757e-01 7.83892756e-01 9.74565627e-03 -1.34085632e+02] [-1.61594804e-02 -3.67067594e-04 -9.99869360e-01 2.25430087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.12 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.78, Y:-134.13, Z:2.25 [[-7.34710870e-01 -6.78279687e-01 1.16877342e-02 6.87792630e+01] [-6.78201368e-01 7.34803745e-01 1.03131647e-02 -1.34129829e+02] [-1.55834010e-02 -3.49443100e-04 -9.99878510e-01 2.25446330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.14999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.70, Y:-134.17, Z:2.26 [[-6.81147202e-01 -7.32068103e-01 1.07135971e-02 6.87019993e+01] [-7.31985248e-01 6.81231370e-01 1.10189521e-02 -1.34165176e+02] [-1.53650618e-02 -3.36666635e-04 -9.99881894e-01 2.25540300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.17999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.62, Y:-134.22, Z:2.26 [[-6.23981771e-01 -7.81372795e-01 1.01639443e-02 6.86161709e+01] [-7.81277672e-01 6.24064457e-01 1.21964064e-02 -1.34222310e+02] [-1.58728965e-02 -3.30527427e-04 -9.99873963e-01 2.25614731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.20999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.53, Y:-134.29, Z:2.26 [[-5.62897807e-01 -8.26473953e-01 9.32001042e-03 6.85294659e+01] [-8.26370040e-01 5.62974866e-01 1.31094042e-02 -1.34291354e+02] [-1.60815127e-02 -3.22522501e-04 -9.99870632e-01 2.25645912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.23999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.45, Y:-134.36, Z:2.26 [[-4.98467629e-01 -8.66869375e-01 8.21638410e-03 6.84512037e+01] [-8.66761542e-01 4.98535248e-01 1.36760652e-02 -1.34363435e+02] [-1.59515192e-02 -3.04569959e-04 -9.99872720e-01 2.25610214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.26999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.38, Y:-134.45, Z:2.26 [[-4.31075527e-01 -9.02288651e-01 7.00572468e-03 6.83751679e+01] [-9.02180016e-01 4.31132358e-01 1.40038653e-02 -1.34446787e+02] [-1.56559233e-02 -2.83701177e-04 -9.99877398e-01 2.25643848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.29999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.30, Y:-134.54, Z:2.26 [[-3.61368085e-01 -9.32405527e-01 5.74808188e-03 6.83022296e+01] [-9.32298660e-01 3.61413706e-01 1.41188036e-02 -1.34544187e+02] [-1.52418861e-02 -2.56844021e-04 -9.99883803e-01 2.25634548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.32999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.24, Y:-134.64, Z:2.25 [[-2.91129564e-01 -9.56674461e-01 4.18964501e-03 6.82423162e+01] [-9.56584561e-01 2.91159648e-01 1.31162784e-02 -1.34638169e+02] [-1.37678641e-02 -1.89213324e-04 -9.99905201e-01 2.25450516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.35999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.19, Y:-134.74, Z:2.25 [[-2.17435915e-01 -9.76070294e-01 2.89899846e-03 6.81869648e+01] [-9.75992938e-01 2.17455183e-01 1.22893522e-02 -1.34737775e+02] [-1.26256738e-02 -1.57255480e-04 -9.99920281e-01 2.25417862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.39 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.14, Y:-134.84, Z:2.25 [[-1.42518818e-01 -9.89790458e-01 1.79905834e-03 6.81393762e+01] [-9.89722658e-01 1.42530114e-01 1.15856538e-02 -1.34843819e+02] [-1.17237896e-02 -1.29395115e-04 -9.99931266e-01 2.25352289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.42 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.10, Y:-134.96, Z:2.25 [[-6.85034819e-02 -9.97650559e-01 7.97199367e-04 6.81011382e+01] [-9.97596249e-01 6.85080711e-02 1.04099646e-02 -1.34959596e+02] [-1.04401216e-02 -8.21642775e-05 -9.99945497e-01 2.25223780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.45 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.07, Y:-135.07, Z:2.25 [[ 7.40504273e-03 -9.99972582e-01 -1.21853232e-05 6.80704647e+01] [-9.99923511e-01 -7.40480006e-03 9.90662632e-03 -1.35074804e+02] [-9.90644493e-03 -6.11746001e-05 -9.99950928e-01 2.25209263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.48 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.05, Y:-135.19, Z:2.25 [[ 8.32259753e-02 -9.96530428e-01 -7.37245195e-04 6.80487206e+01] [-9.96486600e-01 -8.32292294e-02 9.34624539e-03 -1.35194212e+02] [-9.37517826e-03 -4.31954305e-05 -9.99956051e-01 2.25210158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.51 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.04, Y:-135.31, Z:2.25 [[ 1.58854339e-01 -9.87301039e-01 -1.39929662e-03 6.80356276e+01] [-9.87261158e-01 -1.58860499e-01 8.87404162e-03 -1.35309758e+02] [-8.98364347e-03 -2.82088132e-05 -9.99959646e-01 2.25223307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.54 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.03, Y:-135.43, Z:2.25 [[ 2.33696688e-01 -9.72307332e-01 -2.07594634e-03 6.80333885e+01] [-9.72268341e-01 -2.33705908e-01 8.70761227e-03 -1.35434544e+02] [-8.95163618e-03 -1.65632394e-05 -9.99959933e-01 2.25231062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.04, Y:-135.55, Z:2.25 [[ 3.07185316e-01 -9.51645778e-01 -2.73758747e-03 6.80379622e+01] [-9.51607852e-01 -3.07197514e-01 8.49604258e-03 -1.35550404e+02] [-8.92620312e-03 -4.74979401e-06 -9.99960161e-01 2.25247088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.6 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.05, Y:-135.67, Z:2.25 [[ 3.78247496e-01 -9.25697313e-01 -3.64923429e-03 6.80536066e+01] [-9.25654561e-01 -3.78265099e-01 8.89653716e-03 -1.35670628e+02] [-9.61587851e-03 1.28374593e-05 -9.99953766e-01 2.25321876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.63 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.08, Y:-135.79, Z:2.25 [[ 4.48292402e-01 -8.93876761e-01 -4.27294656e-03 6.80782708e+01] [-8.93836546e-01 -4.48312765e-01 8.47904327e-03 -1.35789628e+02] [-9.49483623e-03 1.82251155e-05 -9.99954923e-01 2.25452641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.66 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.11, Y:-135.90, Z:2.25 [[ 5.15858544e-01 -8.56659819e-01 -4.89053318e-03 6.81074438e+01] [-8.56621695e-01 -5.15881726e-01 8.08189949e-03 -1.35898335e+02] [-9.44637525e-03 2.02199127e-05 -9.99955382e-01 2.25339422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.69 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.15, Y:-136.01, Z:2.25 [[ 5.80709272e-01 -8.14087683e-01 -6.16326459e-03 6.81499235e+01] [-8.14042186e-01 -5.80741978e-01 8.60672786e-03 -1.36010725e+02] [-1.05858976e-02 1.91507011e-05 -9.99943968e-01 2.25424862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.72 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.20, Y:-136.11, Z:2.25 [[ 6.42339025e-01 -7.66390100e-01 -6.84053472e-03 6.81963308e+01] [-7.66346828e-01 -6.42375447e-01 8.14396799e-03 -1.36114771e+02] [-1.06356480e-02 1.10336287e-05 -9.99943440e-01 2.25399501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.25, Y:-136.21, Z:2.25 [[ 7.00232038e-01 -7.13873063e-01 -7.76811002e-03 6.82452274e+01] [-7.13829109e-01 -7.00275125e-01 7.92162169e-03 -1.36209801e+02] [-1.10948466e-02 -1.87024148e-06 -9.99938450e-01 2.25396053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.78 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.31, Y:-136.31, Z:2.25 [[ 7.54095792e-01 -6.56711013e-01 -8.37748166e-03 6.83054556e+01] [-6.56670169e-01 -7.54142324e-01 7.32419861e-03 -1.36305164e+02] [-1.11276954e-02 -2.19050481e-05 -9.99938085e-01 2.25386525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.81 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.30, Y:-136.31, Z:2.25 [[ 8.04057821e-01 -5.94491064e-01 -8.44959774e-03 6.82998121e+01] [-5.94457730e-01 -8.04102216e-01 6.29552731e-03 -1.36313869e+02] [-1.05369750e-02 -3.90392729e-05 -9.99944484e-01 2.25322398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.84 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.29, Y:-136.32, Z:2.25 [[ 8.49024107e-01 -5.28286543e-01 -8.44945246e-03 6.82921343e+01] [-5.28259735e-01 -8.49066149e-01 5.32232459e-03 -1.36320995e+02] [-9.98585652e-03 -5.52763659e-05 -9.99950139e-01 2.25319910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.87 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.28, Y:-136.33, Z:2.25 [[ 8.89527611e-01 -4.56819638e-01 -7.51320662e-03 6.82849046e+01] [-4.56802579e-01 -8.89559336e-01 3.94864256e-03 -1.36328135e+02] [-8.48726056e-03 -8.03744294e-05 -9.99963979e-01 2.25257563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.89999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.28, Y:-136.34, Z:2.25 [[ 9.23181279e-01 -3.84296605e-01 -7.24193611e-03 6.82779806e+01] [-3.84284029e-01 -9.23209679e-01 3.11024043e-03 -1.36335386e+02] [-7.88108035e-03 -8.83553589e-05 -9.99968940e-01 2.25219300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.92999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.27, Y:-136.34, Z:2.25 [[ 9.51006399e-01 -3.09078846e-01 -7.55621520e-03 6.82712757e+01] [-3.09068212e-01 -9.51036411e-01 2.56602216e-03 -1.36343081e+02] [-7.97933895e-03 -1.04917570e-04 -9.99968159e-01 2.25203577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.95999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.27, Y:-136.35, Z:2.25 [[ 9.73091412e-01 -2.30318518e-01 -6.81790890e-03 6.82657338e+01] [-2.30312018e-01 -9.73115289e-01 1.73433974e-03 -1.36349806e+02] [-7.03406195e-03 -1.17424750e-04 -9.99975254e-01 2.25147174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.98999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.26, Y:-136.36, Z:2.25 [[ 9.88383574e-01 -1.51825660e-01 -6.84692695e-03 6.82574910e+01] [-1.51821125e-01 -9.88407281e-01 1.18028921e-03 -1.36356491e+02] [-6.94675064e-03 -1.27070314e-04 -9.99975863e-01 2.25137491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.01999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.25, Y:-136.36, Z:2.25 [[ 9.97343965e-01 -7.25019235e-02 -6.96321896e-03 6.82496803e+01] [-7.24991897e-02 -9.97368263e-01 6.44558899e-04 -1.36364585e+02] [-6.99162536e-03 -1.38019196e-04 -9.99975549e-01 2.25096295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.04999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.24, Y:-136.38, Z:2.25 [[ 9.99945027e-01 7.41818945e-03 -7.41038736e-03 6.82433274e+01] [ 7.41915841e-03 -9.99972472e-01 1.03274501e-04 -1.36375003e+02] [-7.40941726e-03 -1.58247662e-04 -9.99972537e-01 2.25147483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.07999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.24, Y:-136.39, Z:2.25 [[ 9.96128699e-01 8.75451452e-02 -7.96629601e-03 6.82374731e+01] [ 8.75438306e-02 -9.96160536e-01 -5.14239799e-04 -1.36385703e+02] [-7.98072890e-03 -1.85151046e-04 -9.99968136e-01 2.25190280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.10999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.23, Y:-136.40, Z:2.25 [[ 9.85821727e-01 1.67546749e-01 -9.14384806e-03 6.82329599e+01] [ 1.67541755e-01 -9.85864104e-01 -1.31498805e-03 -1.36397645e+02] [-9.23491355e-03 -2.35632559e-04 -9.99957330e-01 2.25347468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.14 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.23, Y:-136.41, Z:2.25 [[ 9.69554552e-01 2.44693575e-01 -9.43531408e-03 6.82277546e+01] [ 2.44684506e-01 -9.69600429e-01 -2.12169285e-03 -1.36407792e+02] [-9.66764918e-03 -2.51578200e-04 -9.99953236e-01 2.25444836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.17 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.22, Y:-136.42, Z:2.25 [[ 9.47424083e-01 3.19847190e-01 -9.24025650e-03 6.82238414e+01] [ 3.19834558e-01 -9.47469108e-01 -2.85381785e-03 -1.36416428e+02] [-9.66764321e-03 -2.51577592e-04 -9.99953236e-01 2.25444830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.2 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.22, Y:-136.43, Z:2.26 [[ 9.19557438e-01 3.92837281e-01 -9.64307065e-03 6.82212976e+01] [ 3.92818715e-01 -9.19607960e-01 -3.82859933e-03 -1.36425080e+02] [-1.03718611e-02 -2.67361627e-04 -9.99946175e-01 2.25509525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.23 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.22, Y:-136.43, Z:2.26 [[ 8.86323219e-01 4.62961606e-01 -9.88446273e-03 6.82193241e+01] [ 4.62936265e-01 -8.86378291e-01 -4.85166369e-03 -1.36433580e+02] [-1.10075072e-02 -2.75734084e-04 -9.99939378e-01 2.25535542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.26 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.22, Y:-136.44, Z:2.26 [[ 8.47839281e-01 5.30170648e-01 -9.36149810e-03 6.82176488e+01] [ 5.30141735e-01 -8.47890921e-01 -5.54311656e-03 -1.36444742e+02] [-1.08763269e-02 -2.63248883e-04 -9.99940816e-01 2.25676987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.29 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.21, Y:-136.45, Z:2.25 [[ 8.04405746e-01 5.94019520e-01 -8.49737344e-03 6.82147646e+01] [ 5.93989499e-01 -8.04450590e-01 -5.97690768e-03 -1.36450333e+02] [-1.03861169e-02 -2.39491706e-04 -9.99946034e-01 2.25457536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.32 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.21, Y:-136.46, Z:2.25 [[ 7.57754916e-01 6.52502767e-01 -6.90117696e-03 6.82115280e+01] [ 6.52477791e-01 -7.57786321e-01 -5.71172194e-03 -1.36456438e+02] [-8.95653187e-03 -1.74779318e-04 -9.99959874e-01 2.25295920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.35 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.21, Y:-136.46, Z:2.25 [[ 7.05937272e-01 7.08248270e-01 -6.07918670e-03 6.82086909e+01] [ 7.08223778e-01 -7.05963432e-01 -5.89180693e-03 -1.36464519e+02] [-8.46454557e-03 -1.46178465e-04 -9.99964164e-01 2.25238889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.38 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.21, Y:-136.47, Z:2.25 [[ 6.50251013e-01 7.59700782e-01 -5.32372275e-03 6.82069058e+01] [ 7.59676802e-01 -6.50272795e-01 -6.03722668e-03 -1.36473030e+02] [-8.04835790e-03 -1.18595914e-04 -9.99967604e-01 2.25142714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.41 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.20, Y:-136.48, Z:2.25 [[ 5.93947750e-01 8.04491718e-01 -4.37557311e-03 6.82031010e+01] [ 8.04470638e-01 -5.93963864e-01 -5.82417517e-03 -1.36481601e+02] [-7.28443300e-03 -6.07643579e-05 -9.99973466e-01 2.25066755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.44 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.20, Y:-136.49, Z:2.25 [[ 5.31870072e-01 8.46817167e-01 -3.86170252e-03 6.81999487e+01] [ 8.46795348e-01 -5.31884089e-01 -6.07892171e-03 -1.36489660e+02] [-7.20171338e-03 -3.68752034e-05 -9.99974067e-01 2.25045888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.47 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.20, Y:-136.50, Z:2.25 [[ 4.66801451e-01 8.84355046e-01 -3.54372107e-03 6.82012281e+01] [ 8.84329787e-01 -4.66814902e-01 -6.68391602e-03 -1.36500403e+02] [-7.56521666e-03 -1.37564038e-05 -9.99971383e-01 2.24979387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.20, Y:-136.51, Z:2.25 [[ 4.00935378e-01 9.16101049e-01 -3.11291560e-03 6.82026860e+01] [ 9.16072907e-01 -4.00947461e-01 -7.18064763e-03 -1.36511631e+02] [-7.82631443e-03 2.73180195e-05 -9.99969374e-01 2.24993158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.53 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.21, Y:-136.52, Z:2.25 [[ 3.29568455e-01 9.44128018e-01 -2.63039998e-03 6.82053591e+01] [ 9.44096921e-01 -3.29578949e-01 -7.66285687e-03 -1.36523175e+02] [-8.10164234e-03 4.20833730e-05 -9.99967180e-01 2.25033500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.21, Y:-136.53, Z:2.25 [[ 2.56563769e-01 9.66524887e-01 -2.16225006e-03 6.82107741e+01] [ 9.66488485e-01 -2.56572873e-01 -8.38861415e-03 -1.36534566e+02] [-8.66257905e-03 6.24246813e-05 -9.99962477e-01 2.25036822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.59 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.22, Y:-136.55, Z:2.25 [[ 1.82387802e-01 9.83225316e-01 -1.63315001e-03 6.82153077e+01] [ 9.83181330e-01 -1.82395091e-01 -9.30074300e-03 -1.36545896e+02] [-9.44260452e-03 9.06594762e-05 -9.99955414e-01 2.25114831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.62 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.22, Y:-136.56, Z:2.25 [[ 1.07447785e-01 9.94210263e-01 -9.62026312e-04 6.82233374e+01] [ 9.94159392e-01 -1.07452020e-01 -1.00581338e-02 -1.36556392e+02] [-1.01032715e-02 1.24316703e-04 -9.99948953e-01 2.25096722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.64999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.23, Y:-136.57, Z:2.25 [[ 3.22037614e-02 9.99481308e-01 -1.79854588e-04 6.82295947e+01] [ 9.99424801e-01 -3.22038534e-02 -1.06291392e-02 -1.36567256e+02] [-1.06294180e-02 1.62547127e-04 -9.99943493e-01 2.25154107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.67999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.24, Y:-136.58, Z:2.25 [[-4.01522058e-02 9.99193373e-01 6.35136919e-04 6.82374696e+01] [ 9.99140137e-01 4.01566243e-02 -1.03166324e-02 -1.36576861e+02] [-1.03338156e-02 2.20355242e-04 -9.99946580e-01 2.24950426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.70999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.25, Y:-136.59, Z:2.25 [[-1.15258727e-01 9.93334581e-01 1.35491784e-03 6.82467498e+01] [ 9.93288028e-01 1.15266447e-01 -9.61976362e-03 -1.36586469e+02] [-9.71182043e-03 2.37061955e-04 -9.99952811e-01 2.24899365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.73999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.25, Y:-136.60, Z:2.25 [[-1.90024196e-01 9.81777466e-01 1.95235487e-03 6.82541884e+01] [ 9.81738085e-01 1.90034067e-01 -8.79687806e-03 -1.36596492e+02] [-9.00759059e-03 2.45081450e-04 -9.99959401e-01 2.24935880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.76999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.27, Y:-136.60, Z:2.25 [[-2.64182585e-01 9.64469493e-01 2.48189794e-03 6.82685141e+01] [ 9.64435387e-01 2.64194125e-01 -8.11471984e-03 -1.36603592e+02] [-8.48210258e-03 2.49862538e-04 -9.99963995e-01 2.24799598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.79999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.28, Y:-136.61, Z:2.25 [[-3.36769804e-01 9.41581865e-01 3.11313045e-03 6.82841199e+01] [ 9.41548744e-01 3.36784084e-01 -7.90209558e-03 -1.36608659e+02] [-8.48892267e-03 2.69976888e-04 -9.99963932e-01 2.24785974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.82999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.30, Y:-136.62, Z:2.25 [[-4.09340274e-01 9.12373671e-01 3.85020933e-03 6.82976863e+01] [ 9.12339550e-01 4.09358285e-01 -7.89559268e-03 -1.36615139e+02] [-8.77984597e-03 2.80714179e-04 -9.99961417e-01 2.24841741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.85999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.32, Y:-136.62, Z:2.25 [[-4.79731917e-01 8.77402268e-01 4.74851777e-03 6.83153833e+01] [ 8.77365253e-01 4.79755325e-01 -8.06482701e-03 -1.36617083e+02] [-9.35422419e-03 2.97229574e-04 -9.99956204e-01 2.24814446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.33, Y:-136.62, Z:2.25 [[-5.48167309e-01 8.36348996e-01 5.74095961e-03 6.83327483e+01] [ 8.36308809e-01 5.48197286e-01 -8.20437005e-03 -1.36618616e+02] [-1.00088951e-02 3.03847645e-04 -9.99949864e-01 2.24838859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.92 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.35, Y:-136.62, Z:2.25 [[-6.12632294e-01 7.90342126e-01 6.40280313e-03 6.83476897e+01] [ 7.90303946e-01 6.12665680e-01 -7.77419748e-03 -1.36618101e+02] [-1.00670535e-02 2.97436148e-04 -9.99949282e-01 2.24842971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.95 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.36, Y:-136.62, Z:2.25 [[-6.73348677e-01 7.39293048e-01 6.88100779e-03 6.83634367e+01] [ 7.39258688e-01 6.73383775e-01 -7.13327758e-03 -1.36615153e+02] [-9.90714153e-03 2.83661776e-04 -9.99950883e-01 2.24839408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.98 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.38, Y:-136.61, Z:2.25 [[-7.30047333e-01 6.83357594e-01 7.30009053e-03 6.83788555e+01] [ 6.83327036e-01 7.30083782e-01 -6.46785502e-03 -1.36613419e+02] [-9.74953554e-03 2.66508923e-04 -9.99952437e-01 2.24857121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.01 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.40, Y:-136.59, Z:2.25 [[-7.78936047e-01 6.27058952e-01 7.46360964e-03 6.84042734e+01] [ 6.27032856e-01 7.78971772e-01 -5.72504255e-03 -1.36589080e+02] [-9.40388041e-03 2.20486453e-04 -9.99955758e-01 2.24793726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.04 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.43, Y:-136.57, Z:2.25 [[-8.22706816e-01 5.68412442e-01 7.79684859e-03 6.84285644e+01] [ 5.68389161e-01 8.22743737e-01 -5.14825502e-03 -1.36570949e+02] [-9.34114056e-03 1.96139739e-04 -9.99956351e-01 2.24835780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.45, Y:-136.55, Z:2.25 [[-8.62207488e-01 5.06495708e-01 7.76826486e-03 6.84503420e+01] [ 5.06476850e-01 8.62242466e-01 -4.37369844e-03 -1.36546448e+02] [-8.91338734e-03 1.63410778e-04 -9.99960262e-01 2.24769944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.1 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.47, Y:-136.52, Z:2.25 [[-8.97154663e-01 4.41653581e-01 7.45819902e-03 6.84699469e+01] [ 4.41639502e-01 8.97185654e-01 -3.52877878e-03 -1.36520372e+02] [-8.24988695e-03 1.27974963e-04 -9.99965961e-01 2.24680504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.13 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.49, Y:-136.49, Z:2.25 [[-9.27395610e-01 3.74018242e-01 6.90922238e-03 6.84856862e+01] [ 3.74008587e-01 9.27421342e-01 -2.68890224e-03 -1.36493247e+02] [-7.41345879e-03 9.04323735e-05 -9.99972516e-01 2.24713420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.16 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.79, Y:-135.72, Z:1.44 [[-9.09333003e-01 -4.16020459e-01 6.36137147e-03 6.87929909e+01] [ 4.16009434e-01 -9.09355247e-01 -3.03070105e-03 -1.35722644e+02] [ 7.04558017e-03 -1.09525938e-04 9.99975174e-01 1.44163632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.19 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.44, Y:-136.46, Z:2.25 [[-9.32048749e-01 3.62292583e-01 5.40491406e-03 6.84436539e+01] [ 3.62286612e-01 9.32064421e-01 -2.08005244e-03 -1.36463499e+02] [-5.79131566e-03 1.94177289e-05 -9.99983230e-01 2.24688425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.22 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.73, Y:-135.71, Z:1.44 [[-9.07317543e-01 -4.20409676e-01 5.52989110e-03 6.87349706e+01] [ 4.20401861e-01 -9.07334395e-01 -2.56340612e-03 -1.35714565e+02] [ 6.09514113e-03 -1.04683748e-06 9.99981424e-01 1.44185272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.25 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.40, Y:-136.44, Z:2.25 [[-9.35189995e-01 3.54091325e-01 6.24562220e-03 6.84014235e+01] [ 3.54083349e-01 9.35210850e-01 -2.37660799e-03 -1.36440163e+02] [-6.68250992e-03 -1.11091931e-05 -9.99977672e-01 2.24761989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.28 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.68, Y:-135.70, Z:1.44 [[-9.06180149e-01 -4.22830138e-01 7.22580699e-03 6.86784228e+01] [ 4.22817525e-01 -9.06208952e-01 -3.26728322e-03 -1.35704003e+02] [ 7.92959680e-03 9.44506311e-05 9.99968556e-01 1.43992617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.31 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.36, Y:-136.41, Z:2.25 [[-9.38389186e-01 3.45492171e-01 7.80357708e-03 6.83564060e+01] [ 3.45479701e-01 9.38421630e-01 -2.93600914e-03 -1.36413831e+02] [-8.33741370e-03 -5.91417545e-05 -9.99965241e-01 2.24994565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.34 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.37, Y:-136.39, Z:2.25 [[-9.60854073e-01 2.76931623e-01 8.26604700e-03 6.83713924e+01] [ 2.76920732e-01 9.60889625e-01 -2.45700363e-03 -1.36387446e+02] [-8.62318080e-03 -7.17821587e-05 -9.99962817e-01 2.25034349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.37 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.59, Y:-135.65, Z:1.44 [[-9.33951942e-01 -3.57297641e-01 8.49511255e-03 6.85899807e+01] [ 3.57283859e-01 -9.33990570e-01 -3.13989489e-03 -1.35651525e+02] [ 9.05623205e-03 1.02655658e-04 9.99958986e-01 1.43810173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.39999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.32, Y:-136.37, Z:2.25 [[-9.62344004e-01 2.71657985e-01 9.79580344e-03 6.83220955e+01] [ 2.71642827e-01 9.62393853e-01 -2.87159313e-03 -1.36368912e+02] [-1.02075122e-02 -1.02500695e-04 -9.99947897e-01 2.25211773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.42999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.55, Y:-135.64, Z:1.44 [[-9.34873649e-01 -3.54842458e-01 9.90406788e-03 6.85473180e+01] [ 3.54823984e-01 -9.34926101e-01 -3.62304092e-03 -1.35643589e+02] [ 1.05451803e-02 1.27115343e-04 9.99944390e-01 1.43649897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.45999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.28, Y:-136.36, Z:2.25 [[-9.63448633e-01 2.67695070e-01 1.02995534e-02 6.82798647e+01] [ 2.67678536e-01 9.63503678e-01 -2.97726486e-03 -1.36355768e+02] [-1.07206567e-02 -1.11472383e-04 -9.99942526e-01 2.25256608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.48999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.29, Y:-136.33, Z:2.25 [[-9.80015486e-01 1.98627215e-01 1.08109484e-02 6.82900230e+01] [ 1.98613830e-01 9.80075107e-01 -2.30871008e-03 -1.36329687e+02] [-1.10541141e-02 -1.15367763e-04 -9.99938895e-01 2.25307089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.51999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.45, Y:-135.59, Z:1.44 [[-9.58673950e-01 -2.84304904e-01 1.07227982e-02 6.84490622e+01] [ 2.84288546e-01 -9.58733908e-01 -3.05221354e-03 -1.35589538e+02] [ 1.11480695e-02 1.22291083e-04 9.99937851e-01 1.43651858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.54999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.24, Y:-136.32, Z:2.25 [[-9.80816765e-01 1.94646916e-01 1.05381058e-02 6.82402896e+01] [ 1.94634436e-01 9.80873369e-01 -2.20701820e-03 -1.36319978e+02] [-1.07661367e-02 -1.13602157e-04 -9.99942037e-01 2.25202321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.57999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.40, Y:-135.58, Z:1.44 [[-9.59808489e-01 -2.80486118e-01 9.75716379e-03 6.84015585e+01] [ 2.80472343e-01 -9.59858080e-01 -2.78059991e-03 -1.35580222e+02] [ 1.01454122e-02 6.77711954e-05 9.99948532e-01 1.43758233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.60999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.20, Y:-136.31, Z:2.25 [[-9.81567724e-01 1.90884160e-01 9.38296519e-03 6.81955304e+01] [ 1.90874471e-01 9.81612565e-01 -1.92572225e-03 -1.36311209e+02] [-9.57802640e-03 -9.92582825e-05 -9.99954125e-01 2.25118780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.64 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.35, Y:-135.57, Z:1.44 [[-9.61024617e-01 -2.76331971e-01 8.50456798e-03 6.83518453e+01] [ 2.76321563e-01 -9.61062245e-01 -2.39876612e-03 -1.35570861e+02] [ 8.83627497e-03 4.47222255e-05 9.99960958e-01 1.43819583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.67 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.15, Y:-136.30, Z:2.25 [[-9.82076806e-01 1.88296494e-01 8.34132545e-03 6.81472105e+01] [ 1.88289048e-01 9.82112226e-01 -1.67622621e-03 -1.36302468e+02] [-8.50774523e-03 -7.56026603e-05 -9.99963806e-01 2.25049454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.7 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.30, Y:-135.56, Z:1.44 [[-9.62742000e-01 -2.70283682e-01 8.63557220e-03 6.83025569e+01] [ 2.70273800e-01 -9.62780723e-01 -2.31372749e-03 -1.35560046e+02] [ 8.93952523e-03 1.06446280e-04 9.99960036e-01 1.43848232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.73 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.10, Y:-136.29, Z:2.25 [[-9.82403818e-01 1.86561371e-01 8.80869396e-03 6.80970003e+01] [ 1.86553328e-01 9.82443307e-01 -1.73332979e-03 -1.36294903e+02] [-8.97741480e-03 -5.95386288e-05 -9.99959700e-01 2.25065100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.76 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.10, Y:-136.27, Z:2.25 [[-9.93006762e-01 1.17677719e-01 9.46175438e-03 6.81034094e+01] [ 1.17671890e-01 9.93051837e-01 -1.17241937e-03 -1.36269542e+02] [-9.53398021e-03 -5.08378393e-05 -9.99954549e-01 2.25094731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.79 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.21, Y:-135.51, Z:1.44 [[-9.81494328e-01 -1.91239561e-01 9.81401204e-03 6.82076306e+01] [ 1.91230822e-01 -9.81543389e-01 -1.83000297e-03 -1.35510313e+02] [ 9.98284760e-03 8.06040541e-05 9.99950167e-01 1.43779533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.82 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.04, Y:-136.27, Z:2.25 [[-9.92894576e-01 1.18570117e-01 1.00741595e-02 6.80433367e+01] [ 1.18564014e-01 9.92945682e-01 -1.20297109e-03 -1.36266441e+02] [-1.01457296e-02 9.32000414e-09 -9.99948531e-01 2.25162500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.85 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.15, Y:-135.50, Z:1.44 [[-9.83106391e-01 -1.82766226e-01 9.91613846e-03 6.81453455e+01] [ 1.82756892e-01 -9.83156400e-01 -1.84712781e-03 -1.35500223e+02] [ 1.00867076e-02 -3.68051216e-06 9.99949128e-01 1.43744128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.88 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.99, Y:-136.26, Z:2.25 [[-9.92886947e-01 1.18683290e-01 9.47561903e-03 6.79861881e+01] [ 1.18678314e-01 9.92932160e-01 -1.08762795e-03 -1.36262667e+02] [-9.53773014e-03 4.46589042e-05 -9.99954514e-01 2.25026284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.91 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:68.08, Y:-135.49, Z:1.44 [[-9.84765150e-01 -1.73680775e-01 8.51986157e-03 6.80815004e+01] [ 1.73673443e-01 -9.84802000e-01 -1.59867661e-03 -1.35490141e+02] [ 8.66803611e-03 -9.46473213e-05 9.99962427e-01 1.43962690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.94 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.93, Y:-136.26, Z:2.25 [[-9.92664271e-01 1.20680708e-01 7.33561885e-03 6.79260093e+01] [ 1.20678034e-01 9.92691372e-01 -8.07711480e-04 -1.36261233e+02] [-7.37948073e-03 8.34617352e-05 -9.99972768e-01 2.24815967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.97 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.93, Y:-136.24, Z:2.25 [[-9.98641321e-01 5.16508647e-02 6.90647413e-03 6.79303670e+01] [ 5.16502559e-02 9.98665199e-01 -2.66592218e-04 -1.36235264e+02] [-6.91102508e-03 9.04911511e-05 -9.99976115e-01 2.24765377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.0 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.93, Y:-136.21, Z:2.25 [[-9.99811880e-01 -1.81571726e-02 6.82068294e-03 6.79272511e+01] [-1.81560792e-02 9.99835140e-01 2.22209563e-04 -1.36208511e+02] [-6.82359318e-03 9.83309015e-05 -9.99976714e-01 2.24690375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.03 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.91, Y:-135.42, Z:1.44 [[-9.99791514e-01 -1.93974656e-02 6.37708261e-03 6.79100760e+01] [ 1.93962992e-02 -9.99811844e-01 -2.44718270e-04 -1.35416623e+02] [ 6.38062964e-03 -1.20975448e-04 9.99979636e-01 1.44194848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.06 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.83, Y:-136.21, Z:2.25 [[-9.99705211e-01 -2.34248805e-02 6.38482710e-03 6.78307220e+01] [-2.34237762e-02 9.99725595e-01 2.47698359e-04 -1.36211541e+02] [-6.38887738e-03 9.80685797e-05 -9.99979586e-01 2.24707720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.09 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.81, Y:-135.42, Z:1.44 [[-9.99884383e-01 -1.36453910e-02 6.70991683e-03 6.78087317e+01] [ 1.36445375e-02 -9.99906894e-01 -1.72966718e-04 -1.35420139e+02] [ 6.71165229e-03 -8.13930088e-05 9.99977473e-01 1.44139425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.12 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.73, Y:-136.21, Z:2.25 [[-9.99490904e-01 -3.10717121e-02 7.24436816e-03 6.77329593e+01] [-3.10701638e-02 9.99517153e-01 3.26200746e-04 -1.36212659e+02] [-7.25100585e-03 1.00950973e-04 -9.99973706e-01 2.24786982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.14999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.73, Y:-136.19, Z:2.25 [[-9.94571588e-01 -1.03800305e-01 7.26998032e-03 6.77265465e+01] [-1.03796867e-01 9.94598154e-01 8.49555136e-04 -1.36185247e+02] [-7.31889309e-03 9.03422165e-05 -9.99973212e-01 2.24872493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.17999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.63, Y:-135.40, Z:1.44 [[-9.98301288e-01 5.76933107e-02 8.12533114e-03 6.76338252e+01] [-5.76917505e-02 -9.98334353e-01 4.26465622e-04 -1.35404567e+02] [ 8.13640142e-03 -4.30233971e-05 9.99966898e-01 1.43992921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.20999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.61, Y:-136.19, Z:2.25 [[-9.93211459e-01 -1.16054040e-01 7.90298587e-03 6.76118927e+01] [-1.16049931e-01 9.93242899e-01 9.78013698e-04 -1.36193214e+02] [-7.96308704e-03 5.42334459e-05 -9.99968293e-01 2.24922865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.23999999999998 meters Centerline goodness [0,1] 0.9999563271099465 Centerline is valid? [True, True] Translation: X:67.60, Y:-136.17, Z:2.25 [[-9.81912424e-01 -1.89173309e-01 7.83906705e-03 6.75951749e+01] [-1.89166993e-01 9.81943714e-01 1.54621980e-03 -1.36166779e+02] [-7.99002613e-03 3.53596870e-05 -9.99968079e-01 2.24924670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.26999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.56, Y:-136.14, Z:2.25 [[-9.65208433e-01 -2.61372896e-01 7.54261087e-03 6.75640646e+01] [-2.61364762e-01 9.65237903e-01 2.06213568e-03 -1.36144414e+02] [-7.81940027e-03 1.90180526e-05 -9.99969428e-01 2.24906762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.29999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.51, Y:-136.13, Z:2.25 [[-9.42554023e-01 -3.33985221e-01 6.76646477e-03 6.75116173e+01] [-3.33976618e-01 9.42578311e-01 2.39719630e-03 -1.36130236e+02] [-7.17855106e-03 -3.54001040e-07 -9.99974234e-01 2.24919075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.32999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.45, Y:-136.12, Z:2.25 [[-9.13150442e-01 -4.07578879e-01 5.97728362e-03 6.74470372e+01] [-4.07570410e-01 9.13170004e-01 2.62766356e-03 -1.36122624e+02] [-6.52925628e-03 -3.67117923e-05 -9.99978684e-01 2.24842825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.35999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.37, Y:-136.13, Z:2.25 [[-8.79025854e-01 -4.76744234e-01 5.33692358e-03 6.73744807e+01] [-4.76735799e-01 8.79042054e-01 2.83638968e-03 -1.36125722e+02] [-6.04361269e-03 -5.10426647e-05 -9.99981736e-01 2.24809129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.39 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.29, Y:-136.14, Z:2.25 [[-8.39412669e-01 -5.43468459e-01 5.32955587e-03 6.72914164e+01] [-5.43458043e-01 8.39429585e-01 3.36560391e-03 -1.36141202e+02] [-6.30288645e-03 -7.12594414e-05 -9.99980134e-01 2.24747517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.42 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.21, Y:-136.16, Z:2.25 [[-7.94557864e-01 -6.07169496e-01 4.79629440e-03 6.72129625e+01] [-6.07159062e-01 7.94572336e-01 3.56050662e-03 -1.36160981e+02] [-5.97283385e-03 -8.30850706e-05 -9.99982159e-01 2.24734144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.45 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.13, Y:-136.20, Z:2.25 [[-7.44584333e-01 -6.67514104e-01 4.36956186e-03 6.71250913e+01] [-6.67503365e-01 7.44597148e-01 3.78764557e-03 -1.36195274e+02] [-5.78187014e-03 -9.64756963e-05 -9.99983280e-01 2.24721183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.48 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.04, Y:-136.24, Z:2.25 [[-6.88655765e-01 -7.25073440e-01 4.66307763e-03 6.70363617e+01] [-7.25058176e-01 6.88671538e-01 4.70679790e-03 -1.36240738e+02] [-6.62410299e-03 -1.39639054e-04 -9.99978051e-01 2.24728357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.51 meters Centerline goodness [0,1] 0.9999781162464986 Centerline is valid? [True, True] Translation: X:66.95, Y:-136.29, Z:2.25 [[-6.30417828e-01 -7.76241000e-01 4.82421214e-03 6.69498736e+01] [-7.76220272e-01 6.30436264e-01 5.67505373e-03 -1.36292677e+02] [-7.44656766e-03 -1.66996220e-04 -9.99972260e-01 2.24847267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.54 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.86, Y:-136.36, Z:2.25 [[-5.68472862e-01 -8.22687619e-01 4.86688718e-03 6.68636837e+01] [-8.22660354e-01 5.68493661e-01 6.70062898e-03 -1.36358747e+02] [-8.27931901e-03 -1.94669404e-04 -9.99965707e-01 2.24932882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.79, Y:-136.43, Z:2.25 [[-5.02296602e-01 -8.64679310e-01 5.27387606e-03 6.67872331e+01] [-8.64636850e-01 5.02324224e-01 8.57274027e-03 -1.36429141e+02] [-1.00618668e-02 -2.53929274e-04 -9.99949346e-01 2.25024367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.6 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.71, Y:-136.51, Z:2.25 [[-4.33902563e-01 -9.00947219e-01 4.76180144e-03 6.67097702e+01] [-9.00899603e-01 4.33928607e-01 9.26651951e-03 -1.36513544e+02] [-1.04149268e-02 -2.69138469e-04 -9.99945727e-01 2.25078126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.63 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.64, Y:-136.60, Z:2.25 [[-3.63540663e-01 -9.31568712e-01 4.23339570e-03 6.66413696e+01] [-9.31514245e-01 3.63565203e-01 1.00774214e-02 -1.36600794e+02] [-1.09269258e-02 -2.79915939e-04 -9.99940260e-01 2.25080658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.66 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.58, Y:-136.70, Z:2.25 [[-2.91125750e-01 -9.56677890e-01 3.63478891e-03 6.65788923e+01] [-9.56615282e-01 2.91148296e-01 1.09486623e-02 -1.36697074e+02] [-1.15326058e-02 -2.89657090e-04 -9.99933455e-01 2.25099294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.69 meters Centerline goodness [0,1] 0.9999557698261754 Centerline is valid? [True, True] Translation: X:66.53, Y:-136.80, Z:2.25 [[-2.18204461e-01 -9.75899131e-01 2.77476829e-03 6.65263790e+01] [-9.75835133e-01 2.18221938e-01 1.11793837e-02 -1.36798629e+02] [-1.15154662e-02 -2.68324982e-04 -9.99933659e-01 2.25140351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.72 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.48, Y:-136.91, Z:2.25 [[-1.43686574e-01 -9.89621354e-01 1.93487090e-03 6.64795201e+01] [-9.89553923e-01 1.43699376e-01 1.15551835e-02 -1.36905496e+02] [-1.17132961e-02 -2.54334365e-04 -9.99931365e-01 2.25131452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.44, Y:-137.01, Z:2.25 [[-6.98141591e-02 -9.97559480e-01 1.03290894e-03 6.64417607e+01] [-9.97493703e-01 6.98214195e-02 1.14578418e-02 -1.37006201e+02] [-1.15019979e-02 -2.30400572e-04 -9.99933823e-01 2.25155449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.78 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.41, Y:-137.12, Z:2.25 [[ 5.29515980e-03 -9.99985971e-01 1.36249935e-04 6.64126221e+01] [-9.99927223e-01 -5.29337159e-03 1.08410634e-02 -1.37124564e+02] [-1.08401900e-02 -1.93645182e-04 -9.99941225e-01 2.25112846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.81 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.40, Y:-137.24, Z:2.25 [[ 7.80084851e-02 -9.96952489e-01 -6.40730149e-04 6.63984022e+01] [-9.96903867e-01 -7.80110091e-02 9.84693767e-03 -1.37243728e+02] [-9.86691302e-03 -1.29398327e-04 -9.99951312e-01 2.24991920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.84 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.39, Y:-137.35, Z:2.25 [[ 1.52391123e-01 -9.88319255e-01 -1.41282580e-03 6.63855153e+01] [-9.88270060e-01 -1.52397635e-01 9.86154902e-03 -1.37348805e+02] [-9.96167009e-03 -1.06559087e-04 -9.99950376e-01 2.25035927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.87 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.38, Y:-137.46, Z:2.25 [[ 2.25560100e-01 -9.74227007e-01 -2.09281061e-03 6.63827808e+01] [-9.74181664e-01 -2.25569794e-01 9.39961429e-03 -1.37459066e+02] [-9.62943295e-03 -8.14002191e-05 -9.99953633e-01 2.24946535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.89999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.39, Y:-137.58, Z:2.25 [[ 2.96273101e-01 -9.55099176e-01 -2.79508777e-03 6.63935381e+01] [-9.55055435e-01 -2.96286283e-01 9.14086298e-03 -1.37575052e+02] [-9.55857687e-03 -3.87280629e-05 -9.99954315e-01 2.24955510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.92999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.41, Y:-137.69, Z:2.25 [[ 3.67355457e-01 -9.30074210e-01 -3.45439014e-03 6.64097685e+01] [-9.30032650e-01 -3.67371698e-01 8.79233791e-03 -1.37691289e+02] [-9.44657191e-03 -1.72176948e-05 -9.99955380e-01 2.24956250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.95999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.44, Y:-137.81, Z:2.25 [[ 4.36343878e-01 -8.99770167e-01 -4.20315711e-03 6.64351829e+01] [-8.99728503e-01 -4.36364122e-01 8.65876208e-03 -1.37806923e+02] [-9.62500276e-03 3.50243215e-06 -9.99953679e-01 2.24915516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.98999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.47, Y:-137.92, Z:2.25 [[ 5.03031726e-01 -8.64253696e-01 -4.96308268e-03 6.64689329e+01] [-8.64212070e-01 -5.03056209e-01 8.48230567e-03 -1.37919948e+02] [-9.82757358e-03 2.22870898e-05 -9.99951708e-01 2.24927525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.01999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.51, Y:-138.03, Z:2.25 [[ 5.67249195e-01 -8.23527186e-01 -5.59684437e-03 6.65085703e+01] [-8.23487713e-01 -5.67276804e-01 8.06316209e-03 -1.38028481e+02] [-9.81519318e-03 3.51103639e-05 -9.99951829e-01 2.24885192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.04999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.56, Y:-138.14, Z:2.25 [[ 6.30908093e-01 -7.75837225e-01 -5.61953226e-03 6.65567116e+01] [-7.75806606e-01 -6.30933119e-01 6.89266043e-03 -1.38139640e+02] [-8.89313155e-03 1.10350034e-05 -9.99960455e-01 2.24828725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.07999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.60, Y:-138.24, Z:2.25 [[ 6.90311779e-01 -7.23485621e-01 -6.18095306e-03 6.66038590e+01] [-7.23456523e-01 -6.90339450e-01 6.48865108e-03 -1.38237239e+02] [-8.96140149e-03 -7.54145926e-06 -9.99959846e-01 2.24872408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.10999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.66, Y:-138.33, Z:2.25 [[ 7.44858051e-01 -6.67190464e-01 -6.58539721e-03 6.66598441e+01] [-6.67164142e-01 -7.44887162e-01 5.92657628e-03 -1.38331496e+02] [-8.85953302e-03 -2.09171807e-05 -9.99960753e-01 2.24889009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.14 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.65, Y:-138.34, Z:2.25 [[ 7.95500838e-01 -6.05905997e-01 -7.50601247e-03 6.66536406e+01] [-6.05878603e-01 -7.95536248e-01 5.76161475e-03 -1.38338828e+02] [-9.46230193e-03 -3.56370173e-05 -9.99955231e-01 2.25025346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.17 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.65, Y:-138.34, Z:2.25 [[ 8.41129200e-01 -5.40775141e-01 -7.99475786e-03 6.66480493e+01] [-5.40750169e-01 -8.41167192e-01 5.19711937e-03 -1.38342679e+02] [-9.53540098e-03 -4.82821979e-05 -9.99954536e-01 2.24965220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.2 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.64, Y:-138.35, Z:2.25 [[ 8.81083747e-01 -4.72897354e-01 -7.71512745e-03 6.66396284e+01] [-4.72878732e-01 -8.81117523e-01 4.19701445e-03 -1.38349230e+02] [-8.78269102e-03 -4.96015335e-05 -9.99961430e-01 2.24817800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.23 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.63, Y:-138.36, Z:2.25 [[ 9.15613976e-01 -4.01997657e-01 -6.99507873e-03 6.66305731e+01] [-4.01985525e-01 -9.15640694e-01 3.12351661e-03 -1.38355926e+02] [-7.66062510e-03 -4.80150685e-05 -9.99970656e-01 2.24786868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.26 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.62, Y:-138.36, Z:2.25 [[ 9.44419988e-01 -3.28678676e-01 -6.41985875e-03 6.66240648e+01] [-3.28670749e-01 -9.44441806e-01 2.28330797e-03 -1.38364048e+02] [-6.81365764e-03 -4.63818984e-05 -9.99976786e-01 2.24704194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.29 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.62, Y:-138.37, Z:2.25 [[ 9.67666086e-01 -2.52182928e-01 -5.11046972e-03 6.66173811e+01] [-2.52179164e-01 -9.67679580e-01 1.37852644e-03 -1.38374638e+02] [-5.29293803e-03 -4.51993037e-05 -9.99985991e-01 2.24607579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.32 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.61, Y:-138.38, Z:2.25 [[ 9.84556028e-01 -1.74989458e-01 -5.30252833e-03 6.66083771e+01] [-1.74986648e-01 -9.84570306e-01 9.92911807e-04 -1.38382894e+02] [-5.39446104e-03 -4.97056441e-05 -9.99985449e-01 2.24613143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.35 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.60, Y:-138.39, Z:2.25 [[ 9.95360140e-01 -9.60455364e-02 -5.78324187e-03 6.66007685e+01] [-9.60435580e-02 -9.95376939e-01 6.19504210e-04 -1.38391387e+02] [-5.81600621e-03 -6.11866717e-05 -9.99983085e-01 2.24700604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.38 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.59, Y:-138.40, Z:2.25 [[ 9.99831227e-01 -1.68973248e-02 -7.21094125e-03 6.65934985e+01] [-1.68962899e-02 -9.99857227e-01 2.04417039e-04 -1.38400854e+02] [-7.21336582e-03 -8.25443851e-05 -9.99973980e-01 2.24824635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.41 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.59, Y:-138.41, Z:2.25 [[ 9.98015512e-01 6.23856403e-02 -8.54814001e-03 6.65868428e+01] [ 6.23842635e-02 -9.98052113e-01 -4.27867444e-04 -1.38410296e+02] [-8.55818198e-03 -1.06251072e-04 -9.99963372e-01 2.24946805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.44 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.58, Y:-138.42, Z:2.25 [[ 9.89954014e-01 1.41066228e-01 -9.55869055e-03 6.65798424e+01] [ 1.41060885e-01 -9.90000153e-01 -1.23424547e-03 -1.38419418e+02] [-9.63721546e-03 -1.26511100e-04 -9.99953553e-01 2.25113285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.47 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.57, Y:-138.43, Z:2.25 [[ 9.75646635e-01 2.19076755e-01 -1.09096010e-02 6.65746203e+01] [ 2.19064853e-01 -9.75707615e-01 -2.28895375e-03 -1.38429034e+02] [-1.11460373e-02 -1.56700111e-04 -9.99937869e-01 2.25301580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.57, Y:-138.44, Z:2.25 [[ 9.55514282e-01 2.94762826e-01 -1.03601715e-02 6.65700160e+01] [ 2.94747215e-01 -9.55570434e-01 -3.03740043e-03 -1.38438430e+02] [-1.07951863e-02 -1.51352186e-04 -9.99941719e-01 2.25347019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.53 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.57, Y:-138.45, Z:2.25 [[ 9.29866611e-01 3.67784953e-01 -9.07277181e-03 6.65659549e+01] [ 3.67768778e-01 -9.29910863e-01 -3.45164018e-03 -1.38446075e+02] [-9.70633038e-03 -1.27117242e-04 -9.99952884e-01 2.25193929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.56, Y:-138.46, Z:2.25 [[ 8.98429917e-01 4.39050235e-01 -7.65344403e-03 6.65630946e+01] [ 4.39035319e-01 -8.98462509e-01 -3.62064346e-03 -1.38455903e+02] [-8.46597689e-03 -1.07237835e-04 -9.99964157e-01 2.25106074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.59 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.56, Y:-138.47, Z:2.25 [[ 8.61714762e-01 5.07349864e-01 -6.61693414e-03 6.65595114e+01] [ 5.07335711e-01 -8.61740162e-01 -3.79063149e-03 -1.38465597e+02] [-7.62525428e-03 -9.05638737e-05 -9.99970923e-01 2.25062739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.62 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.56, Y:-138.47, Z:2.25 [[ 8.19798651e-01 5.72620350e-01 -6.00880539e-03 6.65572546e+01] [ 5.72605687e-01 -8.19820668e-01 -4.09863232e-03 -1.38473955e+02] [-7.27310313e-03 -8.06228906e-05 -9.99973547e-01 2.25051154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.64999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.56, Y:-138.48, Z:2.25 [[ 7.72981175e-01 6.34404994e-01 -5.51430990e-03 6.65552512e+01] [ 6.34389517e-01 -7.73000840e-01 -4.43187821e-03 -1.38482765e+02] [-7.07417186e-03 -7.24619722e-05 -9.99974975e-01 2.25008080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.67999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.55, Y:-138.49, Z:2.25 [[ 7.21297178e-01 6.92610061e-01 -4.65672719e-03 6.65532967e+01] [ 6.92596182e-01 -7.21312207e-01 -4.38508294e-03 -1.38491999e+02] [-6.39610673e-03 -6.22835209e-05 -9.99979543e-01 2.24995408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.70999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.55, Y:-138.50, Z:2.25 [[ 6.65288434e-01 7.46574440e-01 -4.23143777e-03 6.65526925e+01] [ 7.46559888e-01 -6.65301888e-01 -4.66177416e-03 -1.38501689e+02] [-6.29554497e-03 -5.75972757e-05 -9.99980181e-01 2.24981345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.73999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.55, Y:-138.51, Z:2.25 [[ 6.04619446e-01 7.96502591e-01 -4.35294862e-03 6.65543897e+01] [ 7.96482732e-01 -6.04635112e-01 -5.62493571e-03 -1.38512971e+02] [-7.11222144e-03 -6.61028930e-05 -9.99974706e-01 2.24982338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.76999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.56, Y:-138.52, Z:2.25 [[ 5.40109138e-01 8.41585130e-01 -4.07275719e-03 6.65561239e+01] [ 8.41562192e-01 -5.40124489e-01 -6.21393261e-03 -1.38524649e+02] [-7.42934918e-03 -7.12766768e-05 -9.99972399e-01 2.25027717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.79999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.56, Y:-138.54, Z:2.25 [[ 4.71803945e-01 8.81695265e-01 -3.80752113e-03 6.65586603e+01] [ 8.81667954e-01 -4.71819301e-01 -6.94014552e-03 -1.38535804e+02] [-7.91555540e-03 -8.25813360e-05 -9.99968668e-01 2.25076899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.82999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.56, Y:-138.55, Z:2.25 [[ 4.00044385e-01 9.16490007e-01 -3.24917741e-03 6.65620886e+01] [ 9.16461644e-01 -4.00057569e-01 -7.21094753e-03 -1.38546844e+02] [-7.90861937e-03 -9.30473966e-05 -9.99968722e-01 2.25107191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.85999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.57, Y:-138.56, Z:2.25 [[ 3.24575223e-01 9.45854721e-01 -3.12585603e-03 6.65675975e+01] [ 9.45814713e-01 -3.24590247e-01 -8.70055379e-03 -1.38557519e+02] [-9.24408226e-03 -1.32496444e-04 -9.99957264e-01 2.25269994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.57, Y:-138.57, Z:2.25 [[ 2.48560415e-01 9.68613172e-01 -2.49845839e-03 6.65725666e+01] [ 9.68569943e-01 -2.48572930e-01 -9.15228974e-03 -1.38567459e+02] [-9.48607752e-03 -1.45034761e-04 -9.99954996e-01 2.25338995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.92 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.58, Y:-138.58, Z:2.25 [[ 1.71312550e-01 9.85214891e-01 -1.90503244e-03 6.65789865e+01] [ 9.85164052e-01 -1.71323066e-01 -1.00099007e-02 -1.38577302e+02] [-1.01882792e-02 -1.61947868e-04 -9.99948085e-01 2.25362330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.95 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.59, Y:-138.59, Z:2.25 [[ 9.35320876e-02 9.95615587e-01 -1.16221884e-03 6.65852254e+01] [ 9.95559669e-01 -9.35391537e-02 -1.05533168e-02 -1.38587720e+02] [-1.06157597e-02 -1.69984445e-04 -9.99943637e-01 2.25404327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.98 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.59, Y:-138.60, Z:2.25 [[ 1.52455061e-02 9.99883725e-01 -3.31824296e-04 6.65912552e+01] [ 9.99827425e-01 -1.52481694e-02 -1.06119155e-02 -1.38596880e+02] [-1.06157414e-02 -1.69983009e-04 -9.99943637e-01 2.25404311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.01 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.60, Y:-138.60, Z:2.25 [[-6.31796099e-02 9.98002037e-01 5.19776530e-04 6.65983923e+01] [ 9.97941316e-01 6.31815002e-02 -1.10103370e-02 -1.38604727e+02] [-1.10211790e-02 -1.76922319e-04 -9.99939249e-01 2.25371688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.04 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.61, Y:-138.61, Z:2.25 [[-1.40932537e-01 9.90018203e-01 1.40616757e-03 6.66063069e+01] [ 9.89955571e-01 1.40939440e-01 -1.11374206e-02 -1.38613433e+02] [-1.12244336e-02 -1.77581521e-04 -9.99936988e-01 2.25384548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.61, Y:-138.62, Z:2.25 [[-2.16196326e-01 9.76347290e-01 2.26240034e-03 6.66120125e+01] [ 9.76286048e-01 2.16208107e-01 -1.09364569e-02 -1.38620717e+02] [-1.11669293e-02 -1.55671911e-04 -9.99937636e-01 2.25311749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.1 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.62, Y:-138.63, Z:2.25 [[-2.90536161e-01 9.56859447e-01 2.95600810e-03 6.66192378e+01] [ 9.56805232e-01 2.90551169e-01 -1.01866214e-02 -1.38628950e+02] [-1.06060366e-02 -1.31257870e-04 -9.99943746e-01 2.25307769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.13 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.63, Y:-138.64, Z:2.25 [[-3.62871837e-01 9.31832364e-01 3.53220830e-03 6.66251228e+01] [ 9.31785366e-01 3.62889012e-01 -9.35934327e-03 -1.38636480e+02] [-1.00031385e-02 -1.04982080e-04 -9.99949962e-01 2.25218503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.16 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.63, Y:-138.64, Z:2.25 [[-4.32580615e-01 9.01586896e-01 3.88336765e-03 6.66328796e+01] [ 9.01549031e-01 4.32598040e-01 -8.26325168e-03 -1.38642685e+02] [-9.12997667e-03 -7.34761542e-05 -9.99958318e-01 2.25135125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.19 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.64, Y:-138.65, Z:2.25 [[-4.97567962e-01 8.67418052e-01 3.47075957e-03 6.66410252e+01] [ 8.67396649e-01 4.97580066e-01 -6.09353699e-03 -1.38648868e+02] [-7.01262477e-03 -2.14235644e-05 -9.99975411e-01 2.24915437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.22 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.65, Y:-138.65, Z:2.25 [[-5.62385631e-01 8.26868754e-01 3.23506266e-03 6.66522460e+01] [ 8.26855008e-01 5.62394935e-01 -4.76793232e-03 -1.38652715e+02] [-5.76183711e-03 -6.48886503e-06 -9.99983400e-01 2.24813628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.25 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.66, Y:-138.66, Z:2.25 [[-6.23905428e-01 7.81494634e-01 2.85560156e-03 6.66638137e+01] [ 7.81486476e-01 6.23911963e-01 -3.57082459e-03 -1.38656547e+02] [-4.57222423e-03 3.75715493e-06 -9.99989547e-01 2.24722654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.28 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.68, Y:-138.66, Z:2.25 [[-6.81979408e-01 7.31365411e-01 2.95334231e-03 6.66754214e+01] [ 7.31358621e-01 6.81985803e-01 -3.15140755e-03 -1.38660353e+02] [-4.31896800e-03 1.07573001e-05 -9.99990673e-01 2.24668350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.31 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.69, Y:-138.66, Z:2.25 [[-7.35919269e-01 6.77061469e-01 3.25523429e-03 6.66877066e+01] [ 6.77054960e-01 7.35926468e-01 -2.96902577e-03 -1.38661547e+02] [-4.40582602e-03 1.90092466e-05 -9.99990294e-01 2.24660606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.34 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.71, Y:-138.65, Z:2.25 [[-7.79745299e-01 6.26084828e-01 3.88029703e-03 6.67147151e+01] [ 6.26077323e-01 7.79754953e-01 -3.06583261e-03 -1.38649242e+02] [-4.94515210e-03 3.87974097e-05 -9.99987772e-01 2.24749580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.37 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.74, Y:-138.63, Z:2.25 [[-8.21098972e-01 5.70768551e-01 4.44288703e-03 6.67416093e+01] [ 5.70760533e-01 8.21110990e-01 -3.02578932e-03 -1.38634774e+02] [-5.37512876e-03 5.13520686e-05 -9.99985553e-01 2.24791398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.39999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.76, Y:-138.62, Z:2.25 [[-8.58572902e-01 5.12666353e-01 5.07756774e-03 6.67635427e+01] [ 5.12657840e-01 8.58587914e-01 -2.95509235e-03 -1.38615338e+02] [-5.87451471e-03 6.58926969e-05 -9.99982743e-01 2.24828295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.42999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:67.22, Y:-137.85, Z:1.44 [[-8.35584526e-01 -5.49335642e-01 5.37137651e-03 6.72216621e+01] [ 5.49323992e-01 -8.35601790e-01 -3.57779719e-03 -1.37847972e+02] [ 6.45374334e-03 -3.89259843e-05 9.99979174e-01 1.43951642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.45999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.73, Y:-138.60, Z:2.25 [[-8.59018877e-01 5.11910084e-01 5.88521187e-03 6.67291146e+01] [ 5.11898826e-01 8.59039031e-01 -3.39633545e-03 -1.38596111e+02] [-6.79424507e-03 9.51167782e-05 -9.99976914e-01 2.24984153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.48999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.75, Y:-138.58, Z:2.25 [[-8.92602909e-01 4.50797329e-01 6.46646242e-03 6.67496005e+01] [ 4.50786380e-01 8.92626325e-01 -3.14386290e-03 -1.38576110e+02] [-7.18937958e-03 1.08772014e-04 -9.99974150e-01 2.25107914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.51999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.77, Y:-138.55, Z:2.25 [[-9.21426717e-01 3.88490987e-01 6.89628082e-03 6.67747307e+01] [ 3.88481094e-01 9.21452515e-01 -2.77519080e-03 -1.38554493e+02] [-7.43273192e-03 1.21939768e-04 -9.99972369e-01 2.25085345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.54999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.79, Y:-138.53, Z:2.25 [[-9.46654112e-01 3.22162197e-01 7.58358094e-03 6.67875764e+01] [ 3.22152958e-01 9.46684479e-01 -2.44327647e-03 -1.38529054e+02] [-7.96638968e-03 1.30135315e-04 -9.99968259e-01 2.25079251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.57999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.81, Y:-138.51, Z:2.25 [[-9.67135135e-01 2.54135036e-01 8.06315874e-03 6.68076159e+01] [ 2.54127360e-01 9.67168737e-01 -1.97970013e-03 -1.38505148e+02] [-8.30154622e-03 1.34431699e-04 -9.99965533e-01 2.25049783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.60999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.82, Y:-138.48, Z:2.25 [[-9.82801395e-01 1.84510854e-01 7.56064241e-03 6.68192371e+01] [ 1.84506339e-01 9.82830469e-01 -1.29648719e-03 -1.38478316e+02] [-7.67004568e-03 1.20797030e-04 -9.99970577e-01 2.25057327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.64 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.98, Y:-137.61, Z:1.44 [[-9.75075022e-01 -2.21746536e-01 7.56142087e-03 6.69770724e+01] [ 2.21738950e-01 -9.75104333e-01 -1.83772401e-03 -1.37611072e+02] [ 7.78068318e-03 -1.15257257e-04 9.99969723e-01 1.43872964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.67 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.76, Y:-138.46, Z:2.25 [[-9.84276332e-01 1.76486522e-01 7.25332165e-03 6.67592317e+01] [ 1.76482388e-01 9.84303053e-01 -1.21124625e-03 -1.38464274e+02] [-7.35323528e-03 8.78825123e-05 -9.99972961e-01 2.25042486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.7 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.76, Y:-138.43, Z:2.25 [[-9.94526414e-01 1.04230825e-01 7.29013026e-03 6.67635945e+01] [ 1.04228568e-01 9.94553131e-01 -6.89955035e-04 -1.38434817e+02] [-7.32233645e-03 7.36613270e-05 -9.99973189e-01 2.25077927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.73 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.85, Y:-137.57, Z:1.44 [[-9.88176559e-01 -1.53162870e-01 6.94433782e-03 6.68504337e+01] [ 1.53158451e-01 -9.88200955e-01 -1.16694402e-03 -1.37569820e+02] [ 7.04113376e-03 -8.95627026e-05 9.99975207e-01 1.43760425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.76 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.69, Y:-138.42, Z:2.25 [[-9.95510437e-01 9.43762984e-02 7.21694892e-03 6.66887398e+01] [ 9.43740941e-02 9.95536595e-01 -6.46141412e-04 -1.38422872e+02] [-7.24571720e-03 3.78524977e-05 -9.99973749e-01 2.25140103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.79 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.78, Y:-137.57, Z:1.44 [[-9.88098260e-01 -1.53665001e-01 6.99250305e-03 6.67776726e+01] [ 1.53660810e-01 -9.88123001e-01 -1.13593076e-03 -1.37568234e+02] [ 7.08400590e-03 -4.79375293e-05 9.99974907e-01 1.43733916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.82 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.61, Y:-138.41, Z:2.25 [[-9.96707749e-01 8.08140989e-02 6.53791666e-03 6.66095812e+01] [ 8.08121910e-02 9.96729191e-01 -5.55903246e-04 -1.38408231e+02] [-6.56145721e-03 -2.57297037e-05 -9.99978473e-01 2.25102009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.85 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.70, Y:-137.57, Z:1.44 [[-9.87296594e-01 -1.58752420e-01 6.56541068e-03 6.67030186e+01] [ 1.58749124e-01 -9.87318423e-01 -1.02351697e-03 -1.37569084e+02] [ 6.64463671e-03 3.17383793e-05 9.99977924e-01 1.43800668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.88 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.55, Y:-138.40, Z:2.25 [[-9.97659233e-01 6.80940625e-02 6.26533593e-03 6.65458461e+01] [ 6.80922421e-02 9.97678903e-01 -5.03658090e-04 -1.38395915e+02] [-6.28508960e-03 -7.58583729e-05 -9.99980246e-01 2.25154033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.91 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.62, Y:-137.57, Z:1.44 [[-9.86959070e-01 -1.60868612e-01 5.75179136e-03 6.66199270e+01] [ 1.60866113e-01 -9.86975830e-01 -8.97538686e-04 -1.37567254e+02] [ 5.82126485e-03 3.94343744e-05 9.99983056e-01 1.43783202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.94 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.48, Y:-138.39, Z:2.25 [[-9.98211298e-01 5.95400690e-02 5.40233017e-03 6.64832764e+01] [ 5.95387421e-02 9.98225913e-01 -4.06242540e-04 -1.38388409e+02] [-5.41693367e-03 -8.38679506e-05 -9.99985325e-01 2.25104585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.97 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.48, Y:-138.36, Z:2.25 [[-9.99907505e-01 -1.25481592e-02 5.24650432e-03 6.64848809e+01] [-1.25484411e-02 9.99921265e-01 -2.08047015e-05 -1.38360544e+02] [-5.24583018e-03 -8.66382275e-05 -9.99986237e-01 2.25099655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.0 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.49, Y:-138.33, Z:2.25 [[-9.96426800e-01 -8.43294006e-02 4.70994486e-03 6.64855661e+01] [-8.43288431e-02 9.96437929e-01 3.17191783e-04 -1.38333379e+02] [-4.71991629e-03 -8.11258072e-05 -9.99988858e-01 2.25105054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.03 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.49, Y:-138.31, Z:2.25 [[-9.87877061e-01 -1.55171226e-01 4.56112930e-03 6.64851140e+01] [-1.55169942e-01 9.87887587e-01 6.36086335e-04 -1.38306340e+02] [-4.60458532e-03 -7.93750724e-05 -9.99989396e-01 2.25084871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.06 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.47, Y:-138.28, Z:2.25 [[-9.74311034e-01 -2.25164799e-01 4.33849762e-03 6.64692044e+01] [-2.25162909e-01 9.74320690e-01 9.25597221e-04 -1.38283056e+02] [-4.43549991e-03 -7.50491595e-05 -9.99990160e-01 2.25062351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.09 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.44, Y:-138.26, Z:2.25 [[-9.55419566e-01 -2.95215175e-01 4.63176976e-03 6.64383686e+01] [-2.95212119e-01 9.55430790e-01 1.34575454e-03 -1.38262669e+02] [-4.82262260e-03 -8.15943457e-05 -9.99988368e-01 2.25094303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.12 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.38, Y:-138.25, Z:2.25 [[-9.31157986e-01 -3.64582961e-01 4.90597607e-03 6.63805198e+01] [-3.64578398e-01 9.31170906e-01 1.82623422e-03 -1.38254222e+02] [-5.23411607e-03 -8.81003228e-05 -9.99986298e-01 2.25088161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.14999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.32, Y:-138.25, Z:2.25 [[-9.01427397e-01 -4.32898972e-01 5.20856287e-03 6.63211531e+01] [-4.32892369e-01 9.01442439e-01 2.39290685e-03 -1.38249600e+02] [-5.73110653e-03 -9.77153253e-05 -9.99983572e-01 2.25153729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.17999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.25, Y:-138.26, Z:2.25 [[-8.65858348e-01 -5.00238023e-01 7.15832327e-03 6.62474408e+01] [-5.00222359e-01 8.65887924e-01 3.96154580e-03 -1.38255239e+02] [-8.18002152e-03 -1.50615860e-04 -9.99966532e-01 2.25378390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.20999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.16, Y:-138.28, Z:2.25 [[-8.25324612e-01 -5.64601758e-01 8.00870556e-03 6.61575274e+01] [-5.64577354e-01 8.25363447e-01 5.25276572e-03 -1.38277292e+02] [-9.57581359e-03 -1.86296963e-04 -9.99954134e-01 2.25492955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.23999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.08, Y:-138.30, Z:2.26 [[-7.79662925e-01 -6.26146141e-01 8.16906650e-03 6.60789966e+01] [-6.26114563e-01 7.79705692e-01 6.29182125e-03 -1.38300526e+02] [-1.03090672e-02 -2.09271743e-04 -9.99946838e-01 2.25522593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.26999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.99, Y:-138.34, Z:2.26 [[-7.29331041e-01 -6.84115682e-01 7.87180222e-03 6.59939354e+01] [-6.84079105e-01 7.29373487e-01 7.07781041e-03 -1.38335197e+02] [-1.05835249e-02 -2.22868573e-04 -9.99943968e-01 2.25564669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.29999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.91, Y:-138.38, Z:2.26 [[-6.74800025e-01 -7.37965086e-01 7.24284448e-03 6.59071615e+01] [-7.37926116e-01 6.74838856e-01 7.58718937e-03 -1.38383064e+02] [-1.04868337e-02 -2.24848524e-04 -9.99944986e-01 2.25511523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.32999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.82, Y:-138.44, Z:2.26 [[-6.16225888e-01 -7.87542846e-01 6.47457933e-03 6.58177344e+01] [-7.87503104e-01 6.16259861e-01 7.91484587e-03 -1.38442605e+02] [-1.02233036e-02 -2.21418390e-04 -9.99947716e-01 2.25516721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.35999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.73, Y:-138.52, Z:2.25 [[-5.54948789e-01 -8.31868454e-01 5.16881962e-03 6.57321745e+01] [-8.31835448e-01 5.54972828e-01 7.41260217e-03 -1.38517031e+02] [-9.03486435e-03 -1.85992790e-04 -9.99959168e-01 2.25258813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.39 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.66, Y:-138.59, Z:2.25 [[-4.90285369e-01 -8.71552737e-01 4.01050547e-03 6.56555224e+01] [-8.71526102e-01 4.90301747e-01 6.81547579e-03 -1.38587378e+02] [-7.90640442e-03 -1.53732141e-04 -9.99968732e-01 2.25222540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.42 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.58, Y:-138.68, Z:2.25 [[-4.22742485e-01 -9.06244696e-01 3.05660870e-03 6.55793146e+01] [-9.06223143e-01 4.22753516e-01 6.25139908e-03 -1.38677703e+02] [-6.95748933e-03 -1.27237563e-04 -9.99975788e-01 2.25078346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.45 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.51, Y:-138.78, Z:2.25 [[-3.52771435e-01 -9.35707085e-01 2.13682864e-03 6.55076585e+01] [-9.35691573e-01 3.52777893e-01 5.38871806e-03 -1.38777311e+02] [-5.79608757e-03 -9.84267517e-05 -9.99983198e-01 2.25004647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.48 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.45, Y:-138.87, Z:2.25 [[-2.80658239e-01 -9.59806485e-01 1.56987797e-03 6.54503506e+01] [-9.59793071e-01 2.80662617e-01 5.07510684e-03 -1.38867166e+02] [-5.31172652e-03 -8.23874532e-05 -9.99985889e-01 2.24879332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.51 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.40, Y:-138.96, Z:2.25 [[-2.08418671e-01 -9.78039225e-01 9.65402864e-04 6.54010505e+01] [-9.78029909e-01 2.08420899e-01 4.26908290e-03 -1.38957654e+02] [-4.37654067e-03 -5.44362920e-05 -9.99990421e-01 2.24814032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.54 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.35, Y:-139.08, Z:2.25 [[-1.33085962e-01 -9.91104293e-01 6.37784246e-04 6.53517061e+01] [-9.91094642e-01 1.33087481e-01 4.37407091e-03 -1.39076857e+02] [-4.42004156e-03 -4.99771157e-05 -9.99990230e-01 2.24882277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.31, Y:-139.18, Z:2.25 [[-5.66561453e-02 -9.98393698e-01 3.24202281e-04 6.53136528e+01] [-9.98382052e-01 5.66570504e-02 4.82250322e-03 -1.39184516e+02] [-4.83312516e-03 -5.04532956e-05 -9.99988319e-01 2.24892037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.6 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.28, Y:-139.30, Z:2.25 [[ 2.05997934e-02 -9.99787800e-01 -5.40475188e-05 6.52834951e+01] [-9.99774763e-01 -2.05998008e-02 5.10601590e-03 -1.39298958e+02] [-5.10604578e-03 -5.11475273e-05 -9.99986963e-01 2.24954265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.63 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.26, Y:-139.42, Z:2.25 [[ 9.78343686e-02 -9.95202577e-01 -5.17037885e-04 6.52621974e+01] [-9.95185447e-01 -9.78357184e-02 5.83937850e-03 -1.39420292e+02] [-5.86194930e-03 -5.67433298e-05 -9.99982817e-01 2.25031214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.66 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.25, Y:-139.54, Z:2.25 [[ 1.74856448e-01 -9.84593341e-01 -1.08383424e-03 6.52505707e+01] [-9.84572108e-01 -1.74859795e-01 6.46650183e-03 -1.39541054e+02] [-6.55639367e-03 -6.35965784e-05 -9.99978505e-01 2.24995840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.69 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.25, Y:-139.66, Z:2.25 [[ 2.50417668e-01 -9.68136560e-01 -1.61023364e-03 6.52468024e+01] [-9.68114842e-01 -2.50422836e-01 6.48497742e-03 -1.39661176e+02] [-6.68158300e-03 -6.50618371e-05 -9.99977676e-01 2.25072624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.72 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.25, Y:-139.78, Z:2.25 [[ 3.24626314e-01 -9.45840133e-01 -2.04932199e-03 6.52518146e+01] [-9.45820064e-01 -3.24632777e-01 6.16178530e-03 -1.39776926e+02] [-6.49334091e-03 -6.19878010e-05 -9.99978916e-01 2.25063530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.27, Y:-139.91, Z:2.25 [[ 3.96729640e-01 -9.17932108e-01 -2.49757125e-03 6.52740578e+01] [-9.17912956e-01 -3.96737497e-01 5.92982966e-03 -1.39911319e+02] [-6.43406120e-03 -5.99861771e-05 -9.99979299e-01 2.25012685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.78 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.30, Y:-140.03, Z:2.25 [[ 4.66457423e-01 -8.84538200e-01 -3.10569405e-03 6.52968454e+01] [-8.84517707e-01 -4.66467758e-01 6.02136796e-03 -1.40025358e+02] [-6.77483611e-03 -6.16704032e-05 -9.99977049e-01 2.25072221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.81 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.32, Y:-140.12, Z:2.25 [[ 5.33173422e-01 -8.45997503e-01 -3.78511810e-03 6.53218607e+01] [-8.45975348e-01 -5.33186854e-01 6.12285809e-03 -1.40122520e+02] [-7.19809787e-03 -6.24285969e-05 -9.99974091e-01 2.25014213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.84 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.36, Y:-140.23, Z:2.25 [[ 5.96493075e-01 -8.02609049e-01 -3.83743265e-03 6.53635640e+01] [-8.02591868e-01 -5.96505416e-01 5.25193045e-03 -1.40234036e+02] [-6.50429627e-03 -5.28479009e-05 -9.99978845e-01 2.25056862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.87 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.41, Y:-140.34, Z:2.25 [[ 6.56577569e-01 -7.54246642e-01 -4.23080487e-03 6.54103092e+01] [-7.54230462e-01 -6.56591198e-01 4.94054344e-03 -1.40337226e+02] [-6.50429753e-03 -5.28480838e-05 -9.99978845e-01 2.25056868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.89999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.46, Y:-140.43, Z:2.25 [[ 7.12430616e-01 -7.01728115e-01 -4.50225933e-03 6.54633214e+01] [-7.01713660e-01 -7.12444840e-01 4.50435478e-03 -1.40434590e+02] [-6.36844382e-03 -4.97433805e-05 -9.99979720e-01 2.25037260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.92999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.53, Y:-140.53, Z:2.25 [[ 7.63366424e-01 -6.45949803e-01 -4.53375772e-03 6.55301609e+01] [-6.45938105e-01 -7.63379886e-01 3.88754965e-03 -1.40533908e+02] [-5.97214138e-03 -3.90980062e-05 -9.99982166e-01 2.25059555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.95999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.53, Y:-140.54, Z:2.25 [[ 8.11330403e-01 -5.84568558e-01 -4.75153245e-03 6.55256125e+01] [-5.84558266e-01 -8.11344316e-01 3.46901913e-03 -1.40538636e+02] [-5.88300836e-03 -3.69731127e-05 -9.99982694e-01 2.25069686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.98999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.52, Y:-140.54, Z:2.25 [[ 8.54279067e-01 -5.19787907e-01 -5.27326183e-03 6.55198962e+01] [-5.19777744e-01 -8.54295341e-01 3.25060523e-03 -1.40542640e+02] [-6.19454830e-03 -3.59998690e-05 -9.99980813e-01 2.25083146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.01999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.51, Y:-140.55, Z:2.25 [[ 8.92018263e-01 -4.51962431e-01 -5.77751261e-03 6.55135794e+01] [-4.51952704e-01 -8.92036972e-01 2.96524963e-03 -1.40547310e+02] [-6.49393629e-03 -3.38943747e-05 -9.99978914e-01 2.25036310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.04999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.51, Y:-140.55, Z:2.25 [[ 9.24423100e-01 -3.81324069e-01 -5.82120458e-03 6.55064042e+01] [-3.81316305e-01 -9.24441428e-01 2.43342591e-03 -1.40551862e+02] [-6.30928654e-03 -2.97948999e-05 -9.99980096e-01 2.25061594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.07999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.50, Y:-140.56, Z:2.25 [[ 9.51286008e-01 -3.08249784e-01 -6.08286235e-03 6.55017062e+01] [-3.08243295e-01 -9.51305456e-01 2.00021144e-03 -1.40556519e+02] [-6.40322488e-03 -2.77716245e-05 -9.99979499e-01 2.25086640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.10999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.50, Y:-140.56, Z:2.25 [[ 9.72178345e-01 -2.34157000e-01 -6.30589958e-03 6.54957213e+01] [-2.34151943e-01 -9.72198796e-01 1.53911201e-03 -1.40563236e+02] [-6.49098183e-03 -1.97527351e-05 -9.99978933e-01 2.25138573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.14 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.49, Y:-140.57, Z:2.25 [[ 9.87407742e-01 -1.58065932e-01 -6.41180633e-03 6.54870035e+01] [-1.58062503e-01 -9.87428560e-01 1.04135182e-03 -1.40569556e+02] [-6.49580293e-03 -1.47726955e-05 -9.99978902e-01 2.25129545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.17 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.48, Y:-140.58, Z:2.25 [[ 9.96704189e-01 -8.09069111e-02 -5.90178455e-03 6.54792283e+01] [-8.09054365e-02 -9.96721662e-01 4.88567381e-04 -1.40577172e+02] [-5.92196498e-03 -9.47070014e-06 -9.99982465e-01 2.25106745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.2 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.47, Y:-140.58, Z:2.25 [[ 9.99977191e-01 -4.13102526e-03 -5.34336348e-03 6.54706409e+01] [-4.13096380e-03 -9.99991467e-01 2.25377215e-05 -1.40584252e+02] [-5.34341099e-03 -4.63966309e-07 -9.99985724e-01 2.25075505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.23 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.46, Y:-140.59, Z:2.25 [[ 9.97272356e-01 7.36564901e-02 -4.75064593e-03 6.54641328e+01] [ 7.36556453e-02 -9.97283672e-01 -3.52775255e-04 -1.40592633e+02] [-4.76372580e-03 1.90111782e-06 -9.99988653e-01 2.25051236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.26 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.46, Y:-140.60, Z:2.25 [[ 9.88522308e-01 1.51002605e-01 -4.67554068e-03 6.54565202e+01] [ 1.51000895e-01 -9.88533365e-01 -7.18661916e-04 -1.40601106e+02] [-4.73044778e-03 4.40250851e-06 -9.99988811e-01 2.25071978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.29 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.45, Y:-140.61, Z:2.25 [[ 9.73725550e-01 2.27682244e-01 -4.39877957e-03 6.54492305e+01] [ 2.27679896e-01 -9.73735485e-01 -1.03403416e-03 -1.40608541e+02] [-4.51867898e-03 5.35180310e-06 -9.99989791e-01 2.25124770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.32 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.44, Y:-140.62, Z:2.25 [[ 9.53015403e-01 3.02882222e-01 -4.89906811e-03 6.54436599e+01] [ 3.02878177e-01 -9.53027995e-01 -1.56535005e-03 -1.40617780e+02] [-5.14306576e-03 7.98189378e-06 -9.99986774e-01 2.25159528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.35 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.44, Y:-140.63, Z:2.25 [[ 9.26434056e-01 3.76421681e-01 -5.16312849e-03 6.54393517e+01] [ 3.76415776e-01 -9.26448443e-01 -2.10834032e-03 -1.40627343e+02] [-5.57699736e-03 9.75525057e-06 -9.99984448e-01 2.25197388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.38 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.44, Y:-140.64, Z:2.25 [[ 8.94102833e-01 4.47816913e-01 -6.33541057e-03 6.54360001e+01] [ 4.47805576e-01 -8.94125278e-01 -3.18650078e-03 -1.40636774e+02] [-7.09161968e-03 1.20271929e-05 -9.99974854e-01 2.25339717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.41 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.43, Y:-140.65, Z:2.25 [[ 8.56088258e-01 5.16787842e-01 -6.57429710e-03 6.54318316e+01] [ 5.16772515e-01 -8.56113501e-01 -3.98006880e-03 -1.40646957e+02] [-7.68519567e-03 9.87411496e-06 -9.99970468e-01 2.25422951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.44 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.43, Y:-140.66, Z:2.25 [[ 8.12601037e-01 5.82778172e-01 -7.01112510e-03 6.54295448e+01] [ 5.82756429e-01 -8.12631283e-01 -5.03408382e-03 -1.40657313e+02] [-8.63121375e-03 4.92350760e-06 -9.99962750e-01 2.25405114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.47 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.43, Y:-140.67, Z:2.25 [[ 7.64054718e-01 6.45116633e-01 -6.70203638e-03 6.54269991e+01] [ 6.45091825e-01 -7.64084112e-01 -5.65756703e-03 -1.40668182e+02] [-8.77071011e-03 -7.38097520e-07 -9.99961537e-01 2.25429819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.43, Y:-140.68, Z:2.25 [[ 7.10525134e-01 7.03644781e-01 -6.16892639e-03 6.54257101e+01] [ 7.03618371e-01 -7.10551914e-01 -6.09642830e-03 -1.40678436e+02] [-8.67306240e-03 -8.90439861e-06 -9.99962388e-01 2.25390515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.53 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.43, Y:-140.69, Z:2.25 [[ 6.52387476e-01 7.57866443e-01 -5.38859025e-03 6.54270109e+01] [ 7.57840817e-01 -6.52409729e-01 -6.23230585e-03 -1.40690009e+02] [-8.23882417e-03 -1.78153544e-05 -9.99966060e-01 2.25332031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.43, Y:-140.70, Z:2.25 [[ 5.89433432e-01 8.07805711e-01 -4.26176607e-03 6.54292472e+01] [ 8.07784960e-01 -5.89448838e-01 -5.79011252e-03 -1.40702675e+02] [-7.18937901e-03 -2.97046451e-05 -9.99974156e-01 2.25278811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.59 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.43, Y:-140.71, Z:2.25 [[ 5.23695129e-01 8.51898077e-01 -3.61630407e-03 6.54324352e+01] [ 8.51878210e-01 -5.23707614e-01 -5.81821842e-03 -1.40713663e+02] [-6.85041506e-03 -3.36779956e-05 -9.99976535e-01 2.25259413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.62 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.44, Y:-140.73, Z:2.25 [[ 4.54703564e-01 8.90637977e-01 -2.94344404e-03 6.54352146e+01] [ 8.90619833e-01 -4.54713089e-01 -5.68509440e-03 -1.40725521e+02] [-6.40178351e-03 -3.64569571e-05 -9.99979508e-01 2.25305134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.64999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.44, Y:-140.73, Z:2.25 [[ 3.82970582e-01 9.23757300e-01 -2.44638471e-03 6.54376013e+01] [ 9.23739110e-01 -3.82978393e-01 -5.79713123e-03 -1.40734734e+02] [-6.29205478e-03 -3.96905124e-05 -9.99980204e-01 2.25221545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.67999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.44, Y:-140.74, Z:2.25 [[ 3.08162865e-01 9.51331656e-01 -1.93127244e-03 6.54425232e+01] [ 9.51313913e-01 -3.08168913e-01 -5.81038290e-03 -1.40744988e+02] [-6.12275931e-03 -4.67021030e-05 -9.99981255e-01 2.25097717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.70999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.45, Y:-140.76, Z:2.25 [[ 2.32327551e-01 9.72636491e-01 -1.47130415e-03 6.54487647e+01] [ 9.72618304e-01 -2.32332205e-01 -5.94827400e-03 -1.40756158e+02] [-6.12733969e-03 -4.90694178e-05 -9.99981226e-01 2.25099820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.73999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.45, Y:-140.77, Z:2.25 [[ 1.55258806e-01 9.87873300e-01 -1.02245614e-03 6.54547723e+01] [ 9.87854001e-01 -1.55262164e-01 -6.17512530e-03 -1.40766131e+02] [-6.25899016e-03 -5.12948087e-05 -9.99980411e-01 2.25158860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.76999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.46, Y:-140.78, Z:2.25 [[ 7.73566146e-02 9.97003327e-01 -5.65716581e-04 6.54605789e+01] [ 9.96981551e-01 -7.73586641e-02 -6.58975111e-03 -1.40776021e+02] [-6.61376686e-03 -5.42481570e-05 -9.99978127e-01 2.25184342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.79999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.47, Y:-140.78, Z:2.25 [[-8.00230424e-04 9.99999679e-01 -4.74720115e-05 6.54676947e+01] [ 9.99978131e-01 7.99901529e-04 -6.56494720e-03 -1.40783878e+02] [-6.56490712e-03 -5.27244438e-05 -9.99978449e-01 2.25176175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.82999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.48, Y:-140.79, Z:2.25 [[-7.89294904e-02 9.96880074e-01 5.03788785e-04 6.54757328e+01] [ 9.96855066e-01 7.89310789e-02 -7.06136468e-03 -1.40791004e+02] [-7.07909834e-03 -5.51455131e-05 -9.99974941e-01 2.25189511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.85999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.48, Y:-140.80, Z:2.25 [[-1.56248374e-01 9.87717109e-01 1.16531629e-03 6.54847801e+01] [ 9.87686871e-01 1.56252709e-01 -7.72891791e-03 -1.40799194e+02] [-7.81606828e-03 -5.66632604e-05 -9.99969452e-01 2.25295479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.49, Y:-140.81, Z:2.25 [[-2.32558643e-01 9.72580476e-01 1.92222692e-03 6.54933970e+01] [ 9.72545220e-01 2.32566581e-01 -8.28131602e-03 -1.40805581e+02] [-8.50129202e-03 -5.64390149e-05 -9.99963862e-01 2.25283080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.92 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.50, Y:-140.81, Z:2.25 [[-3.07467671e-01 9.51554537e-01 2.75579497e-03 6.55025747e+01] [ 9.51514693e-01 3.07480016e-01 -8.70801929e-03 -1.40812228e+02] [-9.13350715e-03 -5.52550129e-05 -9.99958287e-01 2.25346236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.95 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.51, Y:-140.82, Z:2.25 [[-3.80458430e-01 9.24791557e-01 3.45807817e-03 6.55115459e+01] [ 9.24752166e-01 3.80474142e-01 -8.53576949e-03 -1.40818438e+02] [-9.20951689e-03 -4.96401831e-05 -9.99957590e-01 2.25396269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.98 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.52, Y:-140.82, Z:2.25 [[-4.50518012e-01 8.92755918e-01 4.51587365e-03 6.55218593e+01] [ 8.92710170e-01 4.50540642e-01 -9.03786371e-03 -1.40822996e+02] [-1.01031909e-02 -4.03540566e-05 -9.99948961e-01 2.25355565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.01 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.53, Y:-140.83, Z:2.25 [[-5.19090356e-01 8.54701082e-01 5.59127455e-03 6.55335287e+01] [ 8.54650599e-01 5.19120466e-01 -9.28948640e-03 -1.40826024e+02] [-1.08422791e-02 -4.34966640e-05 -9.99941220e-01 2.25364539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.04 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.55, Y:-140.83, Z:2.25 [[-5.84234167e-01 8.11563224e-01 5.96428407e-03 6.55452520e+01] [ 8.11520261e-01 5.84264608e-01 -8.35061988e-03 -1.40828506e+02] [-1.02617761e-02 -3.85800787e-05 -9.99947346e-01 2.25373012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.56, Y:-140.83, Z:2.25 [[-6.46111596e-01 7.63217235e-01 6.26556921e-03 6.55571009e+01] [ 7.63180782e-01 6.46141974e-01 -7.45942769e-03 -1.40828768e+02] [-9.74161103e-03 -3.78607155e-05 -9.99952549e-01 2.25262451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.1 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.57, Y:-140.83, Z:2.25 [[-7.04026312e-01 7.10146306e-01 6.25910523e-03 6.55682666e+01] [ 7.10117787e-01 7.04054134e-01 -6.36436844e-03 -1.40828962e+02] [-8.92638164e-03 -3.59808837e-05 -9.99960158e-01 2.25195510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.13 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.58, Y:-140.83, Z:2.25 [[-7.57760087e-01 6.52504650e-01 6.10999537e-03 6.55794727e+01] [ 6.52483053e-01 7.57784719e-01 -5.30892381e-03 -1.40827366e+02] [-8.09415859e-03 -3.62221360e-05 -9.99967241e-01 2.25130870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.16 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.60, Y:-140.81, Z:2.25 [[-8.02840125e-01 5.96168369e-01 5.56866027e-03 6.55975566e+01] [ 5.96153674e-01 8.02859436e-01 -4.18589731e-03 -1.40805701e+02] [-6.96635102e-03 -4.08290414e-05 -9.99975734e-01 2.24986083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.19 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.63, Y:-140.79, Z:2.25 [[-8.43073602e-01 5.37767683e-01 5.72891404e-03 6.56301949e+01] [ 5.37754887e-01 8.43093065e-01 -3.71014042e-03 -1.40793711e+02] [-6.82520132e-03 -4.71699244e-05 -9.99976707e-01 2.24968858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.22 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.65, Y:-140.77, Z:2.25 [[-8.80194070e-01 4.74573411e-01 6.20299267e-03 6.56508771e+01] [ 4.74561093e-01 8.80215924e-01 -3.41991963e-03 -1.40770995e+02] [-7.08297585e-03 -6.64939966e-05 -9.99974913e-01 2.25040620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.25 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.05, Y:-140.04, Z:1.44 [[-8.35242958e-01 -5.49846775e-01 6.14212709e-03 6.60547121e+01] [ 5.49832626e-01 -8.35265537e-01 -3.94541414e-03 -1.40037833e+02] [ 7.29968032e-03 8.17624852e-05 9.99973354e-01 1.43858685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.28 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:66.05, Y:-140.07, Z:1.44 [[-7.95396594e-01 -6.06058128e-01 6.14844467e-03 6.60536726e+01] [ 6.06040949e-01 -7.95420352e-01 -4.56414681e-03 -1.40074900e+02] [ 7.65673630e-03 9.59024160e-05 9.99970682e-01 1.43796859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.31 meters Centerline goodness [0,1] 0.9999324263447157 Centerline is valid? [True, True] Translation: X:65.55, Y:-140.74, Z:2.25 [[-8.50423885e-01 5.26054312e-01 6.78792301e-03 6.55548665e+01] [ 5.26036515e-01 8.50450968e-01 -4.32852786e-03 -1.40742544e+02] [-8.04983644e-03 -1.10388113e-04 -9.99967593e-01 2.25180671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.34 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.58, Y:-140.73, Z:2.25 [[-8.85915354e-01 4.63781708e-01 7.77906911e-03 6.55799924e+01] [ 4.63762543e-01 8.85949497e-01 -4.21811233e-03 -1.40725564e+02] [-8.84814570e-03 -1.29249604e-04 -9.99960846e-01 2.25205332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.37 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.60, Y:-140.71, Z:2.25 [[-9.16821928e-01 3.99199132e-01 8.80943220e-03 6.55994418e+01] [ 3.99179140e-01 9.16864238e-01 -3.99790400e-03 -1.40706007e+02] [-9.67301314e-03 -1.48824481e-04 -9.99953204e-01 2.25147183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.39999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.61, Y:-140.68, Z:2.25 [[-9.42568620e-01 3.33897196e-01 8.77834694e-03 6.56098537e+01] [ 3.33881348e-01 9.42609486e-01 -3.25606300e-03 -1.40681918e+02] [-9.36174340e-03 -1.38136494e-04 -9.99956168e-01 2.25128096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.42999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.63, Y:-140.66, Z:2.25 [[-9.63614878e-01 2.67150233e-01 8.78175137e-03 6.56250813e+01] [ 2.67137935e-01 9.63654885e-01 -2.56642128e-03 -1.40658433e+02] [-9.14819765e-03 -1.27102803e-04 -9.99958146e-01 2.25169056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.45999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.63, Y:-140.64, Z:2.25 [[-9.79858412e-01 1.99518059e-01 8.36879761e-03 6.56346312e+01] [ 1.99509844e-01 9.79894144e-01 -1.81366885e-03 -1.40635915e+02] [-8.56239546e-03 -1.07481167e-04 -9.99963336e-01 2.25015346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.48999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.65, Y:-140.61, Z:2.25 [[-9.91343209e-01 1.31083579e-01 7.46569142e-03 6.56502487e+01] [ 1.31079232e-01 9.91371317e-01 -1.07066099e-03 -1.40612780e+02] [-7.54161841e-03 -8.27954003e-05 -9.99971558e-01 2.24962382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.51999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.76, Y:-139.78, Z:1.44 [[-9.76301071e-01 -2.16301561e-01 7.06063841e-03 6.57607844e+01] [ 2.16296347e-01 -9.76326601e-01 -1.50311803e-03 -1.39775616e+02] [ 7.21861587e-03 5.96945524e-05 9.99973944e-01 1.43873323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.54999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.59, Y:-140.61, Z:2.25 [[-9.91418798e-01 1.30539153e-01 6.94959549e-03 6.55860220e+01] [ 1.30535613e-01 9.91443154e-01 -9.62601638e-04 -1.40607910e+02] [-7.01578608e-03 -4.71716539e-05 -9.99975388e-01 2.24937998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.57999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.72, Y:-139.77, Z:1.44 [[-9.77921599e-01 -2.08860885e-01 6.81740267e-03 6.57155678e+01] [ 2.08856119e-01 -9.77945361e-01 -1.41159352e-03 -1.39766550e+02] [ 6.96187398e-03 4.34284743e-05 9.99975765e-01 1.43970341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.60999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.53, Y:-140.60, Z:2.25 [[-9.91638154e-01 1.28883436e-01 6.54465128e-03 6.55283625e+01] [ 1.28880462e-01 9.91659750e-01 -8.75895972e-04 -1.40603086e+02] [-6.60295573e-03 -2.50941834e-05 -9.99978200e-01 2.24904793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.64 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.53, Y:-140.58, Z:2.25 [[-9.98200352e-01 5.96051445e-02 6.57905535e-03 6.55319804e+01] [ 5.96037481e-02 9.98222033e-01 -4.08283410e-04 -1.40577444e+02] [-6.59169380e-03 -1.54122852e-05 -9.99978274e-01 2.24896194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.67 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.58, Y:-139.72, Z:1.44 [[-9.91576209e-01 -1.29349750e-01 6.72791397e-03 6.55767155e+01] [ 1.29346962e-01 -9.91599033e-01 -8.49692992e-04 -1.39717832e+02] [ 6.78130056e-03 2.76998779e-05 9.99977006e-01 1.43994585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.7 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.44, Y:-140.57, Z:2.25 [[-9.98207911e-01 5.91883256e-02 8.81523374e-03 6.54369815e+01] [ 5.91862968e-02 9.98246834e-01 -4.91072664e-04 -1.40574819e+02] [-8.82884494e-03 3.15484227e-05 -9.99961025e-01 2.25084539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.73 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.50, Y:-139.71, Z:1.44 [[-9.93077854e-01 -1.17103415e-01 9.11950047e-03 6.54973840e+01] [ 1.17098381e-01 -9.93119726e-01 -1.08577321e-03 -1.39708749e+02] [ 9.18390356e-03 -1.03785838e-05 9.99957827e-01 1.43704053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.76 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.35, Y:-140.57, Z:2.25 [[-9.98312532e-01 5.72207700e-02 9.89298750e-03 6.53520858e+01] [ 5.72187019e-02 9.98361547e-01 -4.92198076e-04 -1.40572171e+02] [-9.90494225e-03 7.46963947e-05 -9.99950942e-01 2.25230403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.79 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.36, Y:-140.54, Z:2.25 [[-9.99854307e-01 -1.39031190e-02 9.90293437e-03 6.53556487e+01] [-1.39016972e-02 9.99903344e-01 2.12406028e-04 -1.40544749e+02] [-9.90493030e-03 7.47074870e-05 -9.99950942e-01 2.25230389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.82 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.34, Y:-139.67, Z:1.44 [[-9.99264132e-01 -3.69174691e-02 1.04065311e-02 6.53426450e+01] [ 3.69149930e-02 -9.99318317e-01 -4.29986538e-04 -1.39672486e+02] [ 1.04153112e-02 -4.55131028e-05 9.99945758e-01 1.43695019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.85 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.25, Y:-140.55, Z:2.25 [[-9.99781543e-01 -1.82069147e-02 1.02652081e-02 6.52539318e+01] [-1.82049262e-02 9.99834235e-01 2.87131723e-04 -1.40545956e+02] [-1.02687342e-02 1.00191642e-04 -9.99947270e-01 2.25186695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.88 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.24, Y:-139.68, Z:1.44 [[-9.99500458e-01 -2.97635925e-02 1.06284207e-02 6.52353449e+01] [ 2.97610652e-02 -9.99556963e-01 -3.95904461e-04 -1.39675171e+02] [ 1.06354954e-02 -7.93935685e-05 9.99943438e-01 1.43703237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.91 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.15, Y:-140.55, Z:2.25 [[-9.99625265e-01 -2.53010911e-02 1.04491060e-02 6.51479578e+01] [-2.52987103e-02 9.99679872e-01 3.59989171e-04 -1.40546158e+02] [-1.04548691e-02 9.55053651e-05 -9.99945342e-01 2.25210163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.94 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.14, Y:-140.52, Z:2.25 [[-9.95239405e-01 -9.68210341e-02 1.11451300e-02 6.51442439e+01] [-9.68138603e-02 9.95301802e-01 1.18266807e-03 -1.40517956e+02] [-1.12072751e-02 9.80348082e-05 -9.99937192e-01 2.25204587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.97 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.13, Y:-140.49, Z:2.25 [[-9.85618356e-01 -1.68598833e-01 1.14406709e-02 6.51329696e+01] [-1.68586351e-01 9.85684749e-01 2.05377640e-03 -1.40491125e+02] [-1.16231591e-02 9.54987656e-05 -9.99932444e-01 2.25217099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.0 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.10, Y:-140.47, Z:2.25 [[-9.70560776e-01 -2.40545474e-01 1.22333668e-02 6.51011833e+01] [-2.40525203e-01 9.70637866e-01 3.12403679e-03 -1.40469139e+02] [-1.26256419e-02 8.96345443e-05 -9.99920289e-01 2.25268696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.03 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:65.05, Y:-140.46, Z:2.25 [[-9.50006913e-01 -3.12005980e-01 1.17954614e-02 6.50482906e+01] [-3.11980899e-01 9.50080134e-01 3.95684441e-03 -1.40455291e+02] [-1.24411927e-02 7.90708953e-05 -9.99922602e-01 2.25213245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.06 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.98, Y:-140.45, Z:2.25 [[-9.24014037e-01 -3.82193513e-01 1.12329211e-02 6.49815609e+01] [-3.82164370e-01 9.24082309e-01 4.72019273e-03 -1.40450106e+02] [-1.21841708e-02 6.87021038e-05 -9.99925768e-01 2.25204384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.09 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.91, Y:-140.45, Z:2.25 [[-8.92552331e-01 -4.50814465e-01 1.08006967e-02 6.49059935e+01] [-4.50780663e-01 8.92617676e-01 5.52084115e-03 -1.40454090e+02] [-1.21297678e-02 5.88944323e-05 -9.99926430e-01 2.25275140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.12 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.83, Y:-140.46, Z:2.25 [[-8.55025829e-01 -5.18487355e-01 1.00844001e-02 6.48265746e+01] [-5.18450850e-01 8.55085295e-01 6.15259712e-03 -1.40464774e+02] [-1.18130660e-02 3.23636697e-05 -9.99930223e-01 2.25210730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.14999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.74, Y:-140.49, Z:2.25 [[-8.12796286e-01 -5.82467834e-01 9.66538417e-03 6.47405526e+01] [-5.82426379e-01 8.12853752e-01 6.94921410e-03 -1.40487624e+02] [-1.19042375e-02 1.89207061e-05 -9.99929142e-01 2.25131617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.17999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.65, Y:-140.52, Z:2.25 [[-7.65486786e-01 -6.43384357e-01 9.30323096e-03 6.46469991e+01] [-6.43336787e-01 7.65543317e-01 7.82362955e-03 -1.40524274e+02] [-1.21556271e-02 3.77433049e-06 -9.99926118e-01 2.25100525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.20999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.56, Y:-140.57, Z:2.25 [[-7.13046757e-01 -7.01059346e-01 8.95069701e-03 6.45565710e+01] [-7.01004421e-01 7.13102933e-01 8.77548405e-03 -1.40567819e+02] [-1.25349034e-02 -1.71477336e-05 -9.99921435e-01 2.25120589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.23999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.47, Y:-140.62, Z:2.25 [[-6.56270803e-01 -7.54476950e-01 8.55366570e-03 6.44666857e+01] [-7.54413592e-01 6.56326542e-01 9.77766267e-03 -1.40621278e+02] [-1.29910189e-02 -3.62071301e-05 -9.99915613e-01 2.25110612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.26999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.38, Y:-140.69, Z:2.25 [[-5.95179328e-01 -8.03552917e-01 8.01725079e-03 6.43764003e+01] [-8.03481369e-01 5.95233320e-01 1.07230598e-02 -1.40686216e+02] [-1.33886808e-02 -5.95681030e-05 -9.99910366e-01 2.25297965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.29999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.29, Y:-140.76, Z:2.25 [[-5.29478031e-01 -8.48289945e-01 7.56196396e-03 6.42861142e+01] [-8.48206141e-01 5.29532019e-01 1.19240730e-02 -1.40764675e+02] [-1.41193733e-02 -1.00569572e-04 -9.99900312e-01 2.25249168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.32999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.21, Y:-140.83, Z:2.25 [[-4.61543324e-01 -8.87090307e-01 6.96760129e-03 6.42123846e+01] [-8.86993196e-01 4.61595898e-01 1.31262231e-02 -1.40834864e+02] [-1.48603615e-02 -1.21894287e-04 -9.99889571e-01 2.25261680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.35999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.13, Y:-140.93, Z:2.25 [[-3.91186781e-01 -9.20292300e-01 5.91483591e-03 6.41332177e+01] [-9.20192132e-01 3.91231473e-01 1.35784546e-02 -1.40934105e+02] [-1.48102172e-02 -1.31073538e-04 -9.99890314e-01 2.25288250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.39 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.06, Y:-141.04, Z:2.25 [[-3.18735336e-01 -9.47831421e-01 4.83563601e-03 6.40638895e+01] [-9.47728687e-01 3.18771987e-01 1.39554752e-02 -1.41036611e+02] [-1.47689032e-02 -1.34767901e-04 -9.99890925e-01 2.25266233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.42 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.01, Y:-141.13, Z:2.25 [[-2.44281529e-01 -9.69697453e-01 3.65852438e-03 6.40087532e+01] [-9.69596756e-01 2.44308887e-01 1.39749220e-02 -1.41125144e+02] [-1.44452563e-02 -1.33478069e-04 -9.99895653e-01 2.25236377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.45 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.96, Y:-141.24, Z:2.25 [[-1.68595124e-01 -9.85682015e-01 2.57864538e-03 6.39570472e+01] [-9.85578418e-01 1.68614791e-01 1.42910781e-02 -1.41239588e+02] [-1.45212564e-02 -1.32051140e-04 -9.99894552e-01 2.25103225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.48 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.92, Y:-141.34, Z:2.25 [[-9.20555910e-02 -9.95752808e-01 1.45368205e-03 6.39159993e+01] [-9.95649206e-01 9.20669831e-02 1.43641842e-02 -1.41338058e+02] [-1.44370129e-02 -1.25053914e-04 -9.99895773e-01 2.25177061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.51 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.88, Y:-141.45, Z:2.25 [[-1.48757401e-02 -9.99889294e-01 3.34586909e-04 6.38827812e+01] [-9.99785825e-01 1.48790143e-02 1.43846859e-02 -1.41452681e+02] [-1.43880717e-02 -1.20532399e-04 -9.99896479e-01 2.25061954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.54 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.86, Y:-141.57, Z:2.25 [[ 6.24111679e-02 -9.98050200e-01 -8.02646546e-04 6.38573231e+01] [-9.97941319e-01 -6.24162154e-02 1.47424452e-02 -1.41570805e+02] [-1.47637985e-02 -1.19099070e-04 -9.99891002e-01 2.25161199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.84, Y:-141.70, Z:2.25 [[ 1.39003874e-01 -9.90289761e-01 -2.02765071e-03 6.38432478e+01] [-9.90172001e-01 -1.39018614e-01 1.52719881e-02 -1.41697649e+02] [-1.54055746e-02 -1.15142542e-04 -9.99881320e-01 2.25224318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.6 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.84, Y:-141.82, Z:2.25 [[ 2.14552253e-01 -9.76706950e-01 -3.29613789e-03 6.38381337e+01] [-9.76584037e-01 -2.14577544e-01 1.54950448e-02 -1.41820854e+02] [-1.58413951e-02 -1.05541111e-04 -9.99874512e-01 2.25268136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.63 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.84, Y:-141.93, Z:2.25 [[ 2.88444289e-01 -9.57486185e-01 -4.48303437e-03 6.38407353e+01] [-9.57365890e-01 -2.88479112e-01 1.51774434e-02 -1.41934888e+02] [-1.58254541e-02 -8.59426713e-05 -9.99874766e-01 2.25196853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.66 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.85, Y:-142.05, Z:2.25 [[ 3.60013055e-01 -9.32929323e-01 -5.78602292e-03 6.38529447e+01] [-9.32806312e-01 -3.60059543e-01 1.51496001e-02 -1.42047788e+02] [-1.62168189e-02 -5.68151057e-05 -9.99868497e-01 2.25169208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.69 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.87, Y:-142.16, Z:2.25 [[ 4.30021056e-01 -9.02792927e-01 -6.84271624e-03 6.38737485e+01] [-9.02677279e-01 -4.30075494e-01 1.44498951e-02 -1.42163698e+02] [-1.59881476e-02 -3.69946731e-05 -9.99872181e-01 2.25248600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.72 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.91, Y:-142.28, Z:2.25 [[ 4.97661306e-01 -8.67333662e-01 -8.09595264e-03 6.39062230e+01] [-8.67218184e-01 -4.97727153e-01 1.41527983e-02 -1.42282249e+02] [-1.63047738e-02 -2.23427263e-05 -9.99867068e-01 2.25186573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.94, Y:-142.39, Z:2.25 [[ 5.62123974e-01 -8.27002757e-01 -9.11473168e-03 6.39432148e+01] [-8.26894027e-01 -5.62197866e-01 1.34099807e-02 -1.42390881e+02] [-1.62143737e-02 -1.15444839e-06 -9.99868538e-01 2.25239737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.78 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.98, Y:-142.49, Z:2.25 [[ 6.23443560e-01 -7.81799732e-01 -1.03588975e-02 6.39848309e+01] [-7.81692249e-01 -6.23529614e-01 1.29633386e-02 -1.42491891e+02] [-1.65938140e-02 1.55599529e-05 -9.99862313e-01 2.25171370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.81 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.04, Y:-142.59, Z:2.25 [[ 6.80805904e-01 -7.32373723e-01 -1.14913285e-02 6.40371203e+01] [-7.32270330e-01 -6.80902878e-01 1.23058692e-02 -1.42593097e+02] [-1.68369738e-02 3.68505122e-05 -9.99858247e-01 2.25183459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.84 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.09, Y:-142.68, Z:2.25 [[ 7.33027434e-01 -6.80083584e-01 -1.25339517e-02 6.40915302e+01] [-6.79986220e-01 -7.33134579e-01 1.15077833e-02 -1.42683383e+02] [-1.70153279e-02 8.73935664e-05 -9.99855225e-01 2.25083787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.87 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.09, Y:-142.69, Z:2.25 [[ 7.82891846e-01 -6.22024943e-01 -1.28579868e-02 6.40863619e+01] [-6.21943376e-01 -7.82997419e-01 1.00737343e-02 -1.42688153e+02] [-1.63338845e-02 1.10295250e-04 -9.99866587e-01 2.24975173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.89999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.08, Y:-142.69, Z:2.25 [[ 8.27661316e-01 -5.61083187e-01 -1.27437415e-02 6.40804971e+01] [-5.61019341e-01 -8.27759408e-01 8.46531901e-03 -1.42690314e+02] [-1.52985001e-02 1.43068369e-04 -9.99882961e-01 2.24923599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.92999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.07, Y:-142.69, Z:2.25 [[ 8.67484709e-01 -4.97300210e-01 -1.27585409e-02 6.40739257e+01] [-4.97249490e-01 -8.67578508e-01 7.10469490e-03 -1.42692887e+02] [-1.46022021e-02 1.80963760e-04 -9.99893366e-01 2.24783691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.95999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.07, Y:-142.70, Z:2.25 [[ 9.02202330e-01 -4.31135316e-01 -1.23812558e-02 6.40685073e+01] [-4.31098001e-01 -9.02287256e-01 5.67632632e-03 -1.42695164e+02] [-1.36187140e-02 2.16339791e-04 -9.99907238e-01 2.24704366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.98999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.06, Y:-142.70, Z:2.25 [[ 9.30350034e-01 -3.66492195e-01 -1.15015177e-02 6.40630949e+01] [-3.66468016e-01 -9.30421081e-01 4.21974114e-03 -1.42695689e+02] [-1.22477567e-02 2.89102063e-04 -9.99924952e-01 2.24699628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.01999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.06, Y:-142.70, Z:2.25 [[ 9.55209156e-01 -2.95706151e-01 -1.15472942e-02 6.40579358e+01] [-2.95688594e-01 -9.55278896e-01 3.23823097e-03 -1.42699181e+02] [-1.19884513e-02 3.21215317e-04 -9.99928084e-01 2.24696140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.04999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.05, Y:-142.70, Z:2.25 [[ 9.74768556e-01 -2.22945732e-01 -1.10210209e-02 6.40495900e+01] [-2.22935349e-01 -9.74830800e-01 2.17752195e-03 -1.42701539e+02] [-1.12290999e-02 3.34395211e-04 -9.99936896e-01 2.24693292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.07999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.04, Y:-142.71, Z:2.25 [[ 9.88399064e-01 -1.51449350e-01 -1.14185733e-02 6.40395635e+01] [-1.51443980e-01 -9.88464936e-01 1.33849215e-03 -1.42713390e+02] [-1.14895731e-02 4.06309799e-04 -9.99933910e-01 2.24620858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.10999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.03, Y:-142.72, Z:2.25 [[ 9.97008179e-01 -7.64356665e-02 -1.15013261e-02 6.40300888e+01] [-7.64356556e-02 -9.97074418e-01 4.41158267e-04 -1.42718593e+02] [-1.15013982e-02 4.39272999e-04 -9.99933760e-01 2.24760857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.14 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.02, Y:-142.73, Z:2.25 [[ 9.99931644e-01 -7.77049744e-04 -1.16663768e-02 6.40217987e+01] [-7.82557258e-04 -9.99999585e-01 -4.67526905e-04 -1.42734194e+02] [-1.16660086e-02 4.76624555e-04 -9.99931836e-01 2.24648860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.17 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.02, Y:-142.75, Z:2.25 [[ 9.97131092e-01 7.48338334e-02 -1.13790540e-02 6.40154262e+01] [ 7.48232432e-02 -9.97195893e-01 -1.35417012e-03 -1.42745032e+02] [-1.14484836e-02 4.98867404e-04 -9.99934340e-01 2.24673478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.2 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.01, Y:-142.76, Z:2.25 [[ 9.88601776e-01 1.50183818e-01 -1.05522588e-02 6.40087884e+01] [ 1.50169897e-01 -9.88657967e-01 -2.10388189e-03 -1.42755891e+02] [-1.07485438e-02 4.95269747e-04 -9.99942110e-01 2.24669170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.23 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.01, Y:-142.77, Z:2.25 [[ 9.74924262e-01 2.22366944e-01 -8.69625739e-03 6.40050193e+01] [ 2.22353865e-01 -9.74962938e-01 -2.45517985e-03 -1.42771684e+02] [-9.02447950e-03 4.59967961e-04 -9.99959173e-01 2.24620829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.26 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.00, Y:-142.78, Z:2.25 [[ 9.55108125e-01 2.96149222e-01 -8.00677483e-03 6.40004965e+01] [ 2.96134825e-01 -9.55141579e-01 -2.95468206e-03 -1.42784327e+02] [-8.52263034e-03 4.50955977e-04 -9.99963580e-01 2.24658946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.29 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.00, Y:-142.80, Z:2.25 [[ 9.29575024e-01 3.68570869e-01 -6.76674210e-03 6.39998141e+01] [ 3.68557896e-01 -9.29599565e-01 -3.11882281e-03 -1.42801946e+02] [-7.43986774e-03 4.05243558e-04 -9.99972242e-01 2.24615970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.32 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.00, Y:-142.82, Z:2.25 [[ 8.98255356e-01 4.39431229e-01 -6.12460085e-03 6.39980490e+01] [ 4.39418032e-01 -8.98276152e-01 -3.42765282e-03 -1.42817057e+02] [-7.00780057e-03 3.87647450e-04 -9.99975370e-01 2.24631494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.35 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.00, Y:-142.83, Z:2.25 [[ 8.60826637e-01 5.08875917e-01 -4.77518366e-03 6.39994092e+01] [ 5.08866031e-01 -8.60839824e-01 -3.18749275e-03 -1.42834964e+02] [-5.73270656e-03 3.13949908e-04 -9.99983519e-01 2.24631714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.38 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.00, Y:-142.85, Z:2.25 [[ 8.17316309e-01 5.76174928e-01 -4.06238831e-03 6.40045338e+01] [ 5.76166116e-01 -8.17326359e-01 -3.19833282e-03 -1.42854022e+02] [-5.16309623e-03 2.73439081e-04 -9.99986634e-01 2.24621064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.41 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.01, Y:-142.87, Z:2.25 [[ 7.68253411e-01 6.40135068e-01 -3.71376560e-03 6.40073380e+01] [ 6.40125942e-01 -7.68262344e-01 -3.42762662e-03 -1.42868416e+02] [-5.04729026e-03 2.56008141e-04 -9.99987230e-01 2.24640915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.44 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.02, Y:-142.89, Z:2.25 [[ 7.13436731e-01 7.00712567e-01 -3.15118940e-03 6.40161048e+01] [ 7.00704340e-01 -7.13443656e-01 -3.40256362e-03 -1.42886124e+02] [-4.63241517e-03 2.19461775e-04 -9.99989246e-01 2.24596270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.47 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.02, Y:-142.90, Z:2.25 [[ 6.53455362e-01 7.56960228e-01 -2.70246275e-03 6.40244268e+01] [ 7.56952525e-01 -6.53460923e-01 -3.42021656e-03 -1.42900714e+02] [-4.35492171e-03 1.89322850e-04 -9.99990499e-01 2.24581256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.03, Y:-142.92, Z:2.25 [[ 5.88395162e-01 8.08570784e-01 -2.10250937e-03 6.40329712e+01] [ 8.08564708e-01 -5.88398900e-01 -3.13805185e-03 -1.42915084e+02] [-3.77445125e-03 1.46399650e-04 -9.99992866e-01 2.24590265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.53 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.05, Y:-142.93, Z:2.25 [[ 5.13634111e-01 8.58007100e-01 -1.95363894e-03 6.40493850e+01] [ 8.58000061e-01 -5.13637814e-01 -3.47715035e-03 -1.42931413e+02] [-3.98688253e-03 1.09760695e-04 -9.99992046e-01 2.24692080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.06, Y:-142.94, Z:2.25 [[ 4.39006463e-01 8.98482160e-01 -1.77023532e-03 6.40611352e+01] [ 8.98474022e-01 -4.39010023e-01 -3.82506345e-03 -1.42942032e+02] [-4.21390232e-03 8.87171227e-05 -9.99991118e-01 2.24787127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.59 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.08, Y:-142.95, Z:2.25 [[ 3.61533031e-01 9.32357692e-01 -1.73276367e-03 6.40750468e+01] [ 9.32345977e-01 -3.61537176e-01 -4.67435453e-03 -1.42951589e+02] [-4.98462888e-03 7.43983225e-05 -9.99987574e-01 2.24885848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.62 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.10, Y:-142.96, Z:2.25 [[ 2.76195762e-01 9.61100146e-01 -1.55224515e-03 6.40983359e+01] [ 9.61084590e-01 -2.76200124e-01 -5.46831478e-03 -1.42961704e+02] [-5.68432844e-03 1.84864781e-05 -9.99983844e-01 2.25029199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.64999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.11, Y:-142.97, Z:2.25 [[ 1.95218913e-01 9.80759057e-01 -1.11746126e-03 6.41127419e+01] [ 9.80743268e-01 -1.95222111e-01 -5.56495332e-03 -1.42968148e+02] [-5.67603151e-03 -9.55846429e-06 -9.99983891e-01 2.25117510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.67999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.12, Y:-142.97, Z:2.25 [[ 1.17797491e-01 9.93037407e-01 -6.78120196e-04 6.41186852e+01] [ 9.93021417e-01 -1.17799443e-01 -5.63536149e-03 -1.42971363e+02] [-5.67600694e-03 -9.55643290e-06 -9.99983891e-01 2.25117489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.70999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.13, Y:-142.97, Z:2.25 [[ 3.55228372e-02 9.99368834e-01 -2.47472859e-04 6.41339666e+01] [ 9.99350909e-01 -3.55236823e-02 -5.98570132e-03 -1.42974337e+02] [-5.99071450e-03 -3.46831332e-05 -9.99982055e-01 2.25111545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.73999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.15, Y:-142.98, Z:2.25 [[-4.60620023e-02 9.98938564e-01 1.93068514e-04 6.41490446e+01] [ 9.98924987e-01 4.60623829e-02 -5.20842363e-03 -1.42975098e+02] [-5.21178842e-03 -4.70494582e-05 -9.99986417e-01 2.25101458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.76999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.16, Y:-142.98, Z:2.25 [[-1.26506738e-01 9.91965581e-01 5.76297049e-04 6.41626893e+01] [ 9.91953132e-01 1.26508038e-01 -4.96998804e-03 -1.42975922e+02] [-5.00296328e-03 -5.70773134e-05 -9.99987483e-01 2.25060309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.79999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.17, Y:-142.97, Z:2.25 [[-2.05056028e-01 9.78749864e-01 8.53903062e-04 6.41735321e+01] [ 9.78740198e-01 2.05057798e-01 -4.35018284e-03 -1.42974864e+02] [-4.43284034e-03 -5.62819613e-05 -9.99990173e-01 2.25039908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.82999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.18, Y:-142.97, Z:2.25 [[-2.81306453e-01 9.59617399e-01 1.06172241e-03 6.41834167e+01] [ 9.59609865e-01 2.81308452e-01 -3.80296516e-03 -1.42973990e+02] [-3.94806302e-03 -5.09593473e-05 -9.99992205e-01 2.24998797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.85999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.19, Y:-142.97, Z:2.25 [[-3.54856343e-01 9.34920212e-01 1.08335620e-03 6.41913283e+01] [ 9.34915520e-01 3.54857995e-01 -2.96201115e-03 -1.42971883e+02] [-3.15368170e-03 -3.82419156e-05 -9.99995026e-01 2.24965959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.20, Y:-142.97, Z:2.25 [[-4.25972779e-01 9.04735211e-01 1.17883875e-03 6.42009775e+01] [ 9.04731541e-01 4.25974409e-01 -2.57708715e-03 -1.42967995e+02] [-2.83373663e-03 -3.12363759e-05 -9.99995984e-01 2.24950226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.92 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.21, Y:-142.96, Z:2.25 [[-4.94289743e-01 8.69296196e-01 1.33135396e-03 6.42105701e+01] [ 8.69292899e-01 4.94291536e-01 -2.39453760e-03 -1.42964684e+02] [-2.73963943e-03 -2.62588308e-05 -9.99996247e-01 2.24944822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.95 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.22, Y:-142.96, Z:2.25 [[-5.57999717e-01 8.29840302e-01 1.17854950e-03 6.42185477e+01] [ 8.29838400e-01 5.58000962e-01 -1.77650029e-03 -1.42960603e+02] [-2.13184329e-03 -1.32810315e-05 -9.99997728e-01 2.24921748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.98 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.23, Y:-142.96, Z:2.25 [[-6.19786669e-01 7.84768748e-01 1.58007492e-03 6.42261699e+01] [ 7.84766153e-01 6.19788683e-01 -2.01819380e-03 -1.42956420e+02] [-2.56312798e-03 -1.08602931e-05 -9.99996715e-01 2.24959808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.01 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.23, Y:-142.95, Z:2.25 [[-6.78021123e-01 7.35039278e-01 2.14875663e-03 6.42333088e+01] [ 7.35035551e-01 6.78024528e-01 -2.34058951e-03 -1.42952968e+02] [-3.17733492e-03 -7.55661611e-06 -9.99994952e-01 2.25018400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.04 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.24, Y:-142.95, Z:2.25 [[-7.32301298e-01 6.80975175e-01 2.76046470e-03 6.42382225e+01] [ 6.80970326e-01 7.32306501e-01 -2.56988484e-03 -1.42950131e+02] [-3.77153403e-03 -2.13545717e-06 -9.99992888e-01 2.25075079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.25, Y:-142.93, Z:2.25 [[-7.76421278e-01 6.30201108e-01 4.06971812e-03 6.42545992e+01] [ 6.30192559e-01 7.76431944e-01 -3.28268953e-03 -1.42931422e+02] [-5.22861373e-03 1.59560764e-05 -9.99986331e-01 2.25175194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.1 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.69, Y:-142.41, Z:1.44 [[-7.37680802e-01 -6.75137012e-01 4.12906534e-03 6.46891990e+01] [ 6.75126467e-01 -7.37692358e-01 -3.77344681e-03 -1.42406934e+02] [ 5.59357355e-03 4.04202767e-06 9.99984356e-01 1.43686974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.13 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.23, Y:-142.91, Z:2.25 [[-7.76499267e-01 6.30100553e-01 4.70978659e-03 6.42256121e+01] [ 6.30089267e-01 7.76513549e-01 -3.77143943e-03 -1.42911649e+02] [-6.03359917e-03 3.90660245e-05 -9.99981797e-01 2.25199305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.16 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.24, Y:-142.89, Z:2.25 [[-8.18261057e-01 5.74822621e-01 5.27221548e-03 6.42430110e+01] [ 5.74811095e-01 8.18278041e-01 -3.64057347e-03 -1.42891122e+02] [-6.40682214e-03 5.15884539e-05 -9.99979475e-01 2.25216529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.19 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.26, Y:-142.87, Z:2.25 [[-8.56212905e-01 5.16591868e-01 5.68358141e-03 6.42583475e+01] [ 5.16580951e-01 8.56231767e-01 -3.35889997e-03 -1.42869881e+02] [-6.60164336e-03 6.00963878e-05 -9.99978207e-01 2.25231934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.22 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.28, Y:-142.85, Z:2.25 [[-8.89423312e-01 4.57044981e-01 6.00480531e-03 6.42751107e+01] [ 4.57035167e-01 8.89443578e-01 -2.99623984e-03 -1.42849655e+02] [-6.71035190e-03 7.94816343e-05 -9.99977482e-01 2.25175860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.25 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.59, Y:-142.23, Z:1.44 [[-8.69349542e-01 -4.94162304e-01 5.91533999e-03 6.45884706e+01] [ 4.94150292e-01 -8.69369664e-01 -3.44631128e-03 -1.42232006e+02] [ 6.84565426e-03 -7.29821539e-05 9.99976566e-01 1.43755439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.28 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.24, Y:-142.83, Z:2.25 [[-8.90082190e-01 4.55763578e-01 5.76686298e-03 6.42361293e+01] [ 4.55754671e-01 8.90100867e-01 -2.85077916e-03 -1.42833215e+02] [-6.43237105e-03 9.08469823e-05 -9.99979308e-01 2.25062329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.31 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.25, Y:-142.81, Z:2.25 [[-9.19821502e-01 3.92302452e-01 5.21447851e-03 6.42502377e+01] [ 3.92296662e-01 9.19836278e-01 -2.13301673e-03 -1.42810679e+02] [-5.63325420e-03 8.36278671e-05 -9.99984130e-01 2.24971899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.34 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.26, Y:-142.78, Z:2.25 [[-9.44985350e-01 3.27076302e-01 4.87660648e-03 6.42573731e+01] [ 3.27072388e-01 9.44997929e-01 -1.60207549e-03 -1.42784364e+02] [-5.13238396e-03 8.10654602e-05 -9.99986826e-01 2.24866387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.37 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.26, Y:-142.76, Z:2.25 [[-9.65761740e-01 2.59381065e-01 5.07193113e-03 6.42633653e+01] [ 2.59377940e-01 9.65775055e-01 -1.27602262e-03 -1.42757055e+02] [-5.22932067e-03 8.32132255e-05 -9.99986324e-01 2.24822011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.39999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.27, Y:-142.73, Z:2.25 [[-9.81747594e-01 1.90126607e-01 4.85120625e-03 6.42734772e+01] [ 1.90124678e-01 9.81759577e-01 -8.60093623e-04 -1.42730520e+02] [-4.92624488e-03 7.79391807e-05 -9.99987863e-01 2.24806433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.42999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.40, Y:-142.04, Z:1.44 [[-9.74263078e-01 -2.25374538e-01 4.21568603e-03 6.43977523e+01] [ 2.25371957e-01 -9.74272193e-01 -1.08386429e-03 -1.42044758e+02] [ 4.35150109e-03 -1.05871553e-04 9.99990527e-01 1.44119974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.45999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.22, Y:-142.72, Z:2.25 [[-9.82778863e-01 1.84745407e-01 3.85235145e-03 6.42211060e+01] [ 1.84744212e-01 9.82786412e-01 -6.66804649e-04 -1.42720234e+02] [-3.90922776e-03 5.63781194e-05 -9.99992357e-01 2.24708008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.48999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.22, Y:-142.69, Z:2.25 [[-9.93615728e-01 1.12775527e-01 3.07655820e-03 6.42199066e+01] [ 1.12775108e-01 9.93620490e-01 -3.09959408e-04 -1.42691202e+02] [-3.09188710e-03 3.89786394e-05 -9.99995219e-01 2.24653483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.51999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.29, Y:-142.00, Z:1.44 [[-9.87820424e-01 -1.55571198e-01 2.90049551e-03 6.42915695e+01] [ 1.55570388e-01 -9.87824681e-01 -5.04260328e-04 -1.42003156e+02] [ 2.94362943e-03 -4.68874407e-05 9.99995666e-01 1.44243613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.54999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.16, Y:-142.68, Z:2.25 [[-9.94358870e-01 1.06012040e-01 3.44759000e-03 6.41581813e+01] [ 1.06011527e-01 9.94364846e-01 -3.31630123e-04 -1.42683741e+02] [-3.46331909e-03 3.57249284e-05 -9.99994002e-01 2.24652891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.57999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.23, Y:-142.00, Z:1.44 [[-9.88190250e-01 -1.53184288e-01 3.82150751e-03 6.42264012e+01] [ 1.53183091e-01 -9.88197639e-01 -6.05754049e-04 -1.41999968e+02] [ 3.86919670e-03 -1.32099111e-05 9.99992515e-01 1.44222279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.60999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.09, Y:-142.67, Z:2.25 [[-9.95096567e-01 9.88184714e-02 4.21085934e-03 6.40943214e+01] [ 9.88177223e-02 9.95105476e-01 -3.86084868e-04 -1.42674315e+02] [-4.22840151e-03 3.19158022e-05 -9.99991060e-01 2.24741996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.64 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.16, Y:-142.00, Z:1.44 [[-9.88518312e-01 -1.51036427e-01 4.42088876e-03 6.41585797e+01] [ 1.51034837e-01 -9.88528198e-01 -6.93346380e-04 -1.41995718e+02] [ 4.47489376e-03 -1.76773825e-05 9.99989987e-01 1.44119924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.67 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.03, Y:-142.67, Z:2.25 [[-9.95643206e-01 9.31517515e-02 4.16617272e-03 6.40303302e+01] [ 9.31510456e-02 9.95651922e-01 -3.63576106e-04 -1.42667357e+02] [-4.18192563e-03 2.60912649e-05 -9.99991255e-01 2.24701638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.7 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:64.09, Y:-141.99, Z:1.44 [[-9.89008184e-01 -1.47786317e-01 4.69217781e-03 6.40937365e+01] [ 1.47784687e-01 -9.89019315e-01 -6.94018459e-04 -1.41991418e+02] [ 4.74322092e-03 7.04209517e-06 9.99988751e-01 1.44194999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.73 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.97, Y:-142.66, Z:2.25 [[-9.96130848e-01 8.77501613e-02 4.82113120e-03 6.39699841e+01] [ 8.77492597e-02 9.96142514e-01 -3.98626811e-04 -1.42661750e+02] [-4.83751332e-03 2.59662305e-05 -9.99988299e-01 2.24727479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.76 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.97, Y:-142.63, Z:2.25 [[-9.99848238e-01 1.65579483e-02 5.41630009e-03 6.39666632e+01] [ 1.65578584e-02 9.99862907e-01 -6.14286992e-05 -1.42633544e+02] [-5.41657468e-03 2.82629534e-05 -9.99985330e-01 2.24708076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.79 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.98, Y:-141.96, Z:1.44 [[-9.97335445e-01 -7.27179903e-02 5.83991784e-03 6.39773275e+01] [ 7.27167323e-02 -9.97352542e-01 -4.27727246e-04 -1.41957293e+02] [ 5.85556037e-03 -1.92780074e-06 9.99982856e-01 1.44190642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.82 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.89, Y:-142.63, Z:2.25 [[-9.99908834e-01 1.23227159e-02 5.52033975e-03 6.38927548e+01] [ 1.23227064e-02 9.99924072e-01 -3.57322568e-05 -1.42631737e+02] [-5.52036092e-03 3.22965269e-05 -9.99984762e-01 2.24653052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.85 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.89, Y:-142.60, Z:2.25 [[-9.98265499e-01 -5.86419973e-02 5.20664535e-03 6.38907196e+01] [-5.86410345e-02 9.98279077e-01 3.37515619e-04 -1.42604453e+02] [-5.21747770e-03 3.16071286e-05 -9.99986388e-01 2.24618234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.88 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.88, Y:-142.58, Z:2.25 [[-9.91486633e-01 -1.30137897e-01 4.28769336e-03 6.38815004e+01] [-1.30136576e-01 9.91495904e-01 5.86864298e-04 -1.42576455e+02] [-4.32760369e-03 2.38823756e-05 -9.99990636e-01 2.24549493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.91 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.86, Y:-142.55, Z:2.25 [[-9.79457405e-01 -2.01596669e-01 4.68773176e-03 6.38637410e+01] [-2.01594251e-01 9.79468623e-01 9.87596032e-04 -1.42550836e+02] [-4.79058224e-03 2.22884758e-05 -9.99988525e-01 2.24566365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.94 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.83, Y:-142.53, Z:2.25 [[-9.62106925e-01 -2.72628931e-01 4.87144129e-03 6.38337408e+01] [-2.72625340e-01 9.62119257e-01 1.39947752e-03 -1.42528556e+02] [-5.06844554e-03 1.83686773e-05 -9.99987155e-01 2.24577608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.97 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.62, Y:-141.90, Z:1.44 [[-9.76997880e-01 2.13178335e-01 5.48999644e-03 6.36171585e+01] [-2.13174870e-01 -9.77013305e-01 1.21554099e-03 -1.41896277e+02] [ 5.62292657e-03 1.72516904e-05 9.99984191e-01 1.44237370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.0 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.68, Y:-142.57, Z:2.25 [[-9.59310792e-01 -2.82287583e-01 6.04361429e-03 6.36807351e+01] [-2.82281953e-01 9.59329829e-01 1.78289580e-03 -1.42567986e+02] [-6.30110881e-03 4.34793477e-06 -9.99980148e-01 2.24702544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.03 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.63, Y:-142.55, Z:2.25 [[-9.35495003e-01 -3.53276984e-01 6.66875574e-03 6.36275434e+01] [-3.53268057e-01 9.35518772e-01 2.51149572e-03 -1.42554988e+02] [-7.12599982e-03 -6.36668489e-06 -9.99974610e-01 2.24775741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.06 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.56, Y:-142.55, Z:2.25 [[-9.05696046e-01 -4.23864836e-01 7.29883214e-03 6.35601846e+01] [-4.23851350e-01 9.05725455e-01 3.38132206e-03 -1.42550774e+02] [-8.04396158e-03 -3.11698360e-05 -9.99967646e-01 2.24774233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.09 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.49, Y:-142.56, Z:2.25 [[-8.71230002e-01 -4.90827402e-01 6.83694971e-03 6.34882801e+01] [-4.90812647e-01 8.71256828e-01 3.80599702e-03 -1.42555894e+02] [-7.82482675e-03 -3.97625896e-05 -9.99969385e-01 2.24740057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.12 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.41, Y:-142.57, Z:2.25 [[-8.31591406e-01 -5.55347175e-01 6.72663738e-03 6.34136000e+01] [-5.55329486e-01 8.31618610e-01 4.43280446e-03 -1.42568562e+02] [-8.05574227e-03 -4.92179856e-05 -9.99967551e-01 2.24702593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.14999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.33, Y:-142.59, Z:2.25 [[-7.87258687e-01 -6.16593369e-01 6.03136968e-03 6.33320605e+01] [-6.16575777e-01 7.87281789e-01 4.65790201e-03 -1.42592384e+02] [-7.62041900e-03 -5.18226265e-05 -9.99970963e-01 2.24711822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.17999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.24, Y:-142.63, Z:2.25 [[-7.38069066e-01 -6.74701834e-01 5.61151227e-03 6.32444904e+01] [-6.74682937e-01 7.38090396e-01 5.05003175e-03 -1.42629573e+02] [-7.54906900e-03 -5.87193578e-05 -9.99971504e-01 2.24672372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.20999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.16, Y:-142.67, Z:2.25 [[-6.84723903e-01 -7.28786445e-01 4.84709276e-03 6.31631268e+01] [-7.28768773e-01 6.84741057e-01 5.07555915e-03 -1.42670224e+02] [-7.01800212e-03 -5.70531726e-05 -9.99975372e-01 2.24715777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.23999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:63.08, Y:-142.72, Z:2.25 [[-6.27157800e-01 -7.78878843e-01 4.56532087e-03 6.30793701e+01] [-7.78858929e-01 6.27174413e-01 5.57000709e-03 -1.42723374e+02] [-7.20161311e-03 -6.24675304e-05 -9.99974066e-01 2.24733543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.26999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.99, Y:-142.79, Z:2.25 [[-5.65209787e-01 -8.24937132e-01 4.07733905e-03 6.29949294e+01] [-8.24916559e-01 5.65224489e-01 5.82656725e-03 -1.42788006e+02] [-7.11116356e-03 -7.02316646e-05 -9.99974713e-01 2.24759885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.29999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.92, Y:-142.86, Z:2.25 [[-4.99443549e-01 -8.66337868e-01 3.85220276e-03 6.29165629e+01] [-8.66313418e-01 4.99458397e-01 6.50931848e-03 -1.42858910e+02] [-7.56328411e-03 -8.61778129e-05 -9.99971394e-01 2.24752113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.32999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.84, Y:-142.94, Z:2.25 [[-4.28245840e-01 -9.03655658e-01 3.45724803e-03 6.28413401e+01] [-9.03628446e-01 4.28259778e-01 7.01387772e-03 -1.42939660e+02] [-7.81873056e-03 -1.20403711e-04 -9.99969426e-01 2.24726206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.35999999999999 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.77, Y:-143.03, Z:2.25 [[-3.56218176e-01 -9.34397713e-01 3.08623092e-03 6.27712370e+01] [-9.34366049e-01 3.56231517e-01 7.69365574e-03 -1.43028370e+02] [-8.28834705e-03 -1.43049372e-04 -9.99965641e-01 2.24725064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.39 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.71, Y:-143.13, Z:2.25 [[-2.81669800e-01 -9.59507745e-01 2.64775955e-03 6.27061957e+01] [-9.59470876e-01 2.81682193e-01 8.41315836e-03 -1.43128566e+02] [-8.81831733e-03 -1.70715535e-04 -9.99961103e-01 2.24761361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.42 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.65, Y:-143.22, Z:2.25 [[-2.03219077e-01 -9.79130541e-01 2.32164260e-03 6.26509712e+01] [-9.79079510e-01 2.03232195e-01 9.99935232e-03 -1.43224472e+02] [-1.02625038e-02 -2.41013547e-04 -9.99947310e-01 2.24842227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.45 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.60, Y:-143.33, Z:2.25 [[-1.25472074e-01 -9.92095689e-01 1.70389024e-03 6.26008565e+01] [-9.92032789e-01 1.25483312e-01 1.11751607e-02 -1.43326980e+02] [-1.13006385e-02 -2.88144403e-04 -9.99936104e-01 2.25031111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.48 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.56, Y:-143.44, Z:2.25 [[-4.76397946e-02 -9.98864174e-01 9.00535802e-04 6.25643399e+01] [-9.98791781e-01 4.76471878e-02 1.20301588e-02 -1.43435796e+02] [-1.20594026e-02 -3.26333462e-04 -9.99927230e-01 2.24969807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.51 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.53, Y:-143.55, Z:2.25 [[ 3.02659406e-02 -9.99541881e-01 -2.78597244e-05 6.25328262e+01] [-9.99460006e-01 -3.02638181e-02 1.27983396e-02 -1.43545871e+02] [-1.27933196e-02 -3.59509106e-04 -9.99918098e-01 2.25069182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.54 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.51, Y:-143.66, Z:2.25 [[ 1.07796320e-01 -9.94172428e-01 -1.06649251e-03 6.25143386e+01] [-9.94081520e-01 -1.07800892e-01 1.34498879e-02 -1.43663441e+02] [-1.34864765e-02 -3.89667924e-04 -9.99908977e-01 2.25040314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.50, Y:-143.78, Z:2.25 [[ 1.83640404e-01 -9.82991307e-01 -2.07165048e-03 6.25016457e+01] [-9.82903231e-01 -1.83651693e-01 1.31641071e-02 -1.43776068e+02] [-1.33206649e-02 -3.81229992e-04 -9.99911203e-01 2.25043787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.6 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.50, Y:-143.89, Z:2.25 [[ 2.58686012e-01 -9.65956559e-01 -3.07788408e-03 6.24969712e+01] [-9.65869612e-01 -2.58704041e-01 1.29657577e-02 -1.43892672e+02] [-1.33206198e-02 -3.81225466e-04 -9.99911204e-01 2.25043572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.63 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.50, Y:-144.01, Z:2.25 [[ 3.31464113e-01 -9.43459804e-01 -3.89112908e-03 6.25031684e+01] [-9.43381681e-01 -3.31486761e-01 1.21462367e-02 -1.44008380e+02] [-1.27493438e-02 -3.55221665e-04 -9.99918661e-01 2.25001870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.66 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.52, Y:-144.12, Z:2.25 [[ 4.01822215e-01 -9.15706059e-01 -4.61753819e-03 6.25201151e+01] [-9.15636004e-01 -4.01848614e-01 1.13313526e-02 -1.44120743e+02] [-1.22317395e-02 -3.25204984e-04 -9.99925137e-01 2.24852681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.69 meters Centerline goodness [0,1] 0.9999786466229634 Centerline is valid? [True, True] Translation: X:62.54, Y:-144.23, Z:2.25 [[ 4.70006040e-01 -8.82647978e-01 -5.18353734e-03 6.25432551e+01] [-8.82587206e-01 -4.70034530e-01 1.03616740e-02 -1.44231798e+02] [-1.15821521e-02 -2.95125612e-04 -9.99932881e-01 2.24803995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.72 meters Centerline goodness [0,1] 0.9999787048276155 Centerline is valid? [True, True] Translation: X:62.57, Y:-144.34, Z:2.25 [[ 5.34945011e-01 -8.44867537e-01 -5.71660578e-03 6.25745269e+01] [-8.44813913e-01 -5.34975489e-01 9.52246542e-03 -1.44339858e+02] [-1.11034659e-02 -2.64527266e-04 -9.99938320e-01 2.24792775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.62, Y:-144.44, Z:2.25 [[ 5.95486988e-01 -8.03340763e-01 -6.23424355e-03 6.26181214e+01] [-8.03292811e-01 -5.95519580e-01 8.78009460e-03 -1.44440874e+02] [-1.07660220e-02 -2.20509061e-04 -9.99942020e-01 2.24674273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.78 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.66, Y:-144.54, Z:2.25 [[ 6.53881822e-01 -7.56566665e-01 -6.74124485e-03 6.26622915e+01] [-7.56523331e-01 -6.53916542e-01 8.09977861e-03 -1.44537266e+02] [-1.05362340e-02 -1.96388990e-04 -9.99944473e-01 2.24650197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.81 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.71, Y:-144.63, Z:2.25 [[ 7.08741504e-01 -7.05432821e-01 -7.07213269e-03 6.27142513e+01] [-7.05395239e-01 -7.08776767e-01 7.28362517e-03 -1.44630545e+02] [-1.01506716e-02 -1.73558728e-04 -9.99948466e-01 2.24654337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.84 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.77, Y:-144.72, Z:2.25 [[ 7.59563341e-01 -6.50391053e-01 -7.41686000e-03 6.27718001e+01] [-6.50358043e-01 -7.59599536e-01 6.55452084e-03 -1.44718241e+02] [-9.89684512e-03 -1.54959194e-04 -9.99951013e-01 2.24602662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.87 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.77, Y:-144.72, Z:2.25 [[ 8.06411148e-01 -5.91302329e-01 -7.91295826e-03 6.27725935e+01] [-5.91272307e-01 -8.06449961e-01 5.95986172e-03 -1.44721021e+02] [-9.90548500e-03 -1.27385853e-04 -9.99950931e-01 2.24667529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.89999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.77, Y:-144.72, Z:2.25 [[ 8.49519464e-01 -5.27484362e-01 -8.77081946e-03 6.27710850e+01] [-5.27454780e-01 -8.49564731e-01 5.58765768e-03 -1.44724773e+02] [-1.03987809e-02 -1.20613309e-04 -9.99945924e-01 2.24693251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.92999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.77, Y:-144.73, Z:2.25 [[ 8.87707263e-01 -4.60300026e-01 -9.98508775e-03 6.27696441e+01] [-4.60269381e-01 -8.87763410e-01 5.31274678e-03 -1.44727938e+02] [-1.13098530e-02 -1.20333743e-04 -9.99936034e-01 2.24749281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.95999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.77, Y:-144.73, Z:2.25 [[ 9.19841533e-01 -3.92133404e-01 -1.10881871e-02 6.27702043e+01] [-3.92103682e-01 -9.19908357e-01 4.82880135e-03 -1.44729258e+02] [-1.20936503e-02 -9.40130537e-05 -9.99926865e-01 2.24891002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.98999999999998 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.77, Y:-144.73, Z:2.25 [[ 9.47126687e-01 -3.20638799e-01 -1.19079678e-02 6.27683662e+01] [-3.20612446e-01 -9.47201539e-01 4.11153973e-03 -1.44733331e+02] [-1.25975646e-02 -7.63063030e-05 -9.99920645e-01 2.25070390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.02 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.77, Y:-144.74, Z:2.25 [[ 9.68838863e-01 -2.47369993e-01 -1.26231786e-02 6.27679182e+01] [-2.47348250e-01 -9.68921092e-01 3.28024336e-03 -1.44736332e+02] [-1.30422978e-02 -5.57061118e-05 -9.99914944e-01 2.25046561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.05 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.76, Y:-144.74, Z:2.25 [[ 9.84830056e-01 -1.73023608e-01 -1.31374165e-02 6.27649326e+01] [-1.73007866e-01 -9.84917677e-01 2.33405310e-03 -1.44739786e+02] [-1.33431200e-02 -2.57692553e-05 -9.99910976e-01 2.25045645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.08 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.76, Y:-144.74, Z:2.25 [[ 9.95130294e-01 -9.76746723e-02 -1.32421946e-02 6.27598437e+01] [-9.76660826e-02 -9.95218397e-01 1.29535106e-03 -1.44742420e+02] [-1.33053987e-02 4.27019170e-06 -9.99911479e-01 2.25041994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.11 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.76, Y:-144.75, Z:2.25 [[ 9.99678592e-01 -2.18570860e-02 -1.28444439e-02 6.27558280e+01] [-2.18557332e-02 -9.99761105e-01 2.45700412e-04 -1.44745518e+02] [-1.28467457e-02 3.51032964e-05 -9.99917477e-01 2.24925872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.14 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.75, Y:-144.75, Z:2.25 [[ 9.98588572e-01 5.18619573e-02 -1.14543309e-02 6.27516754e+01] [ 5.18575817e-02 -9.98654260e-01 -6.78881607e-04 -1.44745094e+02] [-1.14741244e-02 8.39295168e-05 -9.99934167e-01 2.24748807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.17 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.75, Y:-144.75, Z:2.25 [[ 9.91703429e-01 1.28096897e-01 -1.07467637e-02 6.27472463e+01] [ 1.28088297e-01 -9.91761652e-01 -1.48759125e-03 -1.44750083e+02] [-1.08487839e-02 9.87146768e-05 -9.99941145e-01 2.24697570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.2 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.74, Y:-144.76, Z:2.25 [[ 9.78918133e-01 2.04002755e-01 -1.01076967e-02 6.27413655e+01] [ 2.03990739e-01 -9.78970308e-01 -2.21676994e-03 -1.44755217e+02] [-1.03473621e-02 1.08159774e-04 -9.99946459e-01 2.24699461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.23 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.74, Y:-144.76, Z:2.25 [[ 9.60197555e-01 2.79153219e-01 -9.70235641e-03 6.27357424e+01] [ 2.79137761e-01 -9.60246566e-01 -2.93999712e-03 -1.44758921e+02] [-1.01373641e-02 1.14684009e-04 -9.99948609e-01 2.24755531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.26 meters Centerline goodness [0,1] 0.9999553561463426 Centerline is valid? [True, True] Translation: X:62.73, Y:-144.76, Z:2.25 [[ 9.35601896e-01 3.52939833e-01 -9.08656424e-03 6.27304876e+01] [ 3.52921982e-01 -9.35646013e-01 -3.55162354e-03 -1.44761171e+02] [-9.75531702e-03 1.16057463e-04 -9.99952409e-01 2.24764983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.28999999999996 meters Centerline goodness [0,1] 0.9998432847516063 Centerline is valid? [True, True] Translation: X:62.73, Y:-144.77, Z:2.25 [[ 9.05003371e-01 4.25312666e-01 -8.83366284e-03 6.27279087e+01] [ 4.25291167e-01 -9.05046475e-01 -4.27790200e-03 -1.44770943e+02] [-9.81432132e-03 1.14636950e-04 -9.99951832e-01 2.24700805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.32 meters Centerline goodness [0,1] 0.9999100658767452 Centerline is valid? [True, True] Translation: X:62.73, Y:-144.78, Z:2.25 [[ 8.68538852e-01 4.95547989e-01 -8.51193729e-03 6.27259974e+01] [ 4.95522975e-01 -8.68580554e-01 -4.98026178e-03 -1.44779876e+02] [-9.86126192e-03 1.07690364e-04 -9.99951371e-01 2.24701430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.34999999999997 meters Centerline goodness [0,1] 0.9998426895590813 Centerline is valid? [True, True] Translation: X:62.72, Y:-144.79, Z:2.25 [[ 8.26446860e-01 5.62952646e-01 -8.36093246e-03 6.27226130e+01] [ 5.62922613e-01 -8.26489146e-01 -5.81578740e-03 -1.44788970e+02] [-1.01842328e-02 9.98812926e-05 -9.99948134e-01 2.24807456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.38 meters Centerline goodness [0,1] 0.9999097757928452 Centerline is valid? [True, True] Translation: X:62.72, Y:-144.80, Z:2.25 [[ 7.78055458e-01 6.28136209e-01 -8.63749710e-03 6.27202845e+01] [ 6.28096386e-01 -7.78103397e-01 -7.07346629e-03 -1.44797342e+02] [-1.11639661e-02 7.83683479e-05 -9.99937678e-01 2.24881765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.40999999999997 meters Centerline goodness [0,1] 0.9998196695444402 Centerline is valid? [True, True] Translation: X:62.72, Y:-144.81, Z:2.25 [[ 7.25372221e-01 6.88304600e-01 -8.48045890e-03 6.27181400e+01] [ 6.88256542e-01 -7.25421790e-01 -8.13379498e-03 -1.44806740e+02] [-1.17504382e-02 6.32976134e-05 -9.99930959e-01 2.24985085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.44 meters Centerline goodness [0,1] 0.9999095983908514 Centerline is valid? [True, True] Translation: X:62.72, Y:-144.82, Z:2.25 [[ 6.67815538e-01 7.44288010e-01 -7.60041794e-03 6.27180696e+01] [ 7.44239141e-01 -6.67858786e-01 -8.52900467e-03 -1.44817386e+02] [-1.14240418e-02 3.92733251e-05 -9.99934743e-01 2.24884354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.46999999999997 meters Centerline goodness [0,1] 0.9997738630967188 Centerline is valid? [True, True] Translation: X:62.72, Y:-144.83, Z:2.25 [[ 6.05638660e-01 7.95708906e-01 -7.01075792e-03 6.27200034e+01] [ 7.95655349e-01 -6.05679236e-01 -9.23197818e-03 -1.44828624e+02] [-1.15922378e-02 1.30958533e-05 -9.99932808e-01 2.24880409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.5 meters Centerline goodness [0,1] 0.9999096453580303 Centerline is valid? [True, True] Translation: X:62.72, Y:-144.84, Z:2.25 [[ 5.39608902e-01 8.41891956e-01 -6.33768688e-03 6.27220499e+01] [ 8.41834166e-01 -5.39646119e-01 -9.86424209e-03 -1.44839476e+02] [-1.17247342e-02 -1.24485013e-05 -9.99931263e-01 2.24892292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.53 meters Centerline goodness [0,1] 0.9998646026086564 Centerline is valid? [True, True] Translation: X:62.72, Y:-144.85, Z:2.25 [[ 4.68814794e-01 8.83280100e-01 -5.38094871e-03 6.27228247e+01] [ 8.83223240e-01 -4.68845671e-01 -1.00222145e-02 -1.44850295e+02] [-1.13752571e-02 -5.40165516e-05 -9.99935298e-01 2.24840218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.56 meters Centerline goodness [0,1] 0.9998414998641427 Centerline is valid? [True, True] Translation: X:62.73, Y:-144.86, Z:2.25 [[ 3.97268551e-01 9.17691975e-01 -4.37469464e-03 6.27256819e+01] [ 9.17638065e-01 -3.97292633e-01 -9.94712600e-03 -1.44860959e+02] [-1.08664316e-02 -6.27059871e-05 -9.99940957e-01 2.24756524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.59 meters Centerline goodness [0,1] 0.9999317871759891 Centerline is valid? [True, True] Translation: X:62.73, Y:-144.87, Z:2.25 [[ 3.23458669e-01 9.46235935e-01 -3.47061106e-03 6.27294470e+01] [ 9.46183728e-01 -3.23477280e-01 -9.93992895e-03 -1.44871023e+02] [-1.05281818e-02 -6.86795250e-05 -9.99944575e-01 2.24680102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.62 meters Centerline goodness [0,1] 0.9998636270654817 Centerline is valid? [True, True] Translation: X:62.73, Y:-144.88, Z:2.25 [[ 2.48548371e-01 9.68615988e-01 -2.60303264e-03 6.27327772e+01] [ 9.68565558e-01 -2.48561992e-01 -9.88407249e-03 -1.44881235e+02] [-1.02208856e-02 -6.45376543e-05 -9.99947763e-01 2.24635637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.65 meters Centerline goodness [0,1] 0.9998399195023784 Centerline is valid? [True, True] Translation: X:62.73, Y:-144.89, Z:2.25 [[ 1.73237036e-01 9.84878575e-01 -1.76708256e-03 6.27347181e+01] [ 9.84830210e-01 -1.73246041e-01 -9.76049716e-03 -1.44890725e+02] [-9.91904459e-03 -4.93966838e-05 -9.99950804e-01 2.24576538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.68 meters Centerline goodness [0,1] 0.9998401826484018 Centerline is valid? [True, True] Translation: X:62.74, Y:-144.90, Z:2.25 [[ 9.64785099e-02 9.95334559e-01 -1.00599049e-03 6.27403682e+01] [ 9.95284710e-01 -9.64837461e-02 -9.96154371e-03 -1.44900675e+02] [-1.00121304e-02 -4.01720586e-05 -9.99949877e-01 2.24556552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.71 meters Centerline goodness [0,1] 0.9999083010476605 Centerline is valid? [True, True] Translation: X:62.75, Y:-144.91, Z:2.25 [[ 1.92202074e-02 9.99815252e-01 -2.13118521e-04 6.27465526e+01] [ 9.99769361e-01 -1.92213671e-02 -9.57935986e-03 -1.44909913e+02] [-9.58168652e-03 -2.89520846e-05 -9.99954094e-01 2.24577611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.74 meters Centerline goodness [0,1] 0.9998162144777045 Centerline is valid? [True, True] Translation: X:62.75, Y:-144.92, Z:2.25 [[-5.67265842e-02 9.98389614e-01 5.21952210e-04 6.27508205e+01] [ 9.98346547e-01 5.67289852e-02 -9.27329768e-03 -1.44920294e+02] [-9.28797391e-03 -4.95331468e-06 -9.99956866e-01 2.24674372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.77 meters Centerline goodness [0,1] 0.9999310962585268 Centerline is valid? [True, True] Translation: X:62.76, Y:-144.93, Z:2.25 [[-1.33681993e-01 9.91023466e-01 1.27042006e-03 6.27566603e+01] [ 9.90979068e-01 1.33688029e-01 -9.38073922e-03 -1.44929528e+02] [-9.46637265e-03 4.92377236e-06 -9.99955193e-01 2.24659876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.8 meters Centerline goodness [0,1] 0.9997933789430185 Centerline is valid? [True, True] Translation: X:62.76, Y:-144.94, Z:2.25 [[-2.10591739e-01 9.77571729e-01 2.15277273e-03 6.27643555e+01] [ 9.77521083e-01 2.10602742e-01 -9.95071972e-03 -1.44938505e+02] [-1.01809221e-02 8.84136818e-06 -9.99948173e-01 2.24630446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.83 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.78, Y:-144.95, Z:2.25 [[-2.87196467e-01 9.57866967e-01 3.01058906e-03 6.27769662e+01] [ 9.57814404e-01 2.87212246e-01 -1.00346033e-02 -1.44945677e+02] [-1.04764930e-02 1.68296766e-06 -9.99945120e-01 2.24626240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.86 meters Centerline goodness [0,1] 0.9997477816247449 Centerline is valid? [True, True] Translation: X:62.79, Y:-144.95, Z:2.25 [[-3.62068300e-01 9.32143652e-01 3.84158036e-03 6.27893676e+01] [ 9.32091002e-01 3.62088679e-01 -9.90722283e-03 -1.44952115e+02] [-1.06259476e-02 -6.38884196e-06 -9.99943543e-01 2.24662404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.89 meters Centerline goodness [0,1] 0.999816702944209 Centerline is valid? [True, True] Translation: X:62.80, Y:-144.96, Z:2.25 [[-4.35145749e-01 9.00344966e-01 5.20771534e-03 6.28027160e+01] [ 9.00279868e-01 4.35176909e-01 -1.08266845e-02 -1.44956381e+02] [-1.20140284e-02 -2.27844712e-05 -9.99927829e-01 2.24645086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.92 meters Centerline goodness [0,1] 0.9998628634119583 Centerline is valid? [True, True] Translation: X:62.82, Y:-144.96, Z:2.25 [[-5.04487171e-01 8.63397179e-01 6.16486421e-03 6.28161502e+01] [ 8.63332120e-01 5.04524836e-01 -1.05990323e-02 -1.44961828e+02] [-1.22615017e-02 -2.47505459e-05 -9.99924825e-01 2.24708259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.95 meters Centerline goodness [0,1] 0.9997713606328738 Centerline is valid? [True, True] Translation: X:62.83, Y:-144.96, Z:2.25 [[-5.70906057e-01 8.20985703e-01 6.98207306e-03 6.28291550e+01] [ 8.20923677e-01 5.70948749e-01 -1.00917049e-02 -1.44964168e+02] [-1.22715514e-02 -2.96663831e-05 -9.99924701e-01 2.24634436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.98 meters Centerline goodness [0,1] 0.9997263772345859 Centerline is valid? [True, True] Translation: X:62.84, Y:-144.97, Z:2.25 [[-6.33242108e-01 7.73913587e-01 7.88615518e-03 6.28424043e+01] [ 7.73853048e-01 6.33291211e-01 -9.67994849e-03 -1.44965216e+02] [-1.24856764e-02 -2.70257630e-05 -9.99922051e-01 2.24652628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.01 meters Centerline goodness [0,1] 0.9996128091832551 Centerline is valid? [True, True] Translation: X:62.86, Y:-144.97, Z:2.25 [[-6.90957411e-01 7.22836366e-01 9.24358718e-03 6.28557941e+01] [ 7.22771474e-01 6.91019238e-01 -9.68547234e-03 -1.44966657e+02] [-1.33885082e-02 -1.12477601e-05 -9.99910370e-01 2.24716796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.03999999999996 meters Centerline goodness [0,1] 0.9997945346209164 Centerline is valid? [True, True] Translation: X:62.87, Y:-144.97, Z:2.25 [[-7.44915186e-01 6.67085683e-01 9.90238438e-03 6.28683901e+01] [ 6.67026733e-01 7.44981001e-01 -8.86828916e-03 -1.44967218e+02] [-1.32929970e-02 -9.68167845e-07 -9.99911644e-01 2.24677984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.07 meters Centerline goodness [0,1] 0.9997501362892968 Centerline is valid? [True, True] Translation: X:62.89, Y:-144.95, Z:2.25 [[-7.89444136e-01 6.13733864e-01 1.04259086e-02 6.28929175e+01] [ 6.13680603e-01 7.89512979e-01 -8.08540528e-03 -1.44952652e+02] [-1.31936772e-02 1.52020681e-05 -9.99912960e-01 2.24631074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.09999999999997 meters Centerline goodness [0,1] 0.9998177053662983 Centerline is valid? [True, True] Translation: X:62.91, Y:-144.93, Z:2.25 [[-8.30250917e-01 5.57283679e-01 1.08773541e-02 6.29121854e+01] [ 5.57236316e-01 8.30322167e-01 -7.26551151e-03 -1.44933819e+02] [-1.30806592e-02 2.90591312e-05 -9.99914444e-01 2.24562905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.13 meters Centerline goodness [0,1] 0.9997043236973184 Centerline is valid? [True, True] Translation: X:62.93, Y:-144.92, Z:2.25 [[-8.67223556e-01 4.97787521e-01 1.14406133e-02 6.29345712e+01] [ 4.97744813e-01 8.67299015e-01 -6.52065457e-03 -1.44916191e+02] [-1.31683331e-02 3.96406842e-05 -9.99913293e-01 2.24517375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.15999999999997 meters Centerline goodness [0,1] 0.9997722199444217 Centerline is valid? [True, True] Translation: X:62.95, Y:-144.89, Z:2.24 [[-9.00120248e-01 4.35490876e-01 1.14558606e-02 6.29523566e+01] [ 4.35456214e-01 9.00193143e-01 -5.49458149e-03 -1.44894722e+02] [-1.27053273e-02 4.27416328e-05 -9.99919283e-01 2.24418171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.19 meters Centerline goodness [0,1] 0.9997945955815227 Centerline is valid? [True, True] Translation: X:62.96, Y:-144.87, Z:2.24 [[-9.28801529e-01 3.70387412e-01 1.18694859e-02 6.29583573e+01] [ 3.70357715e-01 9.28877367e-01 -4.69036299e-03 -1.44865830e+02] [-1.27625483e-02 3.95393675e-05 -9.99918555e-01 2.24457614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.21999999999997 meters Centerline goodness [0,1] 0.9997273594765302 Centerline is valid? [True, True] Translation: X:63.00, Y:-144.85, Z:2.24 [[-9.52710622e-01 3.03630498e-01 1.22878173e-02 6.29970075e+01] [ 3.03605781e-01 9.52789861e-01 -3.87439612e-03 -1.44849389e+02] [-1.28840925e-02 3.94740201e-05 -9.99916996e-01 2.24427518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.25 meters Centerline goodness [0,1] 0.9997268443695796 Centerline is valid? [True, True] Translation: X:63.27, Y:-144.01, Z:1.44 [[-9.32324906e-01 -3.61437277e-01 1.15483962e-02 6.32658695e+01] [ 3.61408658e-01 -9.32396424e-01 -4.54873095e-03 -1.44006481e+02] [ 1.24117643e-02 -6.72047562e-05 9.99922969e-01 1.44435483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.28 meters Centerline goodness [0,1] 0.9997724272905193 Centerline is valid? [True, True] Translation: X:62.95, Y:-144.83, Z:2.24 [[-9.54039958e-01 2.99444664e-01 1.18597138e-02 6.29538992e+01] [ 2.99421943e-01 9.54113669e-01 -3.68888133e-03 -1.44833906e+02] [-1.24201309e-02 3.17183574e-05 -9.99922867e-01 2.24375270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.31 meters Centerline goodness [0,1] 0.9998413489868999 Centerline is valid? [True, True] Translation: X:62.97, Y:-144.81, Z:2.24 [[-9.72983466e-01 2.30571680e-01 1.18269210e-02 6.29686899e+01] [ 2.30554954e-01 9.73055343e-01 -2.77736037e-03 -1.44808139e+02] [-1.21486293e-02 2.44295105e-05 -9.99926202e-01 2.24327672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.34 meters Centerline goodness [0,1] 0.9999090640416487 Centerline is valid? [True, True] Translation: X:62.98, Y:-144.78, Z:2.24 [[-9.86971317e-01 1.60480862e-01 1.15547693e-02 6.29765265e+01] [ 1.60470079e-01 9.87038952e-01 -1.86039710e-03 -1.44780592e+02] [-1.17035655e-02 1.80361698e-05 -9.99931511e-01 2.24310656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.37 meters Centerline goodness [0,1] 0.9999773842639709 Centerline is valid? [True, True] Translation: X:63.12, Y:-143.92, Z:1.45 [[-9.74287228e-01 -2.25036612e-01 1.10869212e-02 6.31225257e+01] [ 2.25021598e-01 -9.74350308e-01 -2.59979051e-03 -1.43919426e+02] [ 1.13875931e-02 -3.81459741e-05 9.99935159e-01 1.44644866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.4 meters Centerline goodness [0,1] 0.9998416397077121 Centerline is valid? [True, True] Translation: X:62.91, Y:-144.77, Z:2.24 [[-9.88053194e-01 1.53696428e-01 1.13267316e-02 6.29147276e+01] [ 1.53686203e-01 9.88118114e-01 -1.77280482e-03 -1.44766575e+02] [-1.14646224e-02 -1.08630835e-05 -9.99934279e-01 2.24212901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.43 meters Centerline goodness [0,1] 0.9999322064539455 Centerline is valid? [True, True] Translation: X:63.06, Y:-143.91, Z:1.45 [[-9.74826910e-01 -2.22686588e-01 1.10985721e-02 6.30581313e+01] [ 2.22672221e-01 -9.74890088e-01 -2.52950864e-03 -1.43913499e+02] [ 1.13831756e-02 5.51059871e-06 9.99935210e-01 1.44566288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.46 meters Centerline goodness [0,1] 0.9999548124717578 Centerline is valid? [True, True] Translation: X:62.86, Y:-144.75, Z:2.24 [[-9.89110522e-01 1.46727920e-01 1.14583170e-02 6.28567734e+01] [ 1.46717598e-01 9.89176888e-01 -1.74093197e-03 -1.44753178e+02] [-1.15897457e-02 -4.08373834e-05 -9.99932836e-01 2.24387024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.49 meters Centerline goodness [0,1] 0.9999548124717578 Centerline is valid? [True, True] Translation: X:62.86, Y:-144.73, Z:2.24 [[-9.97029105e-01 7.61543959e-02 1.15529626e-02 6.28646498e+01] [ 7.61488093e-02 9.97096037e-01 -9.23317665e-04 -1.44726573e+02] [-1.15897279e-02 -4.08302401e-05 -9.99932836e-01 2.24387004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.52 meters Centerline goodness [0,1] 0.9998650897153393 Centerline is valid? [True, True] Translation: X:62.94, Y:-143.88, Z:1.44 [[-9.88379449e-01 -1.51578137e-01 1.14076193e-02 6.29406816e+01] [ 1.51568475e-01 -9.88445278e-01 -1.71189825e-03 -1.43875599e+02] [ 1.15352938e-02 3.70304102e-05 9.99933466e-01 1.44402722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.55 meters Centerline goodness [0,1] 0.9998874127448772 Centerline is valid? [True, True] Translation: X:62.79, Y:-144.72, Z:2.25 [[-9.97521965e-01 6.93250801e-02 1.19984328e-02 6.27901593e+01] [ 6.93192860e-02 9.97594120e-01 -8.98610383e-04 -1.44715247e+02] [-1.20318623e-02 -6.46607981e-05 -9.99927612e-01 2.24542425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.58 meters Centerline goodness [0,1] 0.9999551358262859 Centerline is valid? [True, True] Translation: X:62.87, Y:-143.87, Z:1.44 [[-9.89050950e-01 -1.47085576e-01 1.20021787e-02 6.28654587e+01] [ 1.47075620e-01 -9.89123768e-01 -1.71285857e-03 -1.43872585e+02] [ 1.21235770e-02 7.11234692e-05 9.99926504e-01 1.44250365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.61 meters Centerline goodness [0,1] 0.9999775704288534 Centerline is valid? [True, True] Translation: X:62.72, Y:-144.71, Z:2.25 [[-9.97881750e-01 6.38690115e-02 1.23597205e-02 6.27192657e+01] [ 6.38632390e-02 9.97958288e-01 -8.61559609e-04 -1.44708085e+02] [-1.23895124e-02 -7.04028283e-05 -9.99923245e-01 2.24540658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.64 meters Centerline goodness [0,1] 0.9999775714349796 Centerline is valid? [True, True] Translation: X:62.73, Y:-144.68, Z:2.25 [[-9.99907756e-01 -6.99649158e-03 1.16416481e-02 6.27268072e+01] [-6.99675614e-03 9.99975522e-01 1.80040446e-05 -1.44680303e+02] [-1.16414891e-02 -6.34513888e-05 -9.99932234e-01 2.24507148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.67 meters Centerline goodness [0,1] 0.9998878043307529 Centerline is valid? [True, True] Translation: X:62.73, Y:-144.65, Z:2.24 [[-9.96883177e-01 -7.81205069e-02 1.10053277e-02 6.27265929e+01] [-7.81164092e-02 9.96943922e-01 8.02366518e-04 -1.44652436e+02] [-1.10343758e-02 -5.98309966e-05 -9.99939118e-01 2.24411932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.7 meters Centerline goodness [0,1] 0.9999776491361391 Centerline is valid? [True, True] Translation: X:62.67, Y:-143.81, Z:1.45 [[-9.99952103e-01 -2.95825350e-04 9.78280417e-03 6.26746219e+01] [ 2.95509436e-04 -9.99999956e-01 -3.37383416e-05 -1.43814375e+02] [ 9.78281371e-03 -3.08458147e-05 9.99952147e-01 1.44557452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.73 meters Centerline goodness [0,1] 0.999933004310056 Centerline is valid? [True, True] Translation: X:62.62, Y:-144.66, Z:2.24 [[-9.96329974e-01 -8.50447036e-02 9.69442708e-03 6.26198217e+01] [-8.50412313e-02 9.96377135e-01 7.70580263e-04 -1.44656543e+02] [-9.72483925e-03 -5.66738026e-05 -9.99952711e-01 2.24336521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.76 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.61, Y:-144.63, Z:2.24 [[-9.87682651e-01 -1.56153717e-01 9.94973647e-03 6.26146703e+01] [-1.56146412e-01 9.87732764e-01 1.51157136e-03 -1.44628743e+02] [-1.00637182e-02 -6.06628442e-05 -9.99949358e-01 2.24372714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.78999999999996 meters Centerline goodness [0,1] 0.9999776441394111 Centerline is valid? [True, True] Translation: X:62.59, Y:-144.61, Z:2.24 [[-9.73823910e-01 -2.27093886e-01 9.76517526e-03 6.25927510e+01] [-2.27083127e-01 9.73872868e-01 2.21148028e-03 -1.44605061e+02] [-1.00122529e-02 -6.39141580e-05 -9.99949874e-01 2.24319549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.82 meters Centerline goodness [0,1] 0.9999776785714286 Centerline is valid? [True, True] Translation: X:62.55, Y:-144.59, Z:2.24 [[-9.54494098e-01 -2.98082262e-01 9.37989127e-03 6.25519834e+01] [-2.98068553e-01 9.54540183e-01 2.85952469e-03 -1.44587402e+02] [-9.80585671e-03 -6.64511866e-05 -9.99951919e-01 2.24265105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.84999999999997 meters Centerline goodness [0,1] 0.9999329189213363 Centerline is valid? [True, True] Translation: X:62.49, Y:-144.58, Z:2.24 [[-9.29789954e-01 -3.67975608e-01 9.19746984e-03 6.24852575e+01] [-3.67958377e-01 9.29835441e-01 3.56175979e-03 -1.44581169e+02] [-9.86277414e-03 -7.25976022e-05 -9.99951359e-01 2.24229020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.88 meters Centerline goodness [0,1] 0.9999333333333333 Centerline is valid? [True, True] Translation: X:62.42, Y:-144.58, Z:2.24 [[-8.99496149e-01 -4.36832383e-01 9.17315064e-03 6.24243748e+01] [-4.36810591e-01 8.99542918e-01 4.36412491e-03 -1.44576982e+02] [-1.01580338e-02 -8.14157989e-05 -9.99948403e-01 2.24220489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.90999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.35, Y:-144.59, Z:2.24 [[-8.64072192e-01 -5.03296124e-01 8.50048526e-03 6.23478090e+01] [-5.03272708e-01 8.64114000e-01 4.85555068e-03 -1.44585495e+02] [-9.78916816e-03 -8.25159111e-05 -9.99952082e-01 2.24215431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.94 meters Centerline goodness [0,1] 0.9999777357230324 Centerline is valid? [True, True] Translation: X:62.26, Y:-144.60, Z:2.24 [[-8.23007541e-01 -5.67970021e-01 8.28511833e-03 6.22635802e+01] [-5.67942432e-01 8.23049236e-01 5.59892540e-03 -1.44604768e+02] [-9.99908209e-03 -9.75124353e-05 -9.99950003e-01 2.24129129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.96999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.17, Y:-144.64, Z:2.24 [[-7.77371049e-01 -6.28997627e-01 7.49909902e-03 6.21712391e+01] [-6.28969599e-01 7.77407213e-01 5.93877455e-03 -1.44638508e+02] [-9.56532877e-03 -1.00073894e-04 -9.99954246e-01 2.24080785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.0 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.08, Y:-144.68, Z:2.24 [[-7.26824704e-01 -6.86789535e-01 6.78110488e-03 6.20824594e+01] [-6.86760964e-01 7.26856329e-01 6.26539593e-03 -1.44678614e+02] [-9.23189736e-03 -1.03153582e-04 -9.99957380e-01 2.23995691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.03 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.00, Y:-144.73, Z:2.24 [[-6.71845286e-01 -7.40666099e-01 6.13531795e-03 6.19955916e+01] [-7.40636656e-01 6.71873291e-01 6.60491682e-03 -1.44726360e+02] [-9.01419423e-03 -1.06559143e-04 -9.99959366e-01 2.23962120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.06 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.91, Y:-144.78, Z:2.24 [[-6.12755046e-01 -7.90253542e-01 5.53120920e-03 6.19143539e+01] [-7.90222945e-01 6.12780000e-01 6.95473959e-03 -1.44778955e+02] [-8.88542196e-03 -1.09336651e-04 -9.99960518e-01 2.23868395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.09 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.83, Y:-144.85, Z:2.24 [[-5.50349105e-01 -8.34920676e-01 4.82985398e-03 6.18289411e+01] [-8.34890210e-01 5.50370288e-01 7.13329365e-03 -1.44849682e+02] [-8.61394248e-03 -1.06596024e-04 -9.99962894e-01 2.23791560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.12 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.75, Y:-144.93, Z:2.24 [[-4.84799626e-01 -8.74615544e-01 4.11980113e-03 6.17500374e+01] [-8.74585699e-01 4.84817120e-01 7.22599727e-03 -1.44926653e+02] [-8.31731965e-03 -9.99583742e-05 -9.99965406e-01 2.23696166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.15 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.67, Y:-145.01, Z:2.24 [[-4.16582255e-01 -9.09091150e-01 3.53635527e-03 6.16743962e+01] [-9.09060288e-01 4.16597254e-01 7.49138300e-03 -1.45014540e+02] [-8.28358588e-03 -9.39829162e-05 -9.99965686e-01 2.23656771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.18 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.60, Y:-145.12, Z:2.24 [[-3.46102995e-01 -9.38191292e-01 3.13308139e-03 6.16012572e+01] [-9.38155215e-01 3.46117163e-01 8.22815592e-03 -1.45119093e+02] [-8.80399748e-03 -9.15272414e-05 -9.99961240e-01 2.23674679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.21 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.55, Y:-145.20, Z:2.24 [[-2.75160574e-01 -9.61394349e-01 2.75035527e-03 6.15480557e+01] [-9.61348971e-01 2.75174310e-01 9.34100519e-03 -1.45199865e+02] [-9.73721671e-03 -7.37748573e-05 -9.99952589e-01 2.23678194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.24 meters Centerline goodness [0,1] 0.9999550773792143 Centerline is valid? [True, True] Translation: X:61.49, Y:-145.31, Z:2.24 [[-2.01455521e-01 -9.79495302e-01 2.15089669e-03 6.14940686e+01] [-9.79442739e-01 2.01466993e-01 1.01475103e-02 -1.45307063e+02] [-1.03727734e-02 -6.24081751e-05 -9.99946199e-01 2.23699145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.27 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.45, Y:-145.42, Z:2.24 [[-1.26582852e-01 -9.91955018e-01 1.42255727e-03 6.14482111e+01] [-9.91896515e-01 1.26590837e-01 1.07732776e-02 -1.45421338e+02] [-1.08666895e-02 -4.73173908e-05 -9.99940955e-01 2.23727917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.3 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.41, Y:-145.53, Z:2.24 [[-5.12181701e-02 -9.98687315e-01 5.87883748e-04 6.14118391e+01] [-9.98627423e-01 5.12215368e-02 1.09372804e-02 -1.45530355e+02] [-1.09530355e-02 -2.68893420e-05 -9.99940013e-01 2.23748446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.33 meters Centerline goodness [0,1] 0.9999323821759416 Centerline is valid? [True, True] Translation: X:61.38, Y:-145.65, Z:2.24 [[ 2.45735322e-02 -9.99697987e-01 -2.77250768e-04 6.13836936e+01] [-9.99630934e-01 -2.45750951e-02 1.15784183e-02 -1.45650652e+02] [-1.15817350e-02 -7.37419192e-06 -9.99932929e-01 2.23747866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.36 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.37, Y:-145.76, Z:2.24 [[ 9.85052043e-02 -9.95135825e-01 -1.18940485e-03 6.13654636e+01] [-9.95067491e-01 -9.85123786e-02 1.16618704e-02 -1.45764944e+02] [-1.17223161e-02 3.47831725e-05 -9.99931291e-01 2.23700468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.39 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.36, Y:-145.89, Z:2.24 [[ 1.74001063e-01 -9.84743319e-01 -2.05581391e-03 6.13557540e+01] [-9.84677991e-01 -1.74013200e-01 1.13428257e-02 -1.45886064e+02] [-1.15275106e-02 5.06509759e-05 -9.99933555e-01 2.23741729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.42 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.36, Y:-146.01, Z:2.24 [[ 2.48386995e-01 -9.68656505e-01 -2.91139356e-03 6.13556256e+01] [-9.68593090e-01 -2.48404047e-01 1.10840463e-02 -1.46009919e+02] [-1.14598355e-02 6.68227198e-05 -9.99934332e-01 2.23742411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.45 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.36, Y:-146.13, Z:2.24 [[ 3.21122823e-01 -9.47030276e-01 -3.71344052e-03 6.13636172e+01] [-9.46969980e-01 -3.21144282e-01 1.06867727e-02 -1.46128988e+02] [-1.13132475e-02 8.47500641e-05 -9.99936000e-01 2.23770535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.48 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.38, Y:-146.25, Z:2.24 [[ 3.91365586e-01 -9.20224869e-01 -4.37814711e-03 6.13846974e+01] [-9.20170307e-01 -3.91390059e-01 1.00213217e-02 -1.46254051e+02] [-1.09354327e-02 1.06640550e-04 -9.99940201e-01 2.23725976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.51 meters Centerline goodness [0,1] 0.9999550743519475 Centerline is valid? [True, True] Translation: X:61.41, Y:-146.36, Z:2.24 [[ 4.60447496e-01 -8.87671937e-01 -5.16104580e-03 6.14061479e+01] [-8.87619047e-01 -4.60476404e-01 9.69065294e-03 -1.46361044e+02] [-1.09786605e-02 1.19005680e-04 -9.99939726e-01 2.23640875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.53999999999996 meters Centerline goodness [0,1] 0.999932640276624 Centerline is valid? [True, True] Translation: X:61.44, Y:-146.47, Z:2.24 [[ 5.26822175e-01 -8.49957679e-01 -5.50819978e-03 6.14392507e+01] [-8.49913609e-01 -5.26850956e-01 8.65612367e-03 -1.46472533e+02] [-1.02593391e-02 1.21256051e-04 -9.99947364e-01 2.23589644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.57 meters Centerline goodness [0,1] 0.99997747798473 Centerline is valid? [True, True] Translation: X:61.48, Y:-146.58, Z:2.24 [[ 5.90313373e-01 -8.07151334e-01 -6.07006627e-03 6.14807592e+01] [-8.07110842e-01 -5.90344567e-01 8.08588178e-03 -1.46581826e+02] [-1.01099609e-02 1.26012155e-04 -9.99948885e-01 2.23517605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.59999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.53, Y:-146.69, Z:2.23 [[ 6.50325210e-01 -7.59623931e-01 -6.97175545e-03 6.15302276e+01] [-7.59582515e-01 -6.50362565e-01 7.93333240e-03 -1.46686959e+02] [-1.05605179e-02 1.36377481e-04 -9.99944227e-01 2.23467396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.63 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.58, Y:-146.78, Z:2.23 [[ 7.06521111e-01 -7.07652303e-01 -7.49256541e-03 6.15814691e+01] [-7.07614559e-01 -7.06560825e-01 7.30994631e-03 -1.46781173e+02] [-1.04668535e-02 1.37216990e-04 -9.99945212e-01 2.23485058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.65999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.58, Y:-146.79, Z:2.23 [[ 7.59916500e-01 -6.49965372e-01 -8.48103839e-03 6.15759419e+01] [-6.49926937e-01 -7.59963812e-01 7.06976013e-03 -1.46787715e+02] [-1.10403815e-02 1.39627929e-04 -9.99939043e-01 2.23478767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.69 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.57, Y:-146.80, Z:2.23 [[ 8.08769882e-01 -5.88047382e-01 -9.56840730e-03 6.15689061e+01] [-5.88008272e-01 -8.08826469e-01 6.78340140e-03 -1.46796098e+02] [-1.17281425e-02 1.40091894e-04 -9.99931213e-01 2.23432889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.71999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.56, Y:-146.80, Z:2.23 [[ 8.53131007e-01 -5.21589135e-01 -1.05952213e-02 6.15602554e+01] [-5.21550744e-01 -8.53196788e-01 6.32955812e-03 -1.46803571e+02] [-1.23412375e-02 1.26003229e-04 -9.99923836e-01 2.23473357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.55, Y:-146.81, Z:2.24 [[ 8.91754363e-01 -4.52375748e-01 -1.14165637e-02 6.15533067e+01] [-4.52340350e-01 -8.91827432e-01 5.66032820e-03 -1.46809766e+02] [-1.27421999e-02 1.16550035e-04 -9.99918808e-01 2.23524572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.78 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.55, Y:-146.82, Z:2.23 [[ 9.24600186e-01 -3.80757339e-01 -1.17619721e-02 6.15464188e+01] [-3.80728033e-01 -9.24674990e-01 4.72522197e-03 -1.46819871e+02] [-1.26751644e-02 1.09171402e-04 -9.99919661e-01 2.23487427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.81 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.54, Y:-146.83, Z:2.23 [[ 9.51753976e-01 -3.06624409e-01 -1.20764522e-02 6.15402365e+01] [-3.06601060e-01 -9.51830585e-01 3.78524708e-03 -1.46828370e+02] [-1.26553857e-02 1.00029095e-04 -9.99919912e-01 2.23495720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.84 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.53, Y:-146.84, Z:2.24 [[ 9.72878360e-01 -2.31001948e-01 -1.20746514e-02 6.15342872e+01] [-2.30985373e-01 -9.72953283e-01 2.76887287e-03 -1.46835485e+02] [-1.23876867e-02 9.52913578e-05 -9.99923265e-01 2.23646088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.87 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.53, Y:-146.84, Z:2.24 [[ 9.87990030e-01 -1.54042132e-01 -1.21128670e-02 6.15277080e+01] [-1.54031713e-01 -9.88064276e-01 1.79399732e-03 -1.46840276e+02] [-1.22446423e-02 9.33141890e-05 -9.99925027e-01 2.23567220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.9 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.52, Y:-146.85, Z:2.23 [[ 9.96985502e-01 -7.66143017e-02 -1.22539125e-02 6.15210582e+01] [-7.66097277e-02 -9.97060800e-01 8.42923466e-04 -1.46849102e+02] [-1.22824758e-02 9.83864255e-05 -9.99924563e-01 2.23494948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.93 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.52, Y:-146.86, Z:2.23 [[ 9.99927314e-01 1.25573969e-03 -1.19912390e-02 6.15152086e+01] [ 1.25443902e-03 -9.99999206e-01 -1.15989222e-04 -1.46857892e+02] [-1.19913751e-02 1.00938513e-04 -9.99928096e-01 2.23447544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.96 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.51, Y:-146.87, Z:2.23 [[ 9.96740993e-01 7.98219876e-02 -1.16551567e-02 6.15096905e+01] [ 7.98154136e-02 -9.96809130e-01 -1.02884130e-03 -1.46867438e+02] [-1.17000908e-02 9.52271446e-05 -9.99931547e-01 2.23443108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.99 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.51, Y:-146.88, Z:2.23 [[ 9.87328523e-01 1.58263099e-01 -1.16266841e-02 6.15055384e+01] [ 1.58251076e-01 -9.87396974e-01 -1.95268210e-03 -1.46878857e+02] [-1.17891902e-02 8.80034555e-05 -9.99930501e-01 2.23448551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.02 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.50, Y:-146.89, Z:2.24 [[ 9.71237922e-01 2.37821739e-01 -1.17354032e-02 6.15022089e+01] [ 2.37803680e-01 -9.71308817e-01 -2.93131237e-03 -1.46891843e+02] [-1.20958304e-02 5.62796628e-05 -9.99926841e-01 2.23545767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.05 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.50, Y:-146.90, Z:2.24 [[ 9.49018041e-01 3.15002584e-01 -1.17528287e-02 6.14998042e+01] [ 3.14978000e-01 -9.49090813e-01 -3.93555158e-03 -1.46901004e+02] [-1.23942107e-02 3.30269687e-05 -9.99923188e-01 2.23564638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.08 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.50, Y:-146.91, Z:2.24 [[ 9.20654604e-01 3.90198954e-01 -1.18269601e-02 6.14968602e+01] [ 3.90166646e-01 -9.20730567e-01 -5.02114700e-03 -1.46910261e+02] [-1.28486900e-02 8.25675666e-06 -9.99917452e-01 2.23597185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.11 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.50, Y:-146.92, Z:2.24 [[ 8.86280037e-01 4.63000920e-01 -1.17407241e-02 6.14961518e+01] [ 4.62960608e-01 -8.86357799e-01 -6.10965426e-03 -1.46920016e+02] [-1.32352580e-02 -2.06281849e-05 -9.99912410e-01 2.23602272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.14 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.50, Y:-146.93, Z:2.24 [[ 8.46347102e-01 5.32504008e-01 -1.16646973e-02 6.14951354e+01] [ 5.32454197e-01 -8.46427480e-01 -7.28346118e-03 -1.46928977e+02] [-1.37517926e-02 -4.65807703e-05 -9.99905439e-01 2.23662174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.17 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.49, Y:-146.94, Z:2.24 [[ 8.01020612e-01 5.98529708e-01 -1.13211482e-02 6.14947557e+01] [ 5.98471210e-01 -8.01100608e-01 -8.36826407e-03 -1.46936519e+02] [-1.40780333e-02 -7.22292467e-05 -9.99900897e-01 2.23698948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.2 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.49, Y:-146.95, Z:2.24 [[ 7.50522034e-01 6.60758315e-01 -1.07296711e-02 6.14943329e+01] [ 6.60692666e-01 -7.50598721e-01 -9.31453824e-03 -1.46945446e+02] [-1.42083360e-02 -9.82488434e-05 -9.99899052e-01 2.23718859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.23 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.49, Y:-146.95, Z:2.24 [[ 6.96175476e-01 7.17806206e-01 -9.69317558e-03 6.14931369e+01] [ 7.17738660e-01 -6.96242946e-01 -9.84759877e-03 -1.46951924e+02] [-1.38174726e-02 -1.01510098e-04 -9.99904529e-01 2.23778046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.26 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.49, Y:-146.96, Z:2.24 [[ 6.37804020e-01 7.70146795e-01 -8.94127515e-03 6.14923644e+01] [ 7.70073376e-01 -6.37866681e-01 -1.06344716e-02 -1.46956789e+02] [-1.38934458e-02 -1.02729190e-04 -9.99903476e-01 2.23728975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.28999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.49, Y:-146.96, Z:2.24 [[ 5.75525994e-01 8.17744392e-01 -7.99627722e-03 6.14915401e+01] [ 8.17667915e-01 -5.75581532e-01 -1.11839656e-02 -1.46961572e+02] [-1.37481346e-02 -1.01636406e-04 -9.99905485e-01 2.23721495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.32 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.49, Y:-146.97, Z:2.24 [[ 5.09939114e-01 8.60179862e-01 -7.25989958e-03 6.14894905e+01] [ 8.60095482e-01 -5.09990780e-01 -1.20484674e-02 -1.46967581e+02] [-1.40663309e-02 -1.00222030e-04 -9.99901059e-01 2.23723694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.34999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.49, Y:-146.97, Z:2.24 [[ 4.41197906e-01 8.97388029e-01 -6.25559850e-03 6.14871277e+01] [ 8.97300944e-01 -4.41242241e-01 -1.25020246e-02 -1.46971556e+02] [-1.39794015e-02 -9.72873792e-05 -9.99902279e-01 2.23724144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.38 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.48, Y:-146.98, Z:2.24 [[ 3.69788212e-01 9.29100803e-01 -5.32694759e-03 6.14846660e+01] [ 9.29008100e-01 -3.69826566e-01 -1.31248354e-02 -1.46975958e+02] [-1.41643418e-02 -9.53680542e-05 -9.99899676e-01 2.23743415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.40999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.48, Y:-146.98, Z:2.24 [[ 2.95898076e-01 9.55209918e-01 -4.28272759e-03 6.14822835e+01] [ 9.55114496e-01 -2.95929052e-01 -1.35017004e-02 -1.46981227e+02] [-1.41643416e-02 -9.53680390e-05 -9.99899676e-01 2.23743415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.44 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.48, Y:-146.99, Z:2.24 [[ 2.20263584e-01 9.75435167e-01 -3.19206924e-03 6.14799255e+01] [ 9.75338798e-01 -2.20286693e-01 -1.37113581e-02 -1.46986080e+02] [-1.40777112e-02 -9.32361081e-05 -9.99900900e-01 2.23750164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.46999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.48, Y:-146.99, Z:2.24 [[ 1.43462724e-01 9.89653619e-01 -2.03971156e-03 6.14772566e+01] [ 9.89561958e-01 -1.43477197e-01 -1.34694360e-02 -1.46991008e+02] [-1.36227281e-02 -8.60589988e-05 -9.99907203e-01 2.23712791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.48, Y:-147.00, Z:2.24 [[ 6.57774474e-02 9.97833874e-01 -9.41682187e-04 6.14768394e+01] [ 9.97748201e-01 -6.57841397e-02 -1.30757359e-02 -1.46997008e+02] [-1.31093600e-02 -7.94731786e-05 -9.99914066e-01 2.23617026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.53 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.48, Y:-147.00, Z:2.24 [[-1.09265669e-02 9.99940300e-01 8.23160561e-05 6.14755025e+01] [ 9.99860392e-01 1.09267344e-02 -1.26413068e-02 -1.47003658e+02] [-1.26414516e-02 -5.58215205e-05 -9.99920092e-01 2.23610941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.47, Y:-147.01, Z:2.24 [[-8.82841870e-02 9.96094768e-01 1.05655518e-03 6.14741052e+01] [ 9.96017452e-01 8.82904984e-02 -1.24106098e-02 -1.47011126e+02] [-1.24554273e-02 -4.33131960e-05 -9.99922427e-01 2.23679147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.59 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.47, Y:-147.02, Z:2.24 [[-1.63622872e-01 9.86520924e-01 2.00568070e-03 6.14701850e+01] [ 9.86445863e-01 1.63635163e-01 -1.21693276e-02 -1.47017419e+02] [-1.23334962e-02 -1.26849053e-05 -9.99923939e-01 2.23744636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.62 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.47, Y:-147.02, Z:2.24 [[-2.39238745e-01 9.70956122e-01 3.00540062e-03 6.14672709e+01] [ 9.70879638e-01 2.39257622e-01 -1.21868720e-02 -1.47024099e+02] [-1.25519829e-02 2.31030685e-06 -9.99921221e-01 2.23772053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.65 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.46, Y:-147.03, Z:2.24 [[-3.13375297e-01 9.49621187e-01 3.93997943e-03 6.14645705e+01] [ 9.49546859e-01 3.13400064e-01 -1.18811949e-02 -1.47032135e+02] [-1.25174242e-02 1.79221005e-05 -9.99921654e-01 2.23781496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.68 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.47, Y:-147.04, Z:2.24 [[-3.85475448e-01 9.22704111e-01 5.07963328e-03 6.14715722e+01] [ 9.22625290e-01 3.85508913e-01 -1.20603738e-02 -1.47035508e+02] [-1.30864004e-02 3.76201383e-05 -9.99914369e-01 2.23574473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.71 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.48, Y:-147.04, Z:2.24 [[-4.55773943e-01 8.90073821e-01 6.22139595e-03 6.14780429e+01] [ 8.89992425e-01 4.55816400e-01 -1.20371912e-02 -1.47040100e+02] [-1.35498031e-02 5.07571528e-05 -9.99908196e-01 2.23936556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.74 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.49, Y:-147.04, Z:2.24 [[-5.23077843e-01 8.52251680e-01 7.52617882e-03 6.14850267e+01] [ 8.52165414e-01 5.23131980e-01 -1.21259737e-02 -1.47043278e+02] [-1.42715663e-02 7.07211297e-05 -9.99898154e-01 2.23710970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.77 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.49, Y:-147.05, Z:2.24 [[-5.86770566e-01 8.09711269e-01 8.24398050e-03 6.14893493e+01] [ 8.09633603e-01 5.86828469e-01 -1.12150444e-02 -1.47048812e+02] [-1.39187503e-02 9.39457096e-05 -9.99903125e-01 2.24022935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.8 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.49, Y:-147.06, Z:2.24 [[-6.47664631e-01 7.61872623e-01 8.97954772e-03 6.14870065e+01] [ 7.61801666e-01 6.47726867e-01 -1.03984314e-02 -1.47059884e+02] [-1.37385745e-02 1.05938205e-04 -9.99905616e-01 2.23971911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.83 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.49, Y:-147.07, Z:2.24 [[-7.05030078e-01 7.09114694e-01 9.43076618e-03 6.14860595e+01] [ 7.09053314e-01 7.05093142e-01 -9.33059591e-03 -1.47071712e+02] [-1.32660312e-02 1.08565243e-04 -9.99911996e-01 2.23907734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.86 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.51, Y:-147.06, Z:2.24 [[-7.53096854e-01 6.57834655e-01 9.93454998e-03 6.15105876e+01] [ 6.57779403e-01 7.53162369e-01 -8.52662871e-03 -1.47056049e+02] [-1.30914411e-02 1.13365090e-04 -9.99914297e-01 2.23595947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.53, Y:-147.04, Z:2.24 [[-7.97526810e-01 6.03198521e-01 1.01257987e-02 6.15312868e+01] [ 6.03151711e-01 7.97591080e-01 -7.51549053e-03 -1.47039853e+02] [-1.26095795e-02 1.13587636e-04 -9.99920490e-01 2.23550090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.92 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.55, Y:-147.02, Z:2.24 [[-8.38409284e-01 5.44940080e-01 1.04967316e-02 6.15469225e+01] [ 5.44898976e-01 8.38474983e-01 -6.69391111e-03 -1.47018025e+02] [-1.24490273e-02 1.07421078e-04 -9.99922502e-01 2.23547898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.95 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:62.00, Y:-146.34, Z:1.45 [[-8.09948809e-01 -5.86417599e-01 9.86543406e-03 6.19987204e+01] [ 5.86372339e-01 -8.10008880e-01 -7.28653035e-03 -1.46338253e+02] [ 1.22640388e-02 -1.16898939e-04 9.99924787e-01 1.45348599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.98 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.52, Y:-147.00, Z:2.24 [[-8.40822169e-01 5.41219486e-01 9.97737870e-03 6.15161093e+01] [ 5.41182679e-01 8.40881359e-01 -6.31255448e-03 -1.47000633e+02] [-1.18062692e-02 9.18487843e-05 -9.99930299e-01 2.23500088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.01 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.96, Y:-146.31, Z:1.45 [[-8.10809334e-01 -5.85231990e-01 9.57819932e-03 6.19605525e+01] [ 5.85189872e-01 -8.10865901e-01 -7.02163702e-03 -1.46314594e+02] [ 1.18759218e-02 -8.81435971e-05 9.99929475e-01 1.45449313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.03999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.47, Y:-146.97, Z:2.23 [[-8.44097796e-01 5.36101343e-01 9.70881184e-03 6.14744314e+01] [ 5.36066709e-01 8.44153627e-01 -6.09407929e-03 -1.46974699e+02] [-1.14627728e-02 6.05719126e-05 -9.99934298e-01 2.23382990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.50, Y:-146.96, Z:2.23 [[-8.80542602e-01 4.73866448e-01 9.76300059e-03 6.15000646e+01] [ 4.73837881e-01 8.80596723e-01 -5.20333158e-03 -1.46957280e+02] [-1.10629506e-02 4.43243840e-05 -9.99938803e-01 2.23410816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.09999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.52, Y:-146.93, Z:2.23 [[-9.12558103e-01 4.08811243e-01 1.05392935e-02 6.15158819e+01] [ 4.08784328e-01 9.12618960e-01 -4.69114163e-03 -1.46933472e+02] [-1.15361505e-02 2.73587143e-05 -9.99933456e-01 2.23387906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.13 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.85, Y:-146.19, Z:1.46 [[-8.84108859e-01 -4.67165719e-01 1.03786447e-02 6.18491473e+01] [ 4.67133338e-01 -8.84169775e-01 -5.50026716e-03 -1.46191542e+02] [ 1.17460202e-02 -1.46239681e-05 9.99931013e-01 1.45505282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.15999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.47, Y:-146.91, Z:2.23 [[-9.16982636e-01 3.98755647e-01 1.16952728e-02 6.14734619e+01] [ 3.98722346e-01 9.17057212e-01 -5.15375579e-03 -1.46910733e+02] [-1.27803235e-02 -6.27379561e-05 -9.99918326e-01 2.23449325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.19 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.80, Y:-146.17, Z:1.45 [[-8.82377883e-01 -4.70405911e-01 1.12938752e-02 6.17970124e+01] [ 4.70368277e-01 -8.82450155e-01 -5.95046112e-03 -1.46174527e+02] [ 1.27654140e-02 6.17253229e-05 9.99918517e-01 1.45406037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.21999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.43, Y:-146.89, Z:2.23 [[-9.20286671e-01 3.91066441e-01 1.18102313e-02 6.14285771e+01] [ 3.91032526e-01 9.20362441e-01 -5.15171180e-03 -1.46887601e+02] [-1.28843549e-02 -1.22867109e-04 -9.99916986e-01 2.23493314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.25 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.44, Y:-146.86, Z:2.24 [[-9.46296814e-01 3.23060324e-01 1.24244814e-02 6.14428084e+01] [ 3.23030381e-01 9.46378362e-01 -4.40102207e-03 -1.46862234e+02] [-1.31800560e-02 -1.51188197e-04 -9.99913128e-01 2.23525181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.28 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.72, Y:-146.12, Z:1.45 [[-9.12078710e-01 -4.09840882e-01 1.19531747e-02 6.17167219e+01] [ 4.09807706e-01 -9.12157021e-01 -5.21654643e-03 -1.46117903e+02] [ 1.30411262e-02 1.40602162e-04 9.99914951e-01 1.45369221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.31 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.40, Y:-146.85, Z:2.24 [[-9.48761449e-01 3.15768564e-01 1.19133043e-02 6.14036842e+01] [ 3.15741104e-01 9.48836222e-01 -4.16883530e-03 -1.46846721e+02] [-1.26201618e-02 -1.93710360e-04 -9.99920344e-01 2.23505400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.34 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.67, Y:-146.10, Z:1.45 [[-9.12886200e-01 -4.08039305e-01 1.19462084e-02 6.16706859e+01] [ 4.08007545e-01 -9.12964335e-01 -5.09582850e-03 -1.46102766e+02] [ 1.29857605e-02 2.22231624e-04 9.99915657e-01 1.45379052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.37 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.36, Y:-146.83, Z:2.23 [[-9.50694999e-01 3.09902775e-01 1.18020586e-02 6.13589158e+01] [ 3.09875995e-01 9.50768227e-01 -4.08008378e-03 -1.46831513e+02] [-1.24854516e-02 -2.21740602e-04 -9.99922029e-01 2.23493141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.4 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.37, Y:-146.81, Z:2.23 [[-9.70497336e-01 2.40792016e-01 1.24147858e-02 6.13674356e+01] [ 2.40769135e-01 9.70576709e-01 -3.32815015e-03 -1.46812211e+02] [-1.28508939e-02 -2.40863617e-04 -9.99917395e-01 2.23019005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.43 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.58, Y:-146.04, Z:1.46 [[-9.39619441e-01 -3.42005162e-01 1.21563013e-02 6.15840114e+01] [ 3.41979846e-01 -9.39698043e-01 -4.16819673e-03 -1.46040093e+02] [ 1.28487973e-02 2.40691363e-04 9.99917422e-01 1.45830906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.46 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.32, Y:-146.80, Z:2.23 [[-9.71844459e-01 2.35295207e-01 1.24303573e-02 6.13185474e+01] [ 2.35272475e-01 9.71923914e-01 -3.28132107e-03 -1.46799923e+02] [-1.28534407e-02 -2.64412767e-04 -9.99917356e-01 2.23031669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.49 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.53, Y:-146.03, Z:1.46 [[-9.40279949e-01 -3.40179876e-01 1.22991974e-02 6.15332956e+01] [ 3.40154589e-01 -9.40360344e-01 -4.15682765e-03 -1.46027211e+02] [ 1.29797466e-02 2.75046757e-04 9.99915722e-01 1.45778385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.52 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.28, Y:-146.79, Z:2.23 [[-9.73184671e-01 2.29672178e-01 1.27391577e-02 6.12752546e+01] [ 2.29648511e-01 9.73268002e-01 -3.31036501e-03 -1.46788648e+02] [-1.31589133e-02 -2.96067887e-04 -9.99913374e-01 2.23128951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.55 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.28, Y:-146.76, Z:2.23 [[-9.87205562e-01 1.58849252e-01 1.38598012e-02 6.12799311e+01] [ 1.58828823e-01 9.87302792e-01 -2.56950258e-03 -1.46763150e+02] [-1.40919839e-02 -3.35291333e-04 -9.99900647e-01 2.23237463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.58 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.28, Y:-146.74, Z:2.23 [[-9.96023446e-01 8.79172487e-02 1.44170565e-02 6.12844371e+01] [ 8.79029164e-02 9.96127719e-01 -1.62603971e-03 -1.46737286e+02] [-1.45041866e-02 -3.52272356e-04 -9.99894747e-01 2.23259275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.61 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.39, Y:-145.94, Z:1.46 [[-9.79040607e-01 -2.03171624e-01 1.41696941e-02 6.13875001e+01] [ 2.03155405e-01 -9.79143081e-01 -2.58993302e-03 -1.45938722e+02] [ 1.44003589e-02 3.43000358e-04 9.99896251e-01 1.45591814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.64 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.23, Y:-146.73, Z:2.23 [[-9.96474269e-01 8.27116252e-02 1.40648225e-02 6.12286760e+01] [ 8.26983889e-02 9.96573461e-01 -1.52110182e-03 -1.46732773e+02] [-1.41424416e-02 -3.52600667e-04 -9.99899929e-01 2.23277501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.67 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.33, Y:-145.93, Z:1.45 [[-9.79979874e-01 -1.98629811e-01 1.36251760e-02 6.13259728e+01] [ 1.98615219e-01 -9.80074534e-01 -2.42951388e-03 -1.45930007e+02] [ 1.38362619e-02 3.25292604e-04 9.99904221e-01 1.45468414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.7 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.17, Y:-146.73, Z:2.23 [[-9.96818995e-01 7.85040837e-02 1.37477136e-02 6.11678092e+01] [ 7.84919320e-02 9.96913735e-01 -1.42208935e-03 -1.46728535e+02] [-1.38169244e-02 -3.38481075e-04 -9.99904484e-01 2.23434662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.73 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.16, Y:-146.70, Z:2.23 [[-9.99869561e-01 8.03665700e-03 1.40097539e-02 6.11618735e+01] [ 8.03114768e-03 9.99967649e-01 -4.49464786e-04 -1.46702311e+02] [-1.40129128e-02 -3.36891756e-04 -9.99901758e-01 2.23467380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.76 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.20, Y:-145.89, Z:1.45 [[-9.92374544e-01 -1.22564344e-01 1.30669856e-02 6.12043282e+01] [ 1.22557149e-01 -9.92460536e-01 -1.35299696e-03 -1.45887700e+02] [ 1.31342967e-02 2.58772752e-04 9.99913708e-01 1.45410694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.78999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.08, Y:-146.71, Z:2.23 [[-9.99914564e-01 5.68157443e-03 1.17722045e-02 6.10849177e+01] [ 5.67823025e-03 9.99983828e-01 -3.17478511e-04 -1.46707032e+02] [-1.17738179e-02 -2.50606099e-04 -9.99930655e-01 2.23254157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.82 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.13, Y:-145.88, Z:1.46 [[-9.93387014e-01 -1.14253583e-01 1.13295826e-02 6.11320937e+01] [ 1.14248638e-01 -9.93451595e-01 -1.08486070e-03 -1.45877257e+02] [ 1.13793411e-02 2.16702851e-04 9.99935230e-01 1.45652649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.84999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.01, Y:-146.71, Z:2.23 [[-9.99936852e-01 3.26355264e-03 1.07536324e-02 6.10142693e+01] [ 3.26126247e-03 9.99994656e-01 -2.30496475e-04 -1.46709487e+02] [-1.07543272e-02 -1.95411502e-04 -9.99942151e-01 2.23219513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.88 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:61.04, Y:-145.87, Z:1.46 [[-9.94475142e-01 -1.04458869e-01 1.03699612e-02 6.10420484e+01] [ 1.04454944e-01 -9.94529193e-01 -9.20884672e-04 -1.45870459e+02] [ 1.04094237e-02 1.67396801e-04 9.99945806e-01 1.45573350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.90999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.93, Y:-146.71, Z:2.23 [[-9.99947182e-01 2.36170610e-03 1.00028005e-02 6.09324481e+01] [ 2.36030604e-03 9.99997203e-01 -1.51769872e-04 -1.46712019e+02] [-1.00031310e-02 -1.28152185e-04 -9.99949959e-01 2.23247525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.94 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.93, Y:-146.69, Z:2.23 [[-9.97793547e-01 -6.57592019e-02 9.15236208e-03 6.09292030e+01] [-6.57572605e-02 9.97835517e-01 5.13207227e-04 -1.46687697e+02] [-9.16630005e-03 -8.97593985e-05 -9.99957985e-01 2.23215853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.96999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.94, Y:-146.67, Z:2.23 [[-9.91359300e-01 -1.30961248e-01 7.47591398e-03 6.09357591e+01] [-1.30957745e-01 9.91387488e-01 9.58222822e-04 -1.46666224e+02] [-7.53701764e-03 -2.90857309e-05 -9.99971596e-01 2.23086113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.0 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.92, Y:-146.64, Z:2.23 [[-9.79997646e-01 -1.98867754e-01 7.49871741e-03 6.09174889e+01] [-1.98861991e-01 9.80026334e-01 1.51410629e-03 -1.46644290e+02] [-7.65004745e-03 -7.38927339e-06 -9.99970738e-01 2.23238459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.03 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.88, Y:-146.63, Z:2.23 [[-9.64493916e-01 -2.63990811e-01 7.76772923e-03 6.08777336e+01] [-2.63981897e-01 9.64525194e-01 2.16981197e-03 -1.46631699e+02] [-8.06498097e-03 4.22305522e-05 -9.99967477e-01 2.23133194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.06 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.83, Y:-146.62, Z:2.23 [[-9.43278014e-01 -3.31904676e-01 8.11627752e-03 6.08287852e+01] [-3.31891744e-01 9.43312928e-01 2.93083284e-03 -1.46621462e+02] [-8.62894664e-03 7.08646805e-05 -9.99962767e-01 2.23227898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.09 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.76, Y:-146.62, Z:2.23 [[-9.17085224e-01 -3.98608855e-01 8.10387512e-03 6.07611412e+01] [-3.98592346e-01 9.17121023e-01 3.62909610e-03 -1.46621557e+02] [-8.87882408e-03 9.80478103e-05 -9.99960578e-01 2.23268557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.12 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.68, Y:-146.63, Z:2.23 [[-8.85792350e-01 -4.64007595e-01 8.29841292e-03 6.06838282e+01] [-4.63985864e-01 8.85831211e-01 4.49251635e-03 -1.46631258e+02] [-9.43555488e-03 1.29090320e-04 -9.99955476e-01 2.23259668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.15 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.60, Y:-146.65, Z:2.23 [[-8.49405991e-01 -5.27683813e-01 7.69774936e-03 6.06006375e+01] [-5.27660582e-01 8.49440859e-01 4.95354397e-03 -1.46650833e+02] [-9.15268780e-03 1.45771019e-04 -9.99958103e-01 2.23249972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.18 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.51, Y:-146.68, Z:2.23 [[-8.07984062e-01 -5.89160966e-01 7.14930274e-03 6.05131045e+01] [-5.89136146e-01 8.08015675e-01 5.41017761e-03 -1.46680340e+02] [-8.96421414e-03 1.59424612e-04 -9.99959808e-01 2.23204981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.21 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.42, Y:-146.72, Z:2.23 [[-7.62598436e-01 -6.46846548e-01 5.75916829e-03 6.04220020e+01] [-6.46826515e-01 7.62620166e-01 5.09333754e-03 -1.46722362e+02] [-7.68666568e-03 1.58988489e-04 -9.99970445e-01 2.23095330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.24 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.33, Y:-146.77, Z:2.23 [[-7.11438457e-01 -7.02730485e-01 5.01868677e-03 6.03322226e+01] [-7.02711445e-01 7.11456142e-01 5.17527405e-03 -1.46769715e+02] [-7.20739836e-03 1.55200351e-04 -9.99974014e-01 2.22979630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.27 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.24, Y:-146.83, Z:2.23 [[-6.55718756e-01 -7.54994284e-01 4.06756461e-03 6.02397621e+01] [-7.54978420e-01 6.55731357e-01 4.89620458e-03 -1.46832928e+02] [-6.36383613e-03 1.39609668e-04 -9.99979741e-01 2.22943301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.3 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.15, Y:-146.90, Z:2.23 [[-5.95648800e-01 -8.03236563e-01 3.67856989e-03 6.01516301e+01] [-8.03219776e-01 5.95660142e-01 5.19485833e-03 -1.46902119e+02] [-6.36387761e-03 1.39611047e-04 -9.99979741e-01 2.22943505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.33 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.06, Y:-146.98, Z:2.23 [[-5.32240341e-01 -8.46587901e-01 3.02407676e-03 6.00649595e+01] [-8.46572806e-01 5.32248916e-01 5.05726505e-03 -1.46984518e+02] [-5.89098098e-03 1.31579322e-04 -9.99982639e-01 2.22908520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.36 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.99, Y:-147.06, Z:2.23 [[-4.63897691e-01 -8.85885753e-01 2.31611876e-03 5.99900141e+01] [-8.85873515e-01 4.63903460e-01 4.65780288e-03 -1.47063264e+02] [-5.20073672e-03 1.08955735e-04 -9.99986470e-01 2.22844521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.39 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.91, Y:-147.16, Z:2.23 [[-3.93001152e-01 -9.19536062e-01 1.87783026e-03 5.99141328e+01] [-9.19524321e-01 3.93005625e-01 4.64774333e-03 -1.47162606e+02] [-5.01176545e-03 9.98578889e-05 -9.99987436e-01 2.22872322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.42 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.85, Y:-147.26, Z:2.23 [[-3.19035194e-01 -9.47741530e-01 1.59313623e-03 5.98498089e+01] [-9.47728150e-01 3.19039157e-01 5.03687879e-03 -1.47258529e+02] [-5.28193205e-03 9.70815475e-05 -9.99986046e-01 2.22982139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.45 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.79, Y:-147.37, Z:2.23 [[-2.42950561e-01 -9.70037837e-01 1.27285196e-03 5.97889860e+01] [-9.70022434e-01 2.42953878e-01 5.46723473e-03 -1.47366120e+02] [-5.61266887e-03 9.35727859e-05 -9.99984244e-01 2.23007516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.48 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.74, Y:-147.48, Z:2.23 [[-1.65284442e-01 -9.86245553e-01 8.73279962e-04 5.97384245e+01] [-9.86228882e-01 1.65286726e-01 5.73494893e-03 -1.47477132e+02] [-5.80040947e-03 8.66439146e-05 -9.99983174e-01 2.23129420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.51 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.69, Y:-147.59, Z:2.23 [[-8.62032355e-02 -9.96277466e-01 4.62053669e-04 5.96947697e+01] [-9.96257644e-01 8.62044353e-02 6.28501148e-03 -1.47592788e+02] [-6.30144639e-03 8.14638252e-05 -9.99980142e-01 2.23184591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.53999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.66, Y:-147.72, Z:2.23 [[-4.91665627e-03 -9.99987913e-01 -3.02604137e-05 5.96583208e+01] [-9.99963519e-01 4.91632496e-03 6.98496077e-03 -1.47722196e+02] [-6.98472757e-03 6.46019609e-05 -9.99975604e-01 2.23236401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.63, Y:-147.84, Z:2.23 [[ 7.45995025e-02 -9.97213386e-01 -6.14697784e-04 5.96341859e+01] [-9.97185380e-01 -7.46020144e-02 7.47376327e-03 -1.47837895e+02] [-7.49879446e-03 5.54286219e-05 -9.99971882e-01 2.23220331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.59999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.62, Y:-147.96, Z:2.23 [[ 1.52922296e-01 -9.88237449e-01 -1.23120608e-03 5.96194885e+01] [-9.88207922e-01 -1.52927245e-01 7.63936742e-03 -1.47957547e+02] [-7.73779392e-03 4.84579898e-05 -9.99970062e-01 2.23187692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.63 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.62, Y:-148.08, Z:2.23 [[ 2.30352876e-01 -9.73105435e-01 -1.83460669e-03 5.96158387e+01] [-9.73075928e-01 -2.30360178e-01 7.57810021e-03 -1.48084293e+02] [-7.79691082e-03 3.95744269e-05 -9.99969603e-01 2.23214544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.65999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.62, Y:-148.21, Z:2.23 [[ 3.06483869e-01 -9.51872732e-01 -2.43720273e-03 5.96181922e+01] [-9.51843380e-01 -3.06493558e-01 7.47520311e-03 -1.48205628e+02] [-7.86242894e-03 2.88061182e-05 -9.99969090e-01 2.23256285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.69 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.63, Y:-148.33, Z:2.23 [[ 3.80199040e-01 -9.24899643e-01 -3.05627246e-03 5.96329469e+01] [-9.24870221e-01 -3.80211324e-01 7.37729193e-03 -1.48330169e+02] [-7.98528407e-03 2.18160681e-05 -9.99968117e-01 2.23328049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.71999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.66, Y:-148.45, Z:2.23 [[ 4.51338542e-01 -8.92345553e-01 -3.59662602e-03 5.96556784e+01] [-8.92317499e-01 -4.51352872e-01 7.07570627e-03 -1.48450216e+02] [-7.93732250e-03 1.57933865e-05 -9.99968499e-01 2.23383775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.68, Y:-148.56, Z:2.23 [[ 5.20784579e-01 -8.53678404e-01 -4.07484753e-03 5.96820002e+01] [-8.53652257e-01 -5.20800520e-01 6.68149464e-03 -1.48559404e+02] [-7.82603039e-03 -1.11658047e-06 -9.99969376e-01 2.23299825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.78 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.72, Y:-148.67, Z:2.23 [[ 5.85879825e-01 -8.10386428e-01 -4.32068627e-03 5.97239165e+01] [-8.10364294e-01 -5.85895757e-01 5.98944965e-03 -1.48674274e+02] [-7.38524046e-03 -7.76783633e-06 -9.99972729e-01 2.23292194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.81 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.77, Y:-148.78, Z:2.23 [[ 6.47382856e-01 -7.62147795e-01 -5.11623334e-03 5.97679902e+01] [-7.62123790e-01 -6.47403072e-01 6.04904175e-03 -1.48776907e+02] [-7.92252901e-03 -1.68427841e-05 -9.99968616e-01 2.23259361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.84 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.82, Y:-148.88, Z:2.23 [[ 7.04826166e-01 -7.09355430e-01 -5.91180294e-03 5.98208283e+01] [-7.09330152e-01 -7.04850958e-01 5.98858123e-03 -1.48877013e+02] [-8.41497258e-03 -2.74886685e-05 -9.99964593e-01 2.23236130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.87 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.88, Y:-148.97, Z:2.23 [[ 7.58502387e-01 -6.51628768e-01 -7.35379978e-03 5.98750242e+01] [-6.51597472e-01 -7.58538032e-01 6.38651570e-03 -1.48969691e+02] [-9.73977417e-03 -5.24700516e-05 -9.99952566e-01 2.23374075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.9 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.87, Y:-148.98, Z:2.23 [[ 8.07523115e-01 -5.89781858e-01 -7.98613043e-03 5.98688844e+01] [-5.89752261e-01 -8.07562602e-01 5.90887451e-03 -1.48977857e+02] [-9.93424725e-03 -6.17142758e-05 -9.99950652e-01 2.23466919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.93 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.86, Y:-148.99, Z:2.24 [[ 8.51490574e-01 -5.24305660e-01 -8.20832059e-03 5.98624628e+01] [-5.24280541e-01 -8.51530135e-01 5.13264875e-03 -1.48985154e+02] [-9.68070913e-03 -6.69392649e-05 -9.99953139e-01 2.23516659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.96 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.86, Y:-148.99, Z:2.24 [[ 8.90209179e-01 -4.55474746e-01 -8.38888901e-03 5.98555517e+01] [-4.55453753e-01 -8.90248701e-01 4.37359269e-03 -1.48991855e+02] [-9.46025857e-03 -7.26613721e-05 -9.99955248e-01 2.23519272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.99 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.85, Y:-149.00, Z:2.24 [[ 9.23317348e-01 -3.83940981e-01 -8.62544688e-03 5.98495905e+01] [-3.83923444e-01 -9.23357632e-01 3.67049652e-03 -1.48998372e+02] [-9.37362624e-03 -7.75218367e-05 -9.99956064e-01 2.23519168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.02 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.84, Y:-149.00, Z:2.24 [[ 9.50588425e-01 -3.10319879e-01 -9.12247406e-03 5.98431468e+01] [-3.10304762e-01 -9.50632193e-01 3.06409354e-03 -1.49003667e+02] [-9.62296665e-03 -8.19447085e-05 -9.99953695e-01 2.23537801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.05 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.84, Y:-149.01, Z:2.23 [[ 9.71976482e-01 -2.34888071e-01 -9.45056541e-03 5.98383186e+01] [-2.34876124e-01 -9.72022421e-01 2.37057657e-03 -1.49010610e+02] [-9.74298163e-03 -8.44325049e-05 -9.99952532e-01 2.23449867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.08 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.83, Y:-149.02, Z:2.23 [[ 9.87347540e-01 -1.58268518e-01 -9.79343711e-03 5.98307431e+01] [-1.58259888e-01 -9.87396106e-01 1.65486535e-03 -1.49017410e+02] [-9.93191475e-03 -8.40189676e-05 -9.99950674e-01 2.23456504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.11 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.82, Y:-149.02, Z:2.24 [[ 9.96728302e-01 -8.03110296e-02 -9.10116172e-03 5.98222280e+01] [-8.03069597e-02 -9.96769849e-01 8.12347499e-04 -1.49024344e+02] [-9.13700406e-03 -7.88031156e-05 -9.99958254e-01 2.23505865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.14 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.82, Y:-149.03, Z:2.23 [[ 9.99954070e-01 -1.55500846e-03 -9.45725468e-03 5.98159073e+01] [-1.55412394e-03 -9.99998787e-01 1.00876625e-04 -1.49032300e+02] [-9.45740007e-03 -8.61742455e-05 -9.99955274e-01 2.23488813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.17 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.81, Y:-149.04, Z:2.23 [[ 9.96969507e-01 7.72045743e-02 -9.55282356e-03 5.98096196e+01] [ 7.72019084e-02 -9.97015268e-01 -6.48060729e-04 -1.49041801e+02] [-9.57434420e-03 -9.13994247e-05 -9.99954161e-01 2.23493195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.2 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.80, Y:-149.05, Z:2.24 [[ 9.87840483e-01 1.55185608e-01 -9.41314281e-03 5.98029515e+01] [ 1.55179454e-01 -9.87885327e-01 -1.38506857e-03 -1.49051393e+02] [-9.51404837e-03 -9.24995564e-05 -9.99954736e-01 2.23542005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.23 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.80, Y:-149.06, Z:2.24 [[ 9.72574809e-01 2.32411341e-01 -9.12191685e-03 5.97980185e+01] [ 2.32402030e-01 -9.72617581e-01 -2.08247326e-03 -1.49059053e+02] [-9.35612711e-03 -9.45909597e-05 -9.99956226e-01 2.23550866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.26 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.79, Y:-149.07, Z:2.24 [[ 9.51279888e-01 3.08218216e-01 -8.25262144e-03 5.97927181e+01] [ 3.08207443e-01 -9.51315680e-01 -2.57852343e-03 -1.49067539e+02] [-8.64559607e-03 -9.06218709e-05 -9.99962622e-01 2.23573196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.28999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.79, Y:-149.07, Z:2.23 [[ 9.24207845e-01 3.81815643e-01 -7.52824288e-03 5.97881227e+01] [ 3.81803729e-01 -9.24238501e-01 -3.01752235e-03 -1.49074561e+02] [-8.11002916e-03 -8.54933794e-05 -9.99967110e-01 2.23400481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.32 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.79, Y:-149.08, Z:2.23 [[ 8.91448257e-01 4.53075498e-01 -6.52672647e-03 5.97856203e+01] [ 4.53063987e-01 -8.91472146e-01 -3.23048720e-03 -1.49084955e+02] [-7.28204945e-03 -7.72125295e-05 -9.99973483e-01 2.23318528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.34999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.78, Y:-149.10, Z:2.23 [[ 8.53263022e-01 5.21443916e-01 -6.20137787e-03 5.97841581e+01] [ 5.21430794e-01 -8.53285554e-01 -3.70007605e-03 -1.49095419e+02] [-7.22092829e-03 -7.64513095e-05 -9.99973926e-01 2.23317809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.38 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.78, Y:-149.11, Z:2.23 [[ 8.09757700e-01 5.86744409e-01 -4.84426018e-03 5.97818745e+01] [ 5.86734376e-01 -8.09772187e-01 -3.43173417e-03 -1.49106047e+02] [-5.93629800e-03 -6.34208125e-05 -9.99982378e-01 2.23315013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.40999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.78, Y:-149.12, Z:2.23 [[ 7.60964334e-01 6.48778728e-01 -4.40972566e-03 5.97815064e+01] [ 6.48768322e-01 -7.60977108e-01 -3.67504605e-03 -1.49117247e+02] [-5.73999198e-03 -6.43113502e-05 -9.99983524e-01 2.23305350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.44 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.78, Y:-149.13, Z:2.23 [[ 7.07497939e-01 7.06705119e-01 -3.81328650e-03 5.97813745e+01] [ 7.06695327e-01 -7.07508212e-01 -3.72087197e-03 -1.49128866e+02] [-5.32749079e-03 -6.23224969e-05 -9.99985807e-01 2.23329928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.46999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.78, Y:-149.14, Z:2.23 [[ 6.49524160e-01 7.60334549e-01 -3.12076694e-03 5.97818932e+01] [ 7.60326200e-01 -6.49531654e-01 -3.56360947e-03 -1.49139183e+02] [-4.73657232e-03 -5.81504236e-05 -9.99988781e-01 2.23362473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.78, Y:-149.15, Z:2.23 [[ 5.87369154e-01 8.09313879e-01 -2.91914848e-03 5.97838536e+01] [ 8.09304418e-01 -5.87376405e-01 -3.91384743e-03 -1.49149670e+02] [-4.88216999e-03 -6.36065081e-05 -9.99988080e-01 2.23401636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.53 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.79, Y:-149.16, Z:2.24 [[ 5.21018522e-01 8.53539344e-01 -3.20746827e-03 5.97861303e+01] [ 8.53524186e-01 -5.21028388e-01 -5.08749232e-03 -1.49160601e+02] [-6.01355688e-03 -8.69740113e-05 -9.99981915e-01 2.23592341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.79, Y:-149.17, Z:2.24 [[ 4.51942831e-01 8.92041941e-01 -2.97524353e-03 5.97887168e+01] [ 8.92024004e-01 -4.51952614e-01 -5.65785118e-03 -1.49170339e+02] [-6.39170964e-03 -9.69633632e-05 -9.99979568e-01 2.23590624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.59 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.79, Y:-149.18, Z:2.24 [[ 3.79754236e-01 9.25083776e-01 -2.59374875e-03 5.97935787e+01] [ 9.25064072e-01 -3.79763079e-01 -6.03884877e-03 -1.49180794e+02] [-6.57145104e-03 -1.06105380e-04 -9.99978402e-01 2.23629373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.62 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.80, Y:-149.19, Z:2.24 [[ 3.05026704e-01 9.52341228e-01 -2.21259839e-03 5.97976988e+01] [ 9.52318932e-01 -3.05034706e-01 -6.51774191e-03 -1.49191292e+02] [-6.88203363e-03 -1.19014001e-04 -9.99976311e-01 2.23672659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.65 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.80, Y:-149.20, Z:2.24 [[ 2.29464879e-01 9.73315449e-01 -1.70466070e-03 5.98030419e+01] [ 9.73292348e-01 -2.29471179e-01 -6.70701310e-03 -1.49201222e+02] [-6.91920997e-03 -1.20109263e-04 -9.99976055e-01 2.23680829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.68 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.81, Y:-149.21, Z:2.24 [[ 1.53054338e-01 9.88217220e-01 -1.04710312e-03 5.98082288e+01] [ 9.88198496e-01 -1.53057884e-01 -6.08414996e-03 -1.49211717e+02] [-6.17272914e-03 -1.03540186e-04 -9.99980943e-01 2.23661954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.71 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.81, Y:-149.22, Z:2.24 [[ 7.56144299e-02 9.97136986e-01 -5.37076300e-04 5.98148442e+01] [ 9.97119996e-01 -7.56162771e-02 -5.82170571e-03 -1.49220069e+02] [-5.84564980e-03 -9.53245599e-05 -9.99982910e-01 2.23668723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.74 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.82, Y:-149.23, Z:2.24 [[-2.00369573e-03 9.99997990e-01 -7.61816844e-05 5.98222433e+01] [ 9.99982312e-01 2.00323768e-03 -5.60019648e-03 -1.49229513e+02] [-5.60003261e-03 -8.74014267e-05 -9.99984316e-01 2.23719674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.77 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.83, Y:-149.24, Z:2.24 [[-7.95623601e-02 9.96829837e-01 3.26564603e-04 5.98275597e+01] [ 9.96817164e-01 7.95629955e-02 -5.02696608e-03 -1.49237046e+02] [-5.03701223e-03 -7.44320842e-05 -9.99987311e-01 2.23640869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.8 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.84, Y:-149.24, Z:2.24 [[-1.55758954e-01 9.87794925e-01 5.78114896e-04 5.98357957e+01] [ 9.87786807e-01 1.55760018e-01 -4.00509357e-03 -1.49244820e+02] [-4.04625829e-03 -5.27749187e-05 -9.99991812e-01 2.23536100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.83 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.85, Y:-149.25, Z:2.24 [[-2.31869453e-01 9.72746677e-01 6.77664155e-04 5.98466425e+01] [ 9.72742040e-01 2.31870441e-01 -3.00372578e-03 -1.49252772e+02] [-3.07899455e-03 -3.72798410e-05 -9.99995259e-01 2.23548029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.86 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.85, Y:-149.26, Z:2.24 [[-3.06855650e-01 9.51755808e-01 7.01572104e-04 5.98537454e+01] [ 9.51753115e-01 3.06856451e-01 -2.26439894e-03 -1.49261011e+02] [-2.37043676e-03 -2.71201712e-05 -9.99997190e-01 2.23528465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.86, Y:-149.27, Z:2.23 [[-3.79664038e-01 9.25124266e-01 5.56639806e-04 5.98612000e+01] [ 9.25123211e-01 3.79664446e-01 -1.39723392e-03 -1.49267222e+02] [-1.50395135e-03 -1.55190691e-05 -9.99998869e-01 2.23486093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.92 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.87, Y:-149.27, Z:2.23 [[-4.50201695e-01 8.92926761e-01 4.82392985e-04 5.98713530e+01] [ 8.92926224e-01 4.50201954e-01 -9.79108867e-04 -1.49271509e+02] [-1.09144677e-03 -1.00551251e-05 -9.99999404e-01 2.23490387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.95 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.88, Y:-149.27, Z:2.24 [[-5.17725276e-01 8.55546729e-01 5.76968917e-04 5.98824678e+01] [ 8.55546178e-01 5.17725598e-01 -9.71006714e-04 -1.49274527e+02] [-1.12945320e-03 -9.09116733e-06 -9.99999362e-01 2.23563631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.98 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.89, Y:-149.28, Z:2.24 [[-5.82611664e-01 8.12750180e-01 8.91387803e-04 5.98941611e+01] [ 8.12749197e-01 5.82612346e-01 -1.26372395e-03 -1.49278262e+02] [-1.54642541e-03 -1.17855935e-05 -9.99998804e-01 2.23601236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.01 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.90, Y:-149.28, Z:2.24 [[-6.43508519e-01 7.65436896e-01 1.77337626e-03 5.99041231e+01] [ 7.65433910e-01 6.43510962e-01 -2.13791180e-03 -1.49281943e+02] [-2.77762363e-03 -1.83621292e-05 -9.99996142e-01 2.23694750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.03999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.92, Y:-149.28, Z:2.24 [[-7.01419371e-01 7.12744516e-01 2.47406623e-03 5.99162188e+01] [ 7.12739964e-01 7.01423734e-01 -2.54728610e-03 -1.49282676e+02] [-3.55093297e-03 -2.33499345e-05 -9.99993695e-01 2.23759615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.93, Y:-149.28, Z:2.24 [[-7.54648452e-01 6.56121906e-01 3.12376606e-03 5.99279478e+01] [ 6.56116149e-01 7.54654917e-01 -2.74863366e-03 -1.49283161e+02] [-4.16080418e-03 -2.46987784e-05 -9.99991344e-01 2.23840958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.09999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.96, Y:-149.28, Z:2.24 [[-7.98955359e-01 6.01379103e-01 3.67531868e-03 5.99601938e+01] [ 6.01372591e-01 7.98963812e-01 -2.79888848e-03 -1.49275176e+02] [-4.61963967e-03 -2.59510291e-05 -9.99989329e-01 2.23883792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.13 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.98, Y:-149.26, Z:2.24 [[-8.39198291e-01 5.43808951e-01 4.24887946e-03 5.99845267e+01] [ 5.43801823e-01 8.39209047e-01 -2.78444338e-03 -1.49260039e+02] [-5.07990331e-03 -2.61517244e-05 -9.99987097e-01 2.23900420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.15999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.00, Y:-149.24, Z:2.24 [[-8.75216815e-01 4.83702339e-01 5.25107526e-03 6.00044641e+01] [ 4.83693451e-01 8.75232567e-01 -2.93233584e-03 -1.49240603e+02] [-6.01428978e-03 -2.65189269e-05 -9.99981914e-01 2.23975865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.19 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.03, Y:-149.22, Z:2.24 [[-9.06782014e-01 4.21558343e-01 5.91128680e-03 6.00267246e+01] [ 4.21549230e-01 9.06801281e-01 -2.77189032e-03 -1.49223002e+02] [-6.52887593e-03 -2.16018907e-05 -9.99978686e-01 2.23981972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.21999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.41, Y:-148.44, Z:1.45 [[-8.73025050e-01 -4.87641686e-01 5.73135994e-03 6.04082961e+01] [ 4.87631351e-01 -8.73043863e-01 -3.17484642e-03 -1.48437456e+02] [ 6.55191608e-03 2.30703298e-05 9.99978536e-01 1.44900189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.25 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.99, Y:-149.21, Z:2.24 [[-9.08177005e-01 4.18543382e-01 5.99704094e-03 5.99857590e+01] [ 4.18534112e-01 9.08196805e-01 -2.78562020e-03 -1.49205520e+02] [-6.61239632e-03 -1.98700023e-05 -9.99978138e-01 2.23944008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.28 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.36, Y:-148.41, Z:1.45 [[-8.75077633e-01 -4.83950583e-01 5.56500147e-03 6.03605622e+01] [ 4.83940825e-01 -8.75095328e-01 -3.07325872e-03 -1.48414393e+02] [ 6.35721214e-03 3.79143634e-06 9.99979793e-01 1.44956835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.31 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.95, Y:-149.19, Z:2.24 [[-9.09570704e-01 4.15514742e-01 5.35111368e-03 5.99487125e+01] [ 4.15507449e-01 9.09586444e-01 -2.46176302e-03 -1.49190300e+02] [-5.89019929e-03 -1.57199229e-05 -9.99982653e-01 2.23875388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.34 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.32, Y:-148.39, Z:1.45 [[-8.76390809e-01 -4.81574146e-01 5.04890531e-03 6.03176656e+01] [ 4.81566202e-01 -8.76405353e-01 -2.76608058e-03 -1.48394268e+02] [ 5.75696053e-03 7.21455715e-06 9.99983429e-01 1.45163261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.37 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.90, Y:-149.17, Z:2.24 [[-9.11759362e-01 4.10695135e-01 4.93686339e-03 5.99049073e+01] [ 4.10688978e-01 9.11772727e-01 -2.24897385e-03 -1.49171520e+02] [-5.42494002e-03 -2.30075779e-05 -9.99985285e-01 2.23704802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.4 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.91, Y:-149.15, Z:2.24 [[-9.38338324e-01 3.45671518e-01 5.69137684e-03 5.99131422e+01] [ 3.45665010e-01 9.38355583e-01 -2.12137320e-03 -1.49145700e+02] [-6.07383353e-03 -2.32559411e-05 -9.99981554e-01 2.23788817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.43 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.92, Y:-149.12, Z:2.24 [[-9.60350861e-01 2.78730888e-01 5.94268762e-03 5.99249305e+01] [ 2.78725415e-01 9.60369247e-01 -1.74680345e-03 -1.49121457e+02] [-6.19406251e-03 -2.11661189e-05 -9.99980816e-01 2.23787661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.46 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.96, Y:-149.10, Z:2.24 [[-9.77665894e-01 2.10071965e-01 6.25855644e-03 5.99569362e+01] [ 2.10067522e-01 9.77685926e-01 -1.36636399e-03 -1.49102002e+02] [-6.40593731e-03 -2.11280232e-05 -9.99979482e-01 2.23795591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.49 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.97, Y:-149.08, Z:2.24 [[-9.90164923e-01 1.39729336e-01 7.00986321e-03 5.99658767e+01] [ 1.39725641e-01 9.90189735e-01 -1.01661683e-03 -1.49075517e+02] [-7.08314579e-03 -2.71606965e-05 -9.99974914e-01 2.23843495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.52 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:60.10, Y:-148.21, Z:1.45 [[-9.76758847e-01 -2.14202285e-01 7.71597470e-03 6.00971231e+01] [ 2.14196260e-01 -9.76789319e-01 -1.60868358e-03 -1.48207116e+02] [ 7.88146537e-03 8.14370029e-05 9.99968937e-01 1.44944703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.55 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.91, Y:-149.07, Z:2.24 [[-9.90901346e-01 1.34320369e-01 8.51828064e-03 5.99067142e+01] [ 1.34315047e-01 9.90937958e-01 -1.19631077e-03 -1.49065826e+02] [-8.60177653e-03 -4.12926789e-05 -9.99963003e-01 2.24022820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.58 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.91, Y:-149.04, Z:2.24 [[-9.97963312e-01 6.31123792e-02 9.27664228e-03 5.99121970e+01] [ 6.31091863e-02 9.98006425e-01 -6.36798670e-04 -1.49037937e+02] [-9.29833848e-03 -5.00603637e-05 -9.99956768e-01 2.24121959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.61 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.91, Y:-149.01, Z:2.24 [[-9.99906033e-01 -9.13931721e-03 1.02175836e-02 5.99142007e+01] [-9.13952869e-03 9.99958233e-01 2.59962596e-05 -1.49008863e+02] [-1.02173944e-02 -6.73900817e-05 -9.99947799e-01 2.24253855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.64 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.91, Y:-148.98, Z:2.24 [[-9.96708651e-01 -8.04708231e-02 9.81381958e-03 5.99062906e+01] [-8.04675895e-02 9.96756962e-01 7.24553963e-04 -1.48981612e+02] [-9.84029845e-03 -6.75252026e-05 -9.99951581e-01 2.24230626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.67 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.91, Y:-148.95, Z:2.24 [[-9.88376875e-01 -1.51735373e-01 9.35568282e-03 5.99127026e+01] [-1.51729212e-01 9.88421151e-01 1.36896800e-03 -1.48953433e+02] [-9.45507566e-03 -6.64740763e-05 -9.99955298e-01 2.24199583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.7 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.78, Y:-148.09, Z:1.45 [[-9.97478398e-01 7.04189953e-02 8.83234313e-03 5.97785604e+01] [-7.04160383e-02 -9.97517501e-01 6.45712642e-04 -1.48094099e+02] [ 8.85588729e-03 2.21457995e-05 9.99960786e-01 1.44751020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.73 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.78, Y:-148.97, Z:2.24 [[-9.87231628e-01 -1.59095543e-01 7.89439138e-03 5.97846210e+01] [-1.59090912e-01 9.87263189e-01 1.21513974e-03 -1.48970011e+02] [-7.98716533e-03 -5.63015465e-05 -9.99968101e-01 2.23993285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.76 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.77, Y:-148.95, Z:2.24 [[-9.73203056e-01 -2.29829032e-01 7.37756641e-03 5.97687738e+01] [-2.29822853e-01 9.73231017e-01 1.68616047e-03 -1.48945142e+02] [-7.56760509e-03 -5.45568414e-05 -9.99971364e-01 2.23927094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.78999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.73, Y:-148.93, Z:2.24 [[-9.53896092e-01 -3.00055905e-01 6.97844010e-03 5.97267926e+01] [-3.00048275e-01 9.53921617e-01 2.14053889e-03 -1.48928079e+02] [-7.29916620e-03 -5.20172322e-05 -9.99973359e-01 2.23811433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.82 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.67, Y:-148.92, Z:2.24 [[-9.28928273e-01 -3.70201283e-01 6.57828787e-03 5.96718410e+01] [-3.70192426e-01 9.28951563e-01 2.56142522e-03 -1.48916886e+02] [-7.05915370e-03 -5.58520336e-05 -9.99975082e-01 2.23796394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.84999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.60, Y:-148.92, Z:2.24 [[-8.98487005e-01 -4.38947437e-01 6.80066046e-03 5.96018248e+01] [-4.38935413e-01 8.98512740e-01 3.24957253e-03 -1.48916247e+02] [-7.53687159e-03 -6.53520186e-05 -9.99971595e-01 2.23853096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.88 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.52, Y:-148.93, Z:2.24 [[-8.62570804e-01 -5.05886038e-01 7.13622426e-03 5.95202247e+01] [-5.05869496e-01 8.62600319e-01 4.09175156e-03 -1.48926968e+02] [-8.22566931e-03 -8.05727395e-05 -9.99966165e-01 2.23920797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.90999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.44, Y:-148.94, Z:2.24 [[-8.21311509e-01 -5.70436940e-01 7.00727178e-03 5.94403790e+01] [-5.70417137e-01 8.21341396e-01 4.75412998e-03 -1.48943449e+02] [-8.46729374e-03 -9.24462363e-05 -9.99964148e-01 2.23982397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.94 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.35, Y:-148.97, Z:2.24 [[-7.74696390e-01 -6.32292457e-01 7.19394248e-03 5.93530337e+01] [-6.32266575e-01 7.74729782e-01 5.72211026e-03 -1.48970966e+02] [-9.19140865e-03 -1.15591216e-04 -9.99957751e-01 2.24108624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.96999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.27, Y:-149.01, Z:2.24 [[-7.23070733e-01 -6.90735880e-01 7.25668249e-03 5.92670931e+01] [-6.90703076e-01 7.23107131e-01 6.73332959e-03 -1.49008087e+02] [-9.89831120e-03 -1.43539356e-04 -9.99951000e-01 2.24082101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.0 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.17, Y:-149.06, Z:2.24 [[-6.65619052e-01 -7.46256053e-01 7.29250463e-03 5.91749092e+01] [-7.46214434e-01 6.65658971e-01 7.88379526e-03 -1.49057346e+02] [-1.07376511e-02 -1.94167889e-04 -9.99942331e-01 2.24120228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.03 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.08, Y:-149.12, Z:2.24 [[-6.05429552e-01 -7.95868906e-01 6.90952410e-03 5.90800990e+01] [-7.95821132e-01 6.05468939e-01 8.72290363e-03 -1.49124568e+02] [-1.11257900e-02 -2.17641650e-04 -9.99938083e-01 2.24098685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.06 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.00, Y:-149.19, Z:2.24 [[-5.41206417e-01 -8.40866868e-01 6.20687974e-03 5.89989743e+01] [-8.40816454e-01 5.41241957e-01 9.21055935e-03 -1.49187146e+02] [-1.11042779e-02 -2.34032791e-04 -9.99938318e-01 2.24066953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.09 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.92, Y:-149.27, Z:2.24 [[-4.73003352e-01 -8.81043895e-01 5.43001182e-03 5.89154913e+01] [-8.80991916e-01 4.73034450e-01 9.57356125e-03 -1.49269408e+02] [-1.10033103e-02 -2.55469956e-04 -9.99939429e-01 2.23918760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.12 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.84, Y:-149.36, Z:2.24 [[-4.02968166e-01 -9.15203027e-01 4.48071906e-03 5.88378414e+01] [-9.15153252e-01 4.02992997e-01 9.54825191e-03 -1.49357649e+02] [-1.05442875e-02 -2.52903054e-04 -9.99944375e-01 2.23941488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.15 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.77, Y:-149.44, Z:2.24 [[-3.30558174e-01 -9.43778567e-01 3.64833571e-03 5.87728045e+01] [-9.43729246e-01 3.30578210e-01 9.65181608e-03 -1.49440084e+02] [-1.03152374e-02 -2.52554404e-04 -9.99946765e-01 2.23918202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.18 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.71, Y:-149.54, Z:2.24 [[-2.56670477e-01 -9.66494915e-01 2.80107646e-03 5.87121556e+01] [-9.66447302e-01 2.56685645e-01 9.59645797e-03 -1.49535329e+02] [-9.99392394e-03 -2.43965343e-04 -9.99950030e-01 2.23942130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.21 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.66, Y:-149.64, Z:2.24 [[-1.81734013e-01 -9.83345738e-01 1.97700842e-03 5.86578355e+01] [-9.83300495e-01 1.81744622e-01 9.43554360e-03 -1.49641565e+02] [-9.63771223e-03 -2.29234153e-04 -9.99953530e-01 2.23897630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.24 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.61, Y:-149.75, Z:2.24 [[-1.07195278e-01 -9.94237495e-01 9.88322847e-04 5.86133899e+01] [-9.94208295e-01 1.07199706e-01 7.62166509e-03 -1.49753180e+02] [-7.68369312e-03 -1.65592262e-04 -9.99970466e-01 2.23773079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.27 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.58, Y:-149.87, Z:2.24 [[-3.14137319e-02 -9.99506404e-01 3.53661303e-04 5.85775960e+01] [-9.99482666e-01 3.14154237e-02 6.88994974e-03 -1.49867139e+02] [-6.89765931e-03 -1.37039308e-04 -9.99976201e-01 2.23658720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.3 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.55, Y:-149.99, Z:2.24 [[ 4.44395665e-02 -9.99012062e-01 -1.58850023e-04 5.85499195e+01] [-9.98993944e-01 -4.44397174e-02 6.01751737e-03 -1.49988754e+02] [-6.01863168e-03 -1.08725652e-04 -9.99981882e-01 2.23586329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.33 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.53, Y:-150.09, Z:2.24 [[ 1.19179478e-01 -9.92872575e-01 -5.49809004e-04 5.85307156e+01] [-9.92858481e-01 -1.19180716e-01 5.29095129e-03 -1.50087887e+02] [-5.31876706e-03 -8.46902789e-05 -9.99985852e-01 2.23540017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.36 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.52, Y:-150.21, Z:2.24 [[ 1.91488657e-01 -9.81494430e-01 -8.82429114e-04 5.85234073e+01] [-9.81482621e-01 -1.91490682e-01 4.81488442e-03 -1.50206575e+02] [-4.89475919e-03 -5.59069108e-05 -9.99988019e-01 2.23507992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.39 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.52, Y:-150.33, Z:2.24 [[ 2.64462712e-01 -9.64394843e-01 -1.43580439e-03 5.85237848e+01] [-9.64379603e-01 -2.64466605e-01 5.42184819e-03 -1.50327273e+02] [-5.60852475e-03 -4.92162087e-05 -9.99984271e-01 2.23573891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.42 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.54, Y:-150.45, Z:2.24 [[ 3.35215740e-01 -9.42139023e-01 -2.11412172e-03 5.85353542e+01] [-9.42119639e-01 -3.35222405e-01 6.04352898e-03 -1.50449425e+02] [-6.40254545e-03 -3.41304523e-05 -9.99979503e-01 2.23601844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.45 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.56, Y:-150.57, Z:2.24 [[ 4.03652030e-01 -9.14908452e-01 -2.75000528e-03 5.85573005e+01] [-9.14887054e-01 -4.03661397e-01 6.25732928e-03 -1.50572974e+02] [-6.83495442e-03 -9.83943293e-06 -9.99976641e-01 2.23729469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.48 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.59, Y:-150.68, Z:2.24 [[ 4.64737472e-01 -8.85438275e-01 -4.25943914e-03 5.85863713e+01] [-8.85402543e-01 -4.64756985e-01 7.95497624e-03 -1.50679589e+02] [-9.02324453e-03 7.43426952e-05 -9.99959287e-01 2.23948778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.51 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.62, Y:-150.78, Z:2.24 [[ 5.28611609e-01 -8.48848591e-01 -5.08299595e-03 5.86156985e+01] [-8.48811409e-01 -5.28636034e-01 7.94573799e-03 -1.50780235e+02] [-9.43178331e-03 1.14295617e-04 -9.99955513e-01 2.23960992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.53999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.66, Y:-150.89, Z:2.24 [[ 5.89799496e-01 -8.07528659e-01 -5.83256834e-03 5.86576362e+01] [-8.07491680e-01 -5.89828315e-01 7.72948398e-03 -1.50886091e+02] [-9.68199380e-03 1.50904651e-04 -9.99953117e-01 2.23971919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.71, Y:-150.99, Z:2.24 [[ 6.47072223e-01 -7.62399242e-01 -6.70326408e-03 5.87062914e+01] [-7.62361514e-01 -6.47106912e-01 7.58721919e-03 -1.50986050e+02] [-1.01222187e-02 2.00831762e-04 -9.99948749e-01 2.23946968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.59999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.76, Y:-151.08, Z:2.24 [[ 6.97303945e-01 -7.16739214e-01 -7.21854184e-03 5.87608091e+01] [-7.16705066e-01 -6.97341247e-01 7.00243037e-03 -1.51076485e+02] [-1.00527034e-02 2.90743185e-04 -9.99949428e-01 2.23869255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.63 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.76, Y:-151.08, Z:2.24 [[ 7.48064016e-01 -6.63582529e-01 -7.64556866e-03 5.87566297e+01] [-6.63552344e-01 -7.48103012e-01 6.33795863e-03 -1.51080731e+02] [-9.92543156e-03 3.32036224e-04 -9.99950687e-01 2.23851524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.65999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.75, Y:-151.09, Z:2.24 [[ 7.95387113e-01 -6.06056395e-01 -7.41534887e-03 5.87475591e+01] [-6.06033945e-01 -7.95421607e-01 5.22721276e-03 -1.51088061e+02] [-9.06631444e-03 3.36295461e-04 -9.99958844e-01 2.23756199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.69 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.74, Y:-151.09, Z:2.24 [[ 8.38889211e-01 -5.44259994e-01 -6.77864399e-03 5.87375055e+01] [-5.44245207e-01 -8.38916540e-01 4.02425602e-03 -1.51092425e+02] [-7.87695812e-03 3.13339543e-04 -9.99968927e-01 2.23731959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.71999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.73, Y:-151.10, Z:2.24 [[ 8.78123170e-01 -4.78392568e-01 -6.34426673e-03 5.87277578e+01] [-4.78382463e-01 -8.78146039e-01 3.12311781e-03 -1.51097764e+02] [-7.06526905e-03 2.92503834e-04 -9.99974998e-01 2.23681610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.72, Y:-151.11, Z:2.24 [[ 9.12813504e-01 -4.08337000e-01 -5.69224672e-03 5.87166019e+01] [-4.08330782e-01 -9.12831216e-01 2.26787153e-03 -1.51108899e+02] [-6.12211636e-03 2.54175796e-04 -9.99981227e-01 2.23588219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.78 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.71, Y:-151.12, Z:2.24 [[ 9.43074712e-01 -3.32534449e-01 -5.56122444e-03 5.87063430e+01] [-3.32530047e-01 -9.43091083e-01 1.72547941e-03 -1.51119162e+02] [-5.81852252e-03 2.22018223e-04 -9.99983048e-01 2.23567302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.81 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.69, Y:-151.13, Z:2.24 [[ 9.66980668e-01 -2.54789290e-01 -5.55028093e-03 5.86938266e+01] [-2.54786276e-01 -9.66996576e-01 1.25540497e-03 -1.51134248e+02] [-5.68696639e-03 2.00183067e-04 -9.99983809e-01 2.23550288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.84 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.68, Y:-151.15, Z:2.24 [[ 9.84548405e-01 -1.75000859e-01 -6.25602731e-03 5.86821698e+01] [-1.74998620e-01 -9.84568260e-01 9.07772528e-04 -1.51146615e+02] [-6.31834690e-03 2.01050153e-04 -9.99980019e-01 2.23626629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.87 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.67, Y:-151.17, Z:2.24 [[ 9.96026377e-01 -8.87487673e-02 -7.42376716e-03 5.86729583e+01] [-8.87475899e-02 -9.96054028e-01 4.88525693e-04 -1.51165102e+02] [-7.43782924e-03 1.72256968e-04 -9.99972324e-01 2.23755736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.9 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.66, Y:-151.18, Z:2.24 [[ 9.99953525e-01 -5.59376126e-03 -7.85228493e-03 5.86646280e+01] [-5.59471352e-03 -9.99984345e-01 -9.93103238e-05 -1.51178212e+02] [-7.85160648e-03 1.43236993e-04 -9.99969165e-01 2.23838836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.93 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.66, Y:-151.19, Z:2.24 [[ 9.96928282e-01 7.78646541e-02 -8.43182414e-03 5.86592687e+01] [ 7.78609302e-02 -9.96963933e-01 -7.69520266e-04 -1.51192628e+02] [-8.46614298e-03 1.10646846e-04 -9.99964155e-01 2.23853806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.96 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.65, Y:-151.21, Z:2.24 [[ 9.86937775e-01 1.60867056e-01 -8.69584452e-03 5.86537828e+01] [ 1.60860200e-01 -9.86976082e-01 -1.48677782e-03 -1.51206090e+02] [-8.82176412e-03 6.85419046e-05 -9.99961085e-01 2.23933697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.99 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.65, Y:-151.23, Z:2.24 [[ 9.68821506e-01 2.47631045e-01 -7.98466328e-03 5.86526955e+01] [ 2.47622813e-01 -9.68854409e-01 -2.01924122e-03 -1.51226274e+02] [-8.23600303e-03 -2.09004600e-05 -9.99966083e-01 2.23904000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.02 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.65, Y:-151.24, Z:2.24 [[ 9.44966976e-01 3.27083430e-01 -7.33780894e-03 5.86512556e+01] [ 3.27074024e-01 -9.44995464e-01 -2.48106493e-03 -1.51239529e+02] [-7.74571139e-03 -5.54822757e-05 -9.99970000e-01 2.23887976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.05 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.65, Y:-151.25, Z:2.24 [[ 9.14784195e-01 4.03896615e-01 -6.11562168e-03 5.86514738e+01] [ 4.03888141e-01 -9.14804634e-01 -2.61742463e-03 -1.51251201e+02] [-6.65176800e-03 -7.56483901e-05 -9.99977874e-01 2.23808080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.08 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.65, Y:-151.26, Z:2.24 [[ 8.78636048e-01 4.77460320e-01 -5.50806416e-03 5.86534509e+01] [ 4.77451601e-01 -8.78653307e-01 -2.88702016e-03 -1.51264293e+02] [-6.21811636e-03 -9.31940657e-05 -9.99980663e-01 2.23720956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.11 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.65, Y:-151.27, Z:2.24 [[ 8.38578979e-01 5.44754599e-01 -5.26528204e-03 5.86544123e+01] [ 5.44744556e-01 -8.38595503e-01 -3.30921256e-03 -1.51274361e+02] [-6.21815061e-03 -9.31976384e-05 -9.99980663e-01 2.23720988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.14 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.66, Y:-151.29, Z:2.24 [[ 7.90169170e-01 6.12879274e-01 -3.41745279e-03 5.86597776e+01] [ 6.12874009e-01 -7.90176555e-01 -2.54186113e-03 -1.51288670e+02] [-4.25824508e-03 -8.59676869e-05 -9.99990930e-01 2.23614692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.17 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.66, Y:-151.30, Z:2.24 [[ 7.38661152e-01 6.74071653e-01 -2.66637920e-03 5.86625784e+01] [ 6.74067634e-01 -7.38665960e-01 -2.32890813e-03 -1.51298950e+02] [-3.53941450e-03 -7.70459527e-05 -9.99993733e-01 2.23595885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.2 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.67, Y:-151.31, Z:2.24 [[ 6.83032921e-01 7.30384856e-01 -1.99769563e-03 5.86661902e+01] [ 7.30382004e-01 -6.83035840e-01 -2.04192904e-03 -1.51307664e+02] [-2.85589176e-03 -6.43761820e-05 -9.99995920e-01 2.23561962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.23 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.67, Y:-151.32, Z:2.24 [[ 6.23472220e-01 7.81843597e-01 -1.72627173e-03 5.86694711e+01] [ 7.81840870e-01 -6.23474607e-01 -2.06594162e-03 -1.51316160e+02] [-2.69152982e-03 -6.16125763e-05 -9.99996376e-01 2.23546851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.26 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.67, Y:-151.32, Z:2.24 [[ 5.60587501e-01 8.28093920e-01 -1.45400091e-03 5.86732513e+01] [ 8.28091392e-01 -5.60589384e-01 -2.04673641e-03 -1.51323255e+02] [-2.50998745e-03 -5.66707863e-05 -9.99996848e-01 2.23578564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.28999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.68, Y:-151.33, Z:2.24 [[ 4.94761327e-01 8.69027036e-01 -1.79996250e-03 5.86764120e+01] [ 8.69021837e-01 -4.94764596e-01 -3.00707270e-03 -1.51329747e+02] [-3.50378519e-03 -7.64234350e-05 -9.99993859e-01 2.23683718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.32 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.68, Y:-151.34, Z:2.24 [[ 4.25862786e-01 9.04785735e-01 -1.91345628e-03 5.86808520e+01] [ 9.04777539e-01 -4.25867075e-01 -3.85222754e-03 -1.51336214e+02] [-4.30031856e-03 -9.07319143e-05 -9.99990749e-01 2.23738191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.34999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.69, Y:-151.34, Z:2.24 [[ 3.54282499e-01 9.35136082e-01 -2.10228065e-03 5.86864660e+01] [ 9.35121504e-01 -3.54288718e-01 -5.22281107e-03 -1.51343145e+02] [-5.62885340e-03 -1.15537280e-04 -9.99984151e-01 2.23787791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.38 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.69, Y:-151.35, Z:2.24 [[ 2.81077032e-01 9.59682535e-01 -2.26588763e-03 5.86914824e+01] [ 9.59655422e-01 -2.81086126e-01 -7.21535190e-03 -1.51350333e+02] [-7.56135678e-03 -1.46401653e-04 -9.99971402e-01 2.23935239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.40999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.70, Y:-151.36, Z:2.24 [[ 2.05579546e-01 9.78638584e-01 -1.88993079e-03 5.86974984e+01] [ 9.78604044e-01 -2.05588171e-01 -8.22366236e-03 -1.51356565e+02] [-8.43654070e-03 -1.58877148e-04 -9.99964399e-01 2.23979200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.44 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.71, Y:-151.36, Z:2.24 [[ 1.28719179e-01 9.91680210e-01 -1.31720351e-03 5.87050952e+01] [ 9.91640611e-01 -1.28725812e-01 -8.86360783e-03 -1.51363089e+02] [-8.95942256e-03 -1.65276171e-04 -9.99959850e-01 2.23975245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.46999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.71, Y:-151.37, Z:2.24 [[ 5.13748001e-02 9.98679237e-01 -6.41979661e-04 5.87133039e+01] [ 9.98636199e-01 -5.13785471e-02 -9.27292036e-03 -1.51369950e+02] [-9.29365701e-03 -1.64709698e-04 -9.99956799e-01 2.24055062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.72, Y:-151.38, Z:2.24 [[-2.49229352e-02 9.99689371e-01 9.26428176e-05 5.87192035e+01] [ 9.99639531e-01 2.49226178e-02 -9.98354184e-03 -1.51375579e+02] [-9.98274957e-03 -1.56209743e-04 -9.99950159e-01 2.24074086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.53 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.73, Y:-151.38, Z:2.24 [[-1.01764552e-01 9.94808140e-01 8.61088469e-04 5.87270887e+01] [ 9.94759952e-01 1.01768099e-01 -9.79246819e-03 -1.51381651e+02] [-9.82925840e-03 -1.39949814e-04 -9.99951682e-01 2.24088148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.73, Y:-151.39, Z:2.24 [[-1.77739863e-01 9.84076237e-01 1.58127539e-03 5.87345015e+01] [ 9.84031051e-01 1.77746856e-01 -9.43116427e-03 -1.51386533e+02] [-9.56205137e-03 -1.20269762e-04 -9.99954275e-01 2.24037965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.59 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.74, Y:-151.39, Z:2.24 [[-2.52549212e-01 9.67581829e-01 2.07374528e-03 5.87415105e+01] [ 9.67546140e-01 2.52557709e-01 -8.31083236e-03 -1.51390984e+02] [-8.56515073e-03 -9.24499254e-05 -9.99963314e-01 2.23949848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.62 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.75, Y:-151.40, Z:2.24 [[-3.23998674e-01 9.46055574e-01 1.92614269e-03 5.87472432e+01] [ 9.46038077e-01 3.24004397e-01 -5.75391593e-03 -1.51396246e+02] [-6.06760294e-03 -4.20568078e-05 -9.99981591e-01 2.23712397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.65 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.76, Y:-151.40, Z:2.24 [[-3.95348778e-01 9.18529067e-01 1.92261469e-03 5.87556477e+01] [ 9.18517902e-01 3.95353452e-01 -4.52901443e-03 -1.51401516e+02] [-4.92014375e-03 -2.45843107e-05 -9.99987896e-01 2.23648642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.68 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.76, Y:-151.41, Z:2.24 [[-4.64588172e-01 8.85524740e-01 1.94039259e-03 5.87638739e+01] [ 8.85516893e-01 4.64592224e-01 -3.72785019e-03 -1.51405237e+02] [-4.20259488e-03 -1.36646868e-05 -9.99991169e-01 2.23592630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.71 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.77, Y:-151.41, Z:2.24 [[-5.31159141e-01 8.47269115e-01 2.23901885e-03 5.87726784e+01] [ 8.47261532e-01 5.31163860e-01 -3.58471303e-03 -1.51408565e+02] [-4.22650253e-03 -7.01855186e-06 -9.99991068e-01 2.23567169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.74 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.78, Y:-151.41, Z:2.24 [[-5.94992440e-01 8.03727080e-01 2.60332924e-03 5.87812198e+01] [ 8.03719368e-01 5.94998135e-01 -3.52084021e-03 -1.51410721e+02] [-4.37877066e-03 -2.52717557e-06 -9.99990413e-01 2.23590622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.77 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.79, Y:-151.41, Z:2.24 [[-6.54873807e-01 7.55732504e-01 2.94624581e-03 5.87893534e+01] [ 7.55724889e-01 6.54880434e-01 -3.39250365e-03 -1.51412636e+02] [-4.49326401e-03 4.88950689e-06 -9.99989905e-01 2.23662901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.8 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.80, Y:-151.41, Z:2.24 [[-7.11680900e-01 7.02494817e-01 3.36573560e-03 5.88009301e+01] [ 7.02487012e-01 7.11688859e-01 -3.31142230e-03 -1.51411262e+02] [-4.72161353e-03 7.70954120e-06 -9.99988853e-01 2.23698248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.83 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.83, Y:-151.40, Z:2.24 [[-7.59114656e-01 6.50943442e-01 4.19213755e-03 5.88260271e+01] [ 6.50933609e-01 7.59126231e-01 -3.57796232e-03 -1.51397959e+02] [-5.51141269e-03 1.27195888e-05 -9.99984812e-01 2.23781185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.86 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.85, Y:-151.38, Z:2.24 [[-8.03101620e-01 5.95820242e-01 5.10165071e-03 5.88487789e+01] [ 5.95808348e-01 8.03117824e-01 -3.76479717e-03 -1.51381627e+02] [-6.34036898e-03 1.60913756e-05 -9.99979900e-01 2.23827906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.87, Y:-151.36, Z:2.24 [[-8.42898447e-01 5.38040952e-01 5.84310506e-03 5.88676806e+01] [ 5.38028205e-01 8.42918699e-01 -3.70363443e-03 -1.51362978e+02] [-6.91796951e-03 2.19676176e-05 -9.99976070e-01 2.23926000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.92 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.89, Y:-151.34, Z:2.24 [[-8.78804437e-01 4.77141426e-01 6.23071183e-03 5.88863949e+01] [ 4.77129619e-01 8.78826524e-01 -3.35667531e-03 -1.51343215e+02] [-7.07732366e-03 2.29960025e-05 -9.99974955e-01 2.23919677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.95 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.90, Y:-151.32, Z:2.24 [[-9.10257531e-01 4.13998270e-01 6.05474313e-03 5.89046153e+01] [ 4.13989283e-01 9.10277667e-01 -2.72788763e-03 -1.51322476e+02] [-6.64083821e-03 2.35185097e-05 -9.99977949e-01 2.23864188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.98 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.26, Y:-150.56, Z:1.45 [[-8.83540215e-01 -4.68324747e-01 5.34971792e-03 5.92559404e+01] [ 4.68315783e-01 -8.83556409e-01 -2.89827916e-03 -1.50561056e+02] [ 6.08411341e-03 -5.53888578e-05 9.99981490e-01 1.45093554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.01 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.87, Y:-151.31, Z:2.24 [[-9.11815803e-01 4.10581391e-01 3.85522603e-03 5.88663234e+01] [ 4.10577791e-01 9.11823953e-01 -1.71937567e-03 -1.51307114e+02] [-4.22123109e-03 1.51162825e-05 -9.99991090e-01 2.23717472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.03999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.22, Y:-150.54, Z:1.45 [[-8.85264965e-01 -4.65074814e-01 3.37035870e-03 5.92161410e+01] [ 4.65071281e-01 -8.85271380e-01 -1.81320107e-03 -1.50543631e+02] [ 3.82695625e-03 -3.77063429e-05 9.99992676e-01 1.45187796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.83, Y:-151.29, Z:2.24 [[-9.13294448e-01 4.07288058e-01 3.11290195e-03 5.88275810e+01] [ 4.07285739e-01 9.13299752e-01 -1.37427522e-03 -1.51291966e+02] [-3.40273847e-03 1.27226423e-05 -9.99994211e-01 2.23684851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.09999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.84, Y:-151.27, Z:2.24 [[-9.39741555e-01 3.41874740e-01 2.73348228e-03 5.88432827e+01] [ 3.41873331e-01 9.39745530e-01 -9.81755391e-04 -1.51269372e+02] [-2.90441512e-03 1.19083537e-05 -9.99995782e-01 2.23698680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.13 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.14, Y:-150.48, Z:1.45 [[-9.17799793e-01 -3.97038465e-01 1.99901573e-03 5.91383977e+01] [ 3.97037399e-01 -9.17801969e-01 -9.21658331e-04 -1.50478919e+02] [ 2.20063438e-03 -5.22138204e-05 9.99997577e-01 1.45231362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.15999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.80, Y:-151.25, Z:2.24 [[-9.40941553e-01 3.38566087e-01 1.41385671e-03 5.87966865e+01] [ 3.38565716e-01 9.40942615e-01 -5.01092747e-04 -1.51254716e+02] [-1.50001104e-03 7.18442111e-06 -9.99998875e-01 2.23655480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.19 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.81, Y:-151.23, Z:2.24 [[-9.62557221e-01 2.71075572e-01 1.27698831e-03 5.88111367e+01] [ 2.71075343e-01 9.62558068e-01 -3.52838799e-04 -1.51230526e+02] [-1.32482138e-03 6.53250967e-06 -9.99999122e-01 2.23691386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.21999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:59.05, Y:-150.42, Z:1.45 [[-9.44651535e-01 -3.28072485e-01 1.38659146e-03 5.90502565e+01] [ 3.28072134e-01 -9.44652552e-01 -4.79605651e-04 -1.50419978e+02] [ 1.46719258e-03 1.84180674e-06 9.99998924e-01 1.45149573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.25 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.77, Y:-151.22, Z:2.24 [[-9.63700510e-01 2.66979281e-01 1.84129112e-03 5.87685796e+01] [ 2.66978810e-01 9.63702269e-01 -5.01639624e-04 -1.51219196e+02] [-1.90838382e-03 8.15535137e-06 -9.99998179e-01 2.23873802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.28 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.78, Y:-151.19, Z:2.24 [[-9.80259045e-01 1.97693528e-01 3.07794207e-03 5.87800692e+01] [ 1.97692592e-01 9.80263877e-01 -6.08628261e-04 -1.51194482e+02] [-3.13751730e-03 1.18729885e-05 -9.99995078e-01 2.24134584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.31 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.95, Y:-150.37, Z:1.45 [[-9.66454765e-01 -2.56814332e-01 3.40384984e-03 5.89526147e+01] [ 2.56812779e-01 -9.66460759e-01 -8.93109435e-04 -1.50365329e+02] [ 3.51905061e-03 1.10022683e-05 9.99993808e-01 1.44698922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.34 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.72, Y:-151.18, Z:2.24 [[-9.81245938e-01 1.92729378e-01 3.43451160e-03 5.87245990e+01] [ 1.92728231e-01 9.81251949e-01 -6.64813920e-04 -1.51183896e+02] [-3.49825037e-03 9.58138728e-06 -9.99993881e-01 2.24286949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.37 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.90, Y:-150.36, Z:1.45 [[-9.66874663e-01 -2.55228520e-01 3.43355369e-03 5.88977216e+01] [ 2.55226888e-01 -9.66880759e-01 -9.12739945e-04 -1.50356699e+02] [ 3.55279427e-03 -6.16990238e-06 9.99993689e-01 1.44576867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.4 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.67, Y:-151.17, Z:2.24 [[-9.82864004e-01 1.84294874e-01 3.70792425e-03 5.86711498e+01] [ 1.84293536e-01 9.82870998e-01 -7.02333152e-04 -1.51171207e+02] [-3.77384761e-03 -6.95150256e-06 -9.99992879e-01 2.24412074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.43 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.68, Y:-151.14, Z:2.24 [[-9.93692076e-01 1.12078335e-01 3.80846020e-03 5.86833235e+01] [ 1.12077454e-01 9.93699374e-01 -4.44594531e-04 -1.51143959e+02] [-3.83429393e-03 -1.49475394e-05 -9.99992649e-01 2.24425265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.46 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.69, Y:-151.11, Z:2.24 [[-9.99216294e-01 3.93735206e-02 4.06486045e-03 5.86885619e+01] [ 3.93730949e-02 9.99224562e-01 -1.84713328e-04 -1.51114896e+02] [-4.06898121e-03 -2.45224309e-05 -9.99991721e-01 2.24474346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.49 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.69, Y:-151.09, Z:2.25 [[-9.99391646e-01 -3.46255755e-02 4.17230609e-03 5.86882194e+01] [-3.46254287e-02 9.99400354e-01 1.07445777e-04 -1.51085598e+02] [-4.17352456e-03 -3.70874750e-05 -9.99991290e-01 2.24525208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.52 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.69, Y:-151.06, Z:2.25 [[-9.94332271e-01 -1.06239513e-01 4.06219912e-03 5.86918342e+01] [-1.06238785e-01 9.94340568e-01 3.95272306e-04 -1.51057409e+02] [-4.08120292e-03 -3.85310878e-05 -9.99991671e-01 2.24554169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.55 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.68, Y:-151.03, Z:2.25 [[-9.84180521e-01 -1.77123746e-01 3.98506983e-03 5.86840364e+01] [-1.77122453e-01 9.84188588e-01 6.77739801e-04 -1.51031285e+02] [-4.04210406e-03 -3.88270341e-05 -9.99991830e-01 2.24535968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.58 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.53, Y:-150.22, Z:1.44 [[-9.95892426e-01 9.04806807e-02 3.39459074e-03 5.85326638e+01] [-9.04801889e-02 -9.95898211e-01 2.98483231e-04 -1.50216772e+02] [ 3.40767381e-03 -9.88602233e-06 9.99994194e-01 1.44348510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.61 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.55, Y:-151.05, Z:2.25 [[-9.82836509e-01 -1.84456275e-01 2.87743369e-03 5.85491784e+01] [-1.84455568e-01 9.82840720e-01 5.11490876e-04 -1.51052218e+02] [-2.92240670e-03 -2.80467586e-05 -9.99995729e-01 2.24513050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.64 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.53, Y:-151.03, Z:2.24 [[-9.67095953e-01 -2.54396840e-01 2.76887397e-03 5.85251390e+01] [-2.54395876e-01 9.67099916e-01 7.00811938e-04 -1.51030125e+02] [-2.85606213e-03 -2.66377301e-05 -9.99995921e-01 2.24492436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.67 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.47, Y:-151.02, Z:2.25 [[-9.46245754e-01 -3.23436575e-01 2.78469376e-03 5.84747319e+01] [-3.23435257e-01 9.46249851e-01 9.23854051e-04 -1.51016382e+02] [-2.93382425e-03 -2.64751690e-05 -9.99995696e-01 2.24532132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.7 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.43, Y:-151.01, Z:2.25 [[-9.19731382e-01 -3.92536602e-01 3.03347596e-03 5.84289641e+01] [-3.92534570e-01 9.19736384e-01 1.26336266e-03 -1.51005700e+02] [-3.28591430e-03 -2.87898982e-05 -9.99994601e-01 2.24531010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.73 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.36, Y:-151.01, Z:2.25 [[-8.88224516e-01 -4.59394375e-01 3.74400647e-03 5.83608781e+01] [-4.59390456e-01 8.88232406e-01 1.89763910e-03 -1.51007237e+02] [-4.19731260e-03 -3.44312695e-05 -9.99991191e-01 2.24637464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.76 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.29, Y:-151.02, Z:2.25 [[-8.51396918e-01 -5.24507825e-01 3.85091971e-03 5.82851691e+01] [-5.24502651e-01 8.51405626e-01 2.32998328e-03 -1.51018131e+02] [-4.50078917e-03 -3.60770181e-05 -9.99989871e-01 2.24675917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.78999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.20, Y:-151.04, Z:2.25 [[-8.09747984e-01 -5.86765039e-01 3.87181294e-03 5.82016700e+01] [-5.86758541e-01 8.09757240e-01 2.76157125e-03 -1.51040323e+02] [-4.75562202e-03 -3.56425612e-05 -9.99988691e-01 2.24753515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.82 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.11, Y:-151.07, Z:2.25 [[-7.63266426e-01 -6.46072941e-01 3.75755322e-03 5.81140364e+01] [-6.46065334e-01 7.63275674e-01 3.13535926e-03 -1.51074105e+02] [-4.89371974e-03 -3.45104150e-05 -9.99988025e-01 2.24794305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.84999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.03, Y:-151.12, Z:2.25 [[-7.12469376e-01 -7.01689147e-01 4.44177110e-03 5.80285425e+01] [-7.01675847e-01 7.12483221e-01 4.32047162e-03 -1.51117247e+02] [-6.19631542e-03 -3.84797746e-05 -9.99980802e-01 2.24814336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.88 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.94, Y:-151.17, Z:2.25 [[-6.57287870e-01 -7.53628283e-01 4.13111906e-03 5.79371636e+01] [-7.53613731e-01 6.57300851e-01 4.68347118e-03 -1.51174977e+02] [-6.24498442e-03 -3.48792491e-05 -9.99980499e-01 2.24818705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.90999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.85, Y:-151.24, Z:2.25 [[-5.97493089e-01 -8.01864434e-01 3.92920214e-03 5.78458978e+01] [-8.01847512e-01 5.97506007e-01 5.20961126e-03 -1.51244936e+02] [-6.52512387e-03 -3.79142366e-05 -9.99978710e-01 2.24823764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.94 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.77, Y:-151.31, Z:2.25 [[-5.34332417e-01 -8.45268026e-01 3.29130618e-03 5.77692070e+01] [-8.45252373e-01 5.34342553e-01 5.14406436e-03 -1.51308976e+02] [-6.10679807e-03 -3.33440217e-05 -9.99981353e-01 2.24803011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.96999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.69, Y:-151.39, Z:2.25 [[-4.66977807e-01 -8.84265021e-01 2.66458498e-03 5.76924291e+01] [-8.84251056e-01 4.66985408e-01 4.96977776e-03 -1.51388180e+02] [-5.63892294e-03 -3.53861591e-05 -9.99984101e-01 2.24744109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.0 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.62, Y:-151.48, Z:2.25 [[-3.96644934e-01 -9.17969780e-01 2.06868233e-03 5.76196373e+01] [-9.17957765e-01 3.96650327e-01 4.69678187e-03 -1.51476237e+02] [-5.13204734e-03 -3.60082781e-05 -9.99986830e-01 2.24705207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.03 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.55, Y:-151.57, Z:2.25 [[-3.24481458e-01 -9.45890531e-01 1.69935508e-03 5.75521504e+01] [-9.45878134e-01 3.24485905e-01 4.84271957e-03 -1.51572307e+02] [-5.13209935e-03 -3.60101083e-05 -9.99986830e-01 2.24705466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.06 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.49, Y:-151.68, Z:2.25 [[-2.49672906e-01 -9.68329328e-01 1.32358397e-03 5.74903325e+01] [-9.68316555e-01 2.49676411e-01 4.97382424e-03 -1.51680866e+02] [-5.14676758e-03 -3.98191160e-05 -9.99986755e-01 2.24667468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.09 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.44, Y:-151.78, Z:2.25 [[-1.73030293e-01 -9.84916149e-01 8.35310685e-04 5.74400237e+01] [-9.84905746e-01 1.73032304e-01 4.52692503e-03 -1.51782798e+02] [-4.60317730e-03 -3.94071295e-05 -9.99989405e-01 2.24631893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.12 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.40, Y:-151.90, Z:2.25 [[-9.43054978e-02 -9.95543215e-01 4.25335846e-04 5.73965887e+01] [-9.95535017e-01 9.43064475e-02 4.04031881e-03 -1.51898029e+02] [-4.06242389e-03 -4.24124515e-05 -9.99991747e-01 2.24587595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.15 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.36, Y:-152.01, Z:2.25 [[-1.54455430e-02 -9.99880705e-01 1.00895334e-04 5.73611907e+01] [-9.99873823e-01 1.54458111e-02 3.71012616e-03 -1.52014911e+02] [-3.71124197e-03 -4.35776904e-05 -9.99993112e-01 2.24548791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.18 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.34, Y:-152.12, Z:2.24 [[ 6.25941644e-02 -9.98039045e-01 -1.87113074e-04 5.73360506e+01] [-9.98032054e-01 -6.25944263e-02 3.73591761e-03 -1.52124083e+02] [-3.74030388e-03 -4.71017953e-05 -9.99993004e-01 2.24492797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.21 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.32, Y:-152.24, Z:2.25 [[ 1.40693320e-01 -9.90053110e-01 -4.79502968e-04 5.73198879e+01] [-9.90046066e-01 -1.40694128e-01 3.73502899e-03 -1.52244655e+02] [-3.76534032e-03 -5.07636018e-05 -9.99992910e-01 2.24533110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.24 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.31, Y:-152.37, Z:2.25 [[ 2.17805916e-01 -9.75991715e-01 -8.69520968e-04 5.73142789e+01] [-9.75982785e-01 -2.17807643e-01 4.17549754e-03 -1.52373303e+02] [-4.26463932e-03 -6.08105699e-05 -9.99990905e-01 2.24627720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.27 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.32, Y:-152.49, Z:2.25 [[ 2.93060012e-01 -9.56093092e-01 -1.35244962e-03 5.73152425e+01] [-9.56081772e-01 -2.93063125e-01 4.65289301e-03 -1.52492964e+02] [-4.84495197e-03 -7.05244566e-05 -9.99988261e-01 2.24670135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.3 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.33, Y:-152.61, Z:2.25 [[ 3.66550635e-01 -9.30396399e-01 -1.78117301e-03 5.73271257e+01] [-9.30384401e-01 -3.66554955e-01 4.72552742e-03 -1.52612994e+02] [-5.04951148e-03 -7.49694883e-05 -9.99987248e-01 2.24719720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.33 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.35, Y:-152.73, Z:2.25 [[ 4.37462630e-01 -8.99233569e-01 -2.33158610e-03 5.73504883e+01] [-8.99219787e-01 -4.37468836e-01 4.97915336e-03 -1.52733292e+02] [-5.49741810e-03 -8.15851647e-05 -9.99984886e-01 2.24651789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.36 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.38, Y:-152.84, Z:2.25 [[ 5.05432589e-01 -8.62861229e-01 -2.89788581e-03 5.73775797e+01] [-8.62846072e-01 -5.05440889e-01 5.11507895e-03 -1.52840043e+02] [-5.87831329e-03 -8.48982085e-05 -9.99982719e-01 2.24630204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.39 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.41, Y:-152.95, Z:2.25 [[ 5.69996818e-01 -8.21639444e-01 -3.50028467e-03 5.74137266e+01] [-8.21623019e-01 -5.70007559e-01 5.19591133e-03 -1.52949048e+02] [-6.26435441e-03 -8.57384692e-05 -9.99980375e-01 2.24670020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.42 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.46, Y:-153.05, Z:2.25 [[ 6.31074319e-01 -7.75710536e-01 -4.28581926e-03 5.74568682e+01] [-7.75691687e-01 -6.31088866e-01 5.40830491e-03 -1.53051630e+02] [-6.90001192e-03 -8.85679671e-05 -9.99976191e-01 2.24658215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.45 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.51, Y:-153.15, Z:2.25 [[ 6.88073253e-01 -7.25623194e-01 -5.11646212e-03 5.75078896e+01] [-7.25602178e-01 -6.88092270e-01 5.52332932e-03 -1.53152563e+02] [-7.52845389e-03 -8.79391139e-05 -9.99971657e-01 2.24733220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.48 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.57, Y:-153.25, Z:2.25 [[ 7.40506129e-01 -6.72028109e-01 -5.37530051e-03 5.75702400e+01] [-6.72009701e-01 -7.40525635e-01 4.97454572e-03 -1.53249265e+02] [-7.32358237e-03 -7.14275074e-05 -9.99973180e-01 2.24668557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.51 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.57, Y:-153.25, Z:2.25 [[ 7.87765574e-01 -6.15948693e-01 -5.71028653e-03 5.75692153e+01] [-6.15932176e-01 -7.87786269e-01 4.51089323e-03 -1.53251270e+02] [-7.27696411e-03 -3.63771918e-05 -9.99973522e-01 2.24625229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.53999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.56, Y:-153.25, Z:2.25 [[ 8.31953680e-01 -5.54809847e-01 -6.25363644e-03 5.75649920e+01] [-5.54794019e-01 -8.31977184e-01 4.19080133e-03 -1.53253507e+02] [-7.52798067e-03 -1.70724971e-05 -9.99971664e-01 2.24580410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.56, Y:-153.26, Z:2.25 [[ 8.71382752e-01 -4.90561881e-01 -6.41408674e-03 5.75593535e+01] [-4.90548629e-01 -8.71406358e-01 3.60579228e-03 -1.53255709e+02] [-7.35814021e-03 4.39625896e-06 -9.99972929e-01 2.24548200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.59999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.55, Y:-153.26, Z:2.24 [[ 9.06073924e-01 -4.23077726e-01 -5.93987677e-03 5.75530146e+01] [-4.23068775e-01 -9.06093393e-01 2.75222045e-03 -1.53258034e+02] [-6.54648627e-03 1.92612049e-05 -9.99978571e-01 2.24466412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.63 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.55, Y:-153.26, Z:2.24 [[ 9.35156120e-01 -3.54191317e-01 -5.61625248e-03 5.75460133e+01] [-3.54185176e-01 -9.35172984e-01 2.08602675e-03 -1.53262865e+02] [-5.99102016e-03 3.84326884e-05 -9.99982053e-01 2.24314521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.65999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.54, Y:-153.27, Z:2.24 [[ 9.59630811e-01 -2.81206694e-01 -5.61273226e-03 5.75387466e+01] [-2.81202156e-01 -9.59647223e-01 1.59807767e-03 -1.53271310e+02] [-5.83563307e-03 4.47478474e-05 -9.99982972e-01 2.24288350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.69 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.53, Y:-153.28, Z:2.24 [[ 9.78398623e-01 -2.06651769e-01 -5.58396581e-03 5.75279219e+01] [-2.06648707e-01 -9.78414556e-01 1.12622618e-03 -1.53277856e+02] [-5.69617006e-03 5.20211699e-05 -9.99983775e-01 2.24329037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.71999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.52, Y:-153.29, Z:2.24 [[ 9.91322864e-01 -1.31297148e-01 -6.32753179e-03 5.75178976e+01] [-1.31294924e-01 -9.91343056e-01 7.67432373e-04 -1.53286023e+02] [-6.37351638e-03 6.99995444e-05 -9.99979687e-01 2.24342127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.51, Y:-153.29, Z:2.24 [[ 9.98314355e-01 -5.75128938e-02 -7.79207963e-03 5.75091330e+01] [-5.75120668e-02 -9.98344757e-01 3.30346151e-04 -1.53293036e+02] [-7.79818100e-03 1.18349299e-04 -9.99969587e-01 2.24434966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.78 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.50, Y:-153.30, Z:2.24 [[ 9.99790979e-01 1.87740353e-02 -8.09529820e-03 5.75004464e+01] [ 1.87722913e-02 -9.99823743e-01 -2.91373644e-04 -1.53302738e+02] [-8.09934160e-03 1.39345445e-04 -9.99967190e-01 2.24414581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.81 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.49, Y:-153.31, Z:2.25 [[ 9.95450031e-01 9.49043245e-02 -8.50913457e-03 5.74912919e+01] [ 9.48994348e-02 -9.95486385e-01 -9.77489110e-04 -1.53312012e+02] [-8.56349556e-03 1.65529502e-04 -9.99963319e-01 2.24506442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.84 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.48, Y:-153.32, Z:2.25 [[ 9.85579488e-01 1.68951132e-01 -9.41216369e-03 5.74826855e+01] [ 1.68941288e-01 -9.85624404e-01 -1.83707357e-03 -1.53320219e+02] [-9.58723389e-03 2.20478974e-04 -9.99954017e-01 2.24570229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.87 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.48, Y:-153.34, Z:2.24 [[ 9.69675141e-01 2.44209979e-01 -9.57113331e-03 5.74775498e+01] [ 2.44195604e-01 -9.69722345e-01 -2.66081056e-03 -1.53336007e+02] [-9.93113834e-03 2.42893173e-04 -9.99950656e-01 2.24476920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.9 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.47, Y:-153.35, Z:2.25 [[ 9.47813464e-01 3.18687309e-01 -9.38282845e-03 5.74708876e+01] [ 3.18669057e-01 -9.47859871e-01 -3.41993822e-03 -1.53346909e+02] [-9.98349748e-03 2.51446397e-04 -9.99950132e-01 2.24526912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.93 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.47, Y:-153.36, Z:2.24 [[ 9.19738615e-01 3.92432421e-01 -8.81329538e-03 5.74683293e+01] [ 3.92411903e-01 -9.19780810e-01 -4.01997552e-03 -1.53363592e+02] [-9.68386869e-03 2.38884700e-04 -9.99953082e-01 2.24284104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.96 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.46, Y:-153.38, Z:2.24 [[ 8.85704371e-01 4.64175544e-01 -8.29652098e-03 5.74645115e+01] [ 4.64152802e-01 -8.85743199e-01 -4.60020979e-03 -1.53377238e+02] [-9.48389192e-03 2.23572457e-04 -9.99955002e-01 2.24245348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.99 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.46, Y:-153.39, Z:2.24 [[ 8.45433739e-01 5.34023365e-01 -7.79988853e-03 5.74631124e+01] [ 5.33998447e-01 -8.45469695e-01 -5.16264852e-03 -1.53392122e+02] [-9.35154431e-03 1.99548879e-04 -9.99956253e-01 2.24173705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.02 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.46, Y:-153.41, Z:2.24 [[ 7.99461285e-01 6.00676595e-01 -7.02020416e-03 5.74617086e+01] [ 6.00651592e-01 -7.99492089e-01 -5.48311938e-03 -1.53406901e+02] [-8.90617917e-03 1.66844864e-04 -9.99960325e-01 2.24168184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.05 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.47, Y:-153.43, Z:2.24 [[ 7.46235875e-01 6.65649393e-01 -6.55021661e-03 5.74675986e+01] [ 6.65622371e-01 -7.46264613e-01 -5.99894913e-03 -1.53426273e+02] [-8.88139171e-03 1.16660339e-04 -9.99960553e-01 2.24148176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.08 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.47, Y:-153.44, Z:2.24 [[ 6.89698234e-01 7.24069709e-01 -6.27717054e-03 5.74705471e+01] [ 7.24038475e-01 -6.89726792e-01 -6.72595503e-03 -1.53440960e+02] [-9.19959300e-03 9.39663142e-05 -9.99957678e-01 2.24267032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.11 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.47, Y:-153.45, Z:2.24 [[ 6.28657902e-01 7.77657787e-01 -6.13252660e-03 5.74745456e+01] [ 7.77619660e-01 -6.28687808e-01 -7.70090955e-03 -1.53454453e+02] [-9.84411699e-03 7.24643890e-05 -9.99951543e-01 2.24249733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.14 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.48, Y:-153.47, Z:2.24 [[ 5.63697751e-01 8.25962493e-01 -5.55031815e-03 5.74811233e+01] [ 8.25921630e-01 -5.63725073e-01 -8.21605875e-03 -1.53468111e+02] [-9.91500988e-03 4.72460274e-05 -9.99950844e-01 2.24257534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.17 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.49, Y:-153.48, Z:2.24 [[ 4.93102091e-01 8.69953016e-01 -5.66371715e-03 5.74891829e+01] [ 8.69895657e-01 -4.93134617e-01 -9.98975096e-03 -1.53482304e+02] [-1.14835890e-02 -8.75859484e-07 -9.99934061e-01 2.24496687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.2 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.50, Y:-153.49, Z:2.24 [[ 4.21773686e-01 9.06687474e-01 -4.97817203e-03 5.74953514e+01] [ 9.06624952e-01 -4.21803063e-01 -1.06476787e-02 -1.53493661e+02] [-1.17539251e-02 -2.24242918e-05 -9.99930920e-01 2.24443978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.23 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.50, Y:-153.50, Z:2.25 [[ 3.47902461e-01 9.37521871e-01 -4.07657543e-03 5.75017156e+01] [ 9.37458894e-01 -3.47926342e-01 -1.08666316e-02 -1.53503716e+02] [-1.16060527e-02 -4.10940339e-05 -9.99932647e-01 2.24521294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.26 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.51, Y:-153.51, Z:2.25 [[ 2.71007095e-01 9.62572403e-01 -3.08595587e-03 5.75119585e+01] [ 9.62512795e-01 -2.71024656e-01 -1.07123517e-02 -1.53514500e+02] [-1.11477842e-02 -6.71487010e-05 -9.99937859e-01 2.24558334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.28999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.52, Y:-153.52, Z:2.25 [[ 1.93892636e-01 9.81020330e-01 -2.18129129e-03 5.75199847e+01] [ 9.80962551e-01 -1.93904891e-01 -1.06473595e-02 -1.53524554e+02] [-1.08682392e-02 -7.53204758e-05 -9.99940936e-01 2.24642493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.32 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.53, Y:-153.53, Z:2.25 [[ 1.15616405e-01 9.93293184e-01 -1.22360582e-03 5.75277770e+01] [ 9.93244384e-01 -1.15622854e-01 -9.84633517e-03 -1.53532916e+02] [-9.92177441e-03 -7.69417356e-05 -9.99950775e-01 2.24584565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.34999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.54, Y:-153.54, Z:2.25 [[ 3.72569939e-02 9.99305634e-01 -4.08175735e-04 5.75356274e+01] [ 9.99264946e-01 -3.72591604e-02 -9.01788994e-03 -1.53541614e+02] [-9.02683651e-03 -7.18962331e-05 -9.99959255e-01 2.24622945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.38 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.54, Y:-153.55, Z:2.24 [[-4.17020237e-02 9.99130059e-01 2.59688610e-04 5.75441468e+01] [ 9.99099474e-01 4.17027791e-02 -7.81793358e-03 -1.53548052e+02] [-7.82196218e-03 -6.65688979e-05 -9.99969406e-01 2.24499033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.40999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.55, Y:-153.55, Z:2.24 [[-1.20350008e-01 9.92731221e-01 7.74186886e-04 5.75527019e+01] [ 9.92707196e-01 1.20352481e-01 -6.90678196e-03 -1.53554472e+02] [-6.94975340e-03 -6.26903691e-05 -9.99975848e-01 2.24469406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.44 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.56, Y:-153.56, Z:2.24 [[-1.97720788e-01 9.80257500e-01 1.31269473e-03 5.75613672e+01] [ 9.80233743e-01 1.97725136e-01 -6.82498921e-03 -1.53560475e+02] [-6.94979961e-03 -6.26945751e-05 -9.99975848e-01 2.24469446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.46999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.57, Y:-153.57, Z:2.24 [[-2.74185228e-01 9.61675174e-01 1.82206895e-03 5.75719293e+01] [ 9.61652357e-01 2.74191275e-01 -6.62489428e-03 -1.53565085e+02] [-6.87059177e-03 -6.42512505e-05 -9.99976395e-01 2.24495344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.58, Y:-153.57, Z:2.25 [[-3.49150553e-01 9.37063870e-01 2.27936468e-03 5.75829297e+01] [ 9.37042652e-01 3.49157987e-01 -6.30626421e-03 -1.53568675e+02] [-6.70523073e-03 -6.59737173e-05 -9.99977518e-01 2.24535458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.53 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.59, Y:-153.57, Z:2.25 [[-4.22519303e-01 9.06349795e-01 2.73631958e-03 5.75934855e+01] [ 9.06329660e-01 4.22528157e-01 -6.04191935e-03 -1.53571805e+02] [-6.63226443e-03 -7.28199568e-05 -9.99978004e-01 2.24624954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.60, Y:-153.58, Z:2.25 [[-4.92800451e-01 8.70135631e-01 3.42051705e-03 5.76033928e+01] [ 8.70113491e-01 4.92812315e-01 -6.20764672e-03 -1.53575587e+02] [-7.08716752e-03 -8.28930704e-05 -9.99974882e-01 2.24655104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.59 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.61, Y:-153.58, Z:2.25 [[-5.59794867e-01 8.28622307e-01 3.84432449e-03 5.76133966e+01] [ 8.28601722e-01 5.59808061e-01 -5.84138150e-03 -1.53576724e+02] [-6.99238285e-03 -8.45614911e-05 -9.99975549e-01 2.24652644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.62 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.62, Y:-153.58, Z:2.25 [[-6.23237296e-01 7.82019381e-01 4.57816936e-03 5.76240975e+01] [ 7.81997180e-01 6.23254104e-01 -5.89333425e-03 -1.53577311e+02] [-7.46206445e-03 -9.28301740e-05 -9.99972154e-01 2.24683163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.65 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.63, Y:-153.58, Z:2.25 [[-6.82668375e-01 7.30708544e-01 5.37720140e-03 5.76345537e+01] [ 7.30684713e-01 6.82689544e-01 -5.90220037e-03 -1.53577411e+02] [-7.98374742e-03 -1.00206671e-04 -9.99968124e-01 2.24719044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.68 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.64, Y:-153.58, Z:2.25 [[-7.37667852e-01 6.75134165e-01 6.32450298e-03 5.76441296e+01] [ 6.75108100e-01 7.37694955e-01 -5.93346856e-03 -1.53578169e+02] [-8.67144129e-03 -1.07205819e-04 -9.99962397e-01 2.24786079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.71 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.67, Y:-153.56, Z:2.25 [[-7.83137065e-01 6.21813205e-01 6.68394855e-03 5.76679870e+01] [ 6.21789454e-01 7.83165581e-01 -5.43570452e-03 -1.53564313e+02] [-8.61463130e-03 -1.00892962e-04 -9.99962888e-01 2.24811448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.74 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.69, Y:-153.55, Z:2.25 [[-8.24025503e-01 5.66513256e-01 6.68595830e-03 5.76874146e+01] [ 5.66493824e-01 8.24052622e-01 -4.69284780e-03 -1.53547980e+02] [-8.16814196e-03 -7.94721783e-05 -9.99966637e-01 2.24810910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.77 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.71, Y:-153.53, Z:2.25 [[-8.61337487e-01 5.07987846e-01 6.78840255e-03 5.77078414e+01] [ 5.07971462e-01 8.61364234e-01 -4.08046109e-03 -1.53530537e+02] [-7.92011181e-03 -6.63393347e-05 -9.99968633e-01 2.24790789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.8 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.73, Y:-153.51, Z:2.25 [[-8.94307523e-01 4.47404763e-01 6.55990890e-03 5.77260527e+01] [ 4.47392332e-01 8.94331580e-01 -3.33547541e-03 -1.53511789e+02] [-7.35904128e-03 -4.80878129e-05 -9.99972921e-01 2.24696018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.83 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.12, Y:-152.78, Z:1.44 [[-8.56372154e-01 -5.16327291e-01 5.73258568e-03 5.81175310e+01] [ 5.16315760e-01 -8.56391341e-01 -3.45074601e-03 -1.52776032e+02] [ 6.69105108e-03 4.70154330e-06 9.99977615e-01 1.44260606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.86 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.69, Y:-153.50, Z:2.24 [[-8.92833537e-01 4.50364111e-01 4.52127560e-03 5.76925232e+01] [ 4.50358353e-01 8.92844985e-01 -2.27739519e-03 -1.53502816e+02] [-5.06245530e-03 2.85943127e-06 -9.99987186e-01 2.24495520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.71, Y:-153.48, Z:2.24 [[-9.21456964e-01 3.88459567e-01 4.02847046e-03 5.77128888e+01] [ 3.88455923e-01 9.21465770e-01 -1.68268976e-03 -1.53484469e+02] [-4.36575457e-03 1.43570135e-05 -9.99990470e-01 2.24419878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.92 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.05, Y:-152.71, Z:1.44 [[-8.95941787e-01 -4.44154060e-01 3.93507913e-03 5.80499817e+01] [ 4.44149715e-01 -8.95950429e-01 -1.96468148e-03 -1.52705915e+02] [ 4.39825709e-03 -1.24759629e-05 9.99990328e-01 1.44494150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.95 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.67, Y:-153.47, Z:2.24 [[-9.21950102e-01 3.87292483e-01 3.54139759e-03 5.76703090e+01] [ 3.87289718e-01 9.21956904e-01 -1.46362127e-03 -1.53469955e+02] [-3.83186547e-03 2.21610880e-05 -9.99992658e-01 2.24322521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.98 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:58.01, Y:-152.69, Z:1.45 [[-8.99796026e-01 -4.36302078e-01 2.75826010e-03 5.80106029e+01] [ 4.36299818e-01 -8.99800252e-01 -1.40546938e-03 -1.52685918e+02] [ 3.09509234e-03 -6.12073864e-05 9.99995208e-01 1.44615417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.01 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.63, Y:-153.46, Z:2.24 [[-9.20724899e-01 3.90208689e-01 1.68504794e-03 5.76339581e+01] [ 3.90208083e-01 9.20726441e-01 -6.88249048e-04 -1.53460801e+02] [-1.82002895e-03 2.38312898e-05 -9.99998343e-01 2.24245057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.03999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.65, Y:-153.44, Z:2.24 [[-9.45517082e-01 3.25564347e-01 2.30295318e-03 5.76486640e+01] [ 3.25563472e-01 9.45519886e-01 -7.55552379e-04 -1.53438232e+02] [-2.42346894e-03 3.53697518e-05 -9.99997063e-01 2.24377507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.66, Y:-153.41, Z:2.25 [[-9.65839600e-01 2.59119805e-01 3.28543514e-03 5.76632226e+01] [ 2.59118495e-01 9.65845186e-01 -8.25563267e-04 -1.53414424e+02] [-3.38714151e-03 5.39553138e-05 -9.99994262e-01 2.24555760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.09999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.68, Y:-153.39, Z:2.25 [[-9.81537995e-01 1.91217157e-01 4.37751955e-03 5.76765387e+01] [ 1.91215600e-01 9.81547754e-01 -7.75472202e-04 -1.53389614e+02] [-4.44502807e-03 7.58945971e-05 -9.99990118e-01 2.24701168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.13 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.84, Y:-152.54, Z:1.44 [[-9.74722834e-01 -2.23355522e-01 5.26386932e-03 5.78375418e+01] [ 2.23352089e-01 -9.74737046e-01 -1.23870134e-03 -1.52538198e+02] [ 5.40755922e-03 -3.16942736e-05 9.99985379e-01 1.44133132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.15999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.62, Y:-153.38, Z:2.25 [[-9.81802713e-01 1.89823186e-01 5.53086511e-03 5.76174300e+01] [ 1.89820817e-01 9.81818285e-01 -9.55120546e-04 -1.53380677e+02] [-5.61160852e-03 1.12133387e-04 -9.99984249e-01 2.24865050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.19 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.62, Y:-153.35, Z:2.25 [[-9.92672340e-01 1.20716018e-01 5.40996826e-03 5.76245620e+01] [ 1.20714852e-01 9.92687076e-01 -5.42638812e-04 -1.53354856e+02] [-5.43591077e-03 1.14400979e-04 -9.99985219e-01 2.24902316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.21999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.72, Y:-152.49, Z:1.44 [[-9.89384633e-01 -1.45215384e-01 5.52636348e-03 5.77228076e+01] [ 1.45212512e-01 -9.89400061e-01 -9.19555305e-04 -1.52488223e+02] [ 5.60131794e-03 -1.07296762e-04 9.99984307e-01 1.44020956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.25 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.55, Y:-153.35, Z:2.25 [[-9.92995574e-01 1.18030912e-01 5.33796453e-03 5.75503877e+01] [ 1.18029894e-01 9.93009913e-01 -5.06494139e-04 -1.53347972e+02] [-5.36043366e-03 1.27092950e-04 -9.99985625e-01 2.24915217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.28 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.64, Y:-152.48, Z:1.44 [[-9.90425712e-01 -1.37965936e-01 4.72337864e-03 5.76418715e+01] [ 1.37963641e-01 -9.90436963e-01 -8.09891747e-04 -1.52479734e+02] [ 4.78994627e-03 -1.50483095e-04 9.99988517e-01 1.44001983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.31 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.47, Y:-153.34, Z:2.25 [[-9.93522176e-01 1.13568829e-01 3.97591957e-03 5.74711188e+01] [ 1.13568311e-01 9.93530126e-01 -3.56390566e-04 -1.53340542e+02] [-3.99067073e-03 9.74565401e-05 -9.99992033e-01 2.24878002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.34 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.56, Y:-152.47, Z:1.44 [[-9.91144700e-01 -1.32739321e-01 3.52929784e-03 5.75620668e+01] [ 1.32738068e-01 -9.91150977e-01 -5.88132749e-04 -1.52472189e+02] [ 3.57613534e-03 -1.14452482e-04 9.99993599e-01 1.44136204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.37 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.40, Y:-153.33, Z:2.25 [[-9.94224995e-01 1.07290107e-01 2.34356695e-03 5.73967613e+01] [ 1.07289941e-01 9.94227756e-01 -1.96789998e-04 -1.53333124e+02] [-2.35115293e-03 5.57876247e-05 -9.99997235e-01 2.24679640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.4 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.48, Y:-152.47, Z:1.44 [[-9.91432828e-01 -1.30616942e-01 4.03195497e-04 5.74768418e+01] [ 1.30616872e-01 -9.91432900e-01 -1.94853771e-04 -1.52467609e+02] [ 4.25192484e-04 -1.40520290e-04 9.99999900e-01 1.44375989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.43 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.32, Y:-153.32, Z:2.25 [[-9.95194614e-01 9.79165165e-02 1.88910861e-04 5.73173929e+01] [ 9.79165158e-02 9.95194632e-01 -1.30310799e-05 -1.53321294e+02] [-1.89279033e-04 5.52903274e-06 -9.99999982e-01 2.24547674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.46 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.39, Y:-152.47, Z:1.44 [[-9.91603558e-01 -1.29314781e-01 2.66650393e-04 5.73861236e+01] [ 1.29314775e-01 -9.91603594e-01 -3.64942440e-05 -1.52465405e+02] [ 2.69130733e-04 -1.70598649e-06 9.99999964e-01 1.44329611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.49 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.23, Y:-153.31, Z:2.25 [[-9.96126721e-01 8.79284717e-02 3.74932629e-04 5.72347895e+01] [ 8.79284682e-02 9.96126791e-01 -2.57238386e-05 -1.53309460e+02] [-3.75742294e-04 7.34304878e-06 -9.99999929e-01 2.24612282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.52 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.29, Y:-152.46, Z:1.44 [[-9.91438514e-01 -1.30569865e-01 1.08732412e-03 5.72938489e+01] [ 1.30569822e-01 -9.91439110e-01 -1.11251929e-04 -1.52464057e+02] [ 1.09254180e-03 3.16722689e-05 9.99999403e-01 1.44187915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.55 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.15, Y:-153.30, Z:2.25 [[-9.97098205e-01 7.61128848e-02 1.41388568e-03 5.71502062e+01] [ 7.61128270e-02 9.97099207e-01 -9.46596737e-05 -1.53296266e+02] [-1.41698911e-03 1.32298456e-05 -9.99998996e-01 2.24812097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.58 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.22, Y:-152.46, Z:1.44 [[-9.91696891e-01 -1.28580829e-01 2.06103308e-03 5.72154152e+01] [ 1.28580604e-01 -9.91699032e-01 -2.41790225e-04 -1.52462074e+02] [ 2.07501410e-03 2.52262639e-05 9.99997847e-01 1.44029023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.61 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.07, Y:-153.29, Z:2.25 [[-9.97675782e-01 6.80603935e-02 3.28889616e-03 5.70741636e+01] [ 6.80600850e-02 9.97681203e-01 -2.05780422e-04 -1.53287299e+02] [-3.29527538e-03 1.85404084e-05 -9.99994570e-01 2.24987106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.64 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.13, Y:-152.46, Z:1.44 [[-9.92015228e-01 -1.26034534e-01 4.59175328e-03 5.71272098e+01] [ 1.26033473e-01 -9.92025853e-01 -5.20814309e-04 -1.52457901e+02] [ 4.62077855e-03 6.20588889e-05 9.99989322e-01 1.43854118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.67 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.99, Y:-153.28, Z:2.25 [[-9.98165730e-01 6.02970356e-02 5.42616705e-03 5.69917304e+01] [ 6.02962346e-02 9.98180478e-01 -3.11232392e-04 -1.53278847e+02] [-5.43506041e-03 1.65159332e-05 -9.99985230e-01 2.25148407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.7 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:57.05, Y:-152.45, Z:1.44 [[-9.92471306e-01 -1.22350060e-01 5.58295582e-03 5.70472204e+01] [ 1.22348098e-01 -9.92487009e-01 -6.92804296e-04 -1.52454929e+02] [ 5.62577577e-03 -4.52435805e-06 9.99984175e-01 1.43784454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.73 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.91, Y:-153.27, Z:2.25 [[-9.98525166e-01 5.40312310e-02 5.30275937e-03 5.69132604e+01] [ 5.40305271e-02 9.98539246e-01 -2.76012166e-04 -1.53273129e+02] [-5.30992662e-03 1.09057901e-05 -9.99985902e-01 2.25053124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.76 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.91, Y:-153.24, Z:2.25 [[-9.99838734e-01 -1.74639412e-02 4.18529923e-03 5.69127773e+01] [-1.74637586e-02 9.99847494e-01 8.01846226e-05 -1.53244738e+02] [-4.18606128e-03 7.08063639e-06 -9.99991238e-01 2.24905244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.78999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.90, Y:-152.42, Z:1.44 [[-9.98872176e-01 -4.73106948e-02 4.00937223e-03 5.69044590e+01] [ 4.73102405e-02 -9.98880222e-01 -2.08118899e-04 -1.52423215e+02] [ 4.01472888e-03 -1.81998124e-05 9.99991941e-01 1.44047178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.82 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.82, Y:-153.24, Z:2.25 [[-9.99702680e-01 -2.40457852e-02 4.04372268e-03 5.68183591e+01] [-2.40455656e-02 9.99710858e-01 1.02933066e-04 -1.53244097e+02] [-4.04502858e-03 5.66886290e-06 -9.99991819e-01 2.24870452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.84999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.80, Y:-152.43, Z:1.44 [[-9.99137337e-01 -4.13296182e-02 4.05506344e-03 5.67973992e+01] [ 4.13292584e-02 -9.99145566e-01 -1.72519421e-04 -1.52426035e+02] [ 4.05872882e-03 -4.77782985e-06 9.99991763e-01 1.44003618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.88 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.71, Y:-153.24, Z:2.25 [[-9.99486106e-01 -3.15517433e-02 5.65785226e-03 5.67136427e+01] [-3.15512382e-02 9.99502120e-01 1.78535900e-04 -1.53243474e+02] [-5.66066844e-03 -6.80929853e-08 -9.99983978e-01 2.24949003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.90999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.70, Y:-152.43, Z:1.44 [[-9.99271325e-01 -3.76183520e-02 6.45595658e-03 5.66990290e+01] [ 3.76179177e-02 -9.99292178e-01 -1.88734911e-04 -1.52429695e+02] [ 6.45848680e-03 5.42622590e-05 9.99979142e-01 1.43947202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.94 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.62, Y:-153.24, Z:2.25 [[-9.99149327e-01 -4.04834433e-02 7.85572097e-03 5.66174225e+01] [-4.04823609e-02 9.99180209e-01 2.96807489e-04 -1.53244239e+02] [-7.86129671e-03 -2.14631286e-05 -9.99969099e-01 2.24978936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.96999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.59, Y:-152.43, Z:1.44 [[-9.99372336e-01 -3.44046316e-02 8.44123777e-03 5.65861014e+01] [ 3.44039340e-02 -9.99407983e-01 -2.27879979e-04 -1.52434283e+02] [ 8.44408055e-03 6.26748397e-05 9.99964346e-01 1.43888583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.0 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.51, Y:-153.24, Z:2.25 [[-9.98537643e-01 -5.30884734e-02 1.02073251e-02 5.65142203e+01] [-5.30866547e-02 9.98589808e-01 4.49226487e-04 -1.53242049e+02] [-1.02167795e-02 -9.33031839e-05 -9.99947803e-01 2.25020741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.03 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.51, Y:-153.21, Z:2.25 [[-9.91907201e-01 -1.26548800e-01 1.02715606e-02 5.65099362e+01] [-1.26543275e-01 9.91960376e-01 1.18871262e-03 -1.53212860e+02] [-1.03394113e-02 -1.20704304e-04 -9.99946540e-01 2.25036803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.06 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.50, Y:-153.18, Z:2.25 [[-9.79822967e-01 -1.99606551e-01 1.02067681e-02 5.64982181e+01] [-1.99597289e-01 9.79876116e-01 1.92855231e-03 -1.53184699e+02] [-1.03863200e-02 -1.47603405e-04 -9.99946050e-01 2.25114645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.09 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.47, Y:-153.16, Z:2.25 [[-9.61682482e-01 -2.73977567e-01 1.01537041e-02 5.64667819e+01] [-2.73964473e-01 9.61736062e-01 2.68586900e-03 -1.53161261e+02] [-1.05010513e-02 -1.98801030e-04 -9.99944843e-01 2.25008392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.12 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.42, Y:-153.15, Z:2.25 [[-9.38363460e-01 -3.45500253e-01 1.01779922e-02 5.64199803e+01] [-3.45482511e-01 9.38418630e-01 3.50855337e-03 -1.53146644e+02] [-1.07634236e-02 -2.24020015e-04 -9.99942048e-01 2.24927790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.15 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.36, Y:-153.14, Z:2.25 [[-9.09488956e-01 -4.15601187e-01 1.02709498e-02 5.63618780e+01] [-4.15577836e-01 9.09546914e-01 4.41288762e-03 -1.53139760e+02] [-1.11759120e-02 -2.54906551e-04 -9.99937515e-01 2.24873154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.18 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.29, Y:-153.14, Z:2.25 [[-8.74750118e-01 -4.84465239e-01 1.02792833e-02 5.62859418e+01] [-4.84435792e-01 8.74810461e-01 5.34994579e-03 -1.53143290e+02] [-1.15842873e-02 -2.99787028e-04 -9.99932855e-01 2.24915444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.21 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.21, Y:-153.15, Z:2.25 [[-8.35713379e-01 -5.49080013e-01 9.71015783e-03 5.62113239e+01] [-5.49047128e-01 8.35769734e-01 6.01696881e-03 -1.53153727e+02] [-1.14192533e-02 -3.02872928e-04 -9.99934752e-01 2.24945990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.24 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.13, Y:-153.18, Z:2.25 [[-7.91468199e-01 -6.11142026e-01 9.13860495e-03 5.61335027e+01] [-6.11105750e-01 7.91520896e-01 6.66582942e-03 -1.53175145e+02] [-1.13071653e-02 -3.08862029e-04 -9.99936024e-01 2.24904602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.27 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.05, Y:-153.21, Z:2.25 [[-7.42790526e-01 -6.69469287e-01 8.55029678e-03 5.60502610e+01] [-6.69429686e-01 7.42839671e-01 7.28825166e-03 -1.53206513e+02] [-1.12307603e-02 -3.10178202e-04 -9.99936885e-01 2.24893110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.3 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.97, Y:-153.25, Z:2.25 [[-6.89786394e-01 -7.23973844e-01 7.52356988e-03 5.59655148e+01] [-7.23935352e-01 6.89827361e-01 7.47118610e-03 -1.53249701e+02] [-1.05989077e-02 -2.93055692e-04 -9.99943787e-01 2.24812389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.33 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.88, Y:-153.31, Z:2.25 [[-6.33487986e-01 -7.73727836e-01 6.18121528e-03 5.58790689e+01] [-7.73694820e-01 6.33518091e-01 7.15216379e-03 -1.53306569e+02] [-9.44973992e-03 -2.51564410e-04 -9.99955319e-01 2.24623090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.36 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.80, Y:-153.37, Z:2.25 [[-5.73236142e-01 -8.19374923e-01 5.00607151e-03 5.57975890e+01] [-8.19346914e-01 5.73257960e-01 6.77832840e-03 -1.53366913e+02] [-8.42376265e-03 -2.16126423e-04 -9.99964496e-01 2.24563431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.39 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.72, Y:-153.44, Z:2.25 [[-5.09530017e-01 -8.60441807e-01 4.36552986e-03 5.57197459e+01] [-8.60413574e-01 5.09548678e-01 6.97327132e-03 -1.53437627e+02] [-8.22454414e-03 -2.03070088e-04 -9.99966157e-01 2.24505478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.42 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.64, Y:-153.52, Z:2.25 [[-4.43236787e-01 -8.96397450e-01 3.57233835e-03 5.56381786e+01] [-8.96371523e-01 4.43251147e-01 6.82007963e-03 -1.53524304e+02] [-7.69694506e-03 -1.79232186e-04 -9.99970362e-01 2.24558736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.45 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.57, Y:-153.61, Z:2.25 [[-3.74083221e-01 -9.27390299e-01 2.99600821e-03 5.55698696e+01] [-9.27364028e-01 3.74095182e-01 6.98244093e-03 -1.53612154e+02] [-7.59624022e-03 -1.66376251e-04 -9.99971134e-01 2.24555993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.48 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.51, Y:-153.70, Z:2.25 [[-3.03461996e-01 -9.52839600e-01 2.74120288e-03 5.55092572e+01] [-9.52805560e-01 3.03474330e-01 8.05578977e-03 -1.53700322e+02] [-8.50776021e-03 -1.67207309e-04 -9.99963794e-01 2.24730218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.51 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.45, Y:-153.80, Z:2.25 [[-2.29893050e-01 -9.73213115e-01 2.32767034e-03 5.54521833e+01] [-9.73170652e-01 2.29904767e-01 9.09287352e-03 -1.53801942e+02] [-9.38444627e-03 -1.74832038e-04 -9.99955950e-01 2.24796704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.53999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.40, Y:-153.91, Z:2.25 [[-1.54741516e-01 -9.87953547e-01 1.68884234e-03 5.54017361e+01] [-9.87906402e-01 1.54750633e-01 9.65310426e-03 -1.53910424e+02] [-9.79816802e-03 -1.74682177e-04 -9.99951982e-01 2.24926233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.36, Y:-154.03, Z:2.25 [[-7.86324394e-02 -9.96903181e-01 9.93533149e-04 5.53602738e+01] [-9.96849426e-01 7.86385184e-02 1.03540108e-02 -1.54025957e+02] [-1.04000762e-02 -1.76241825e-04 -9.99945902e-01 2.24967207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.59999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.33, Y:-154.13, Z:2.25 [[-3.02654961e-03 -9.99995399e-01 2.05324166e-04 5.53290557e+01] [-9.99933447e-01 3.02864787e-03 1.11323723e-02 -1.54132362e+02] [-1.11329429e-02 -1.71617824e-04 -9.99938012e-01 2.25075746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.63 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.50, Y:-154.23, Z:1.44 [[-1.00641523e-01 9.94922298e-01 9.51040396e-04 5.45047977e+01] [-9.94859654e-01 -1.00645860e-01 1.11659822e-02 -1.54226601e+02] [ 1.12050029e-02 1.77609737e-04 9.99937206e-01 1.43820805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.65999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.32, Y:-154.43, Z:2.25 [[ 5.26756372e-03 -9.99986122e-01 9.12086593e-05 5.53229520e+01] [-9.99922327e-01 -5.26619733e-03 1.12963557e-02 -1.54431060e+02] [-1.12957186e-02 -1.50705848e-04 -9.99936190e-01 2.25096589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.69 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.30, Y:-154.54, Z:2.25 [[ 7.99876466e-02 -9.96795517e-01 -8.20342643e-04 5.53019463e+01] [-9.96726082e-01 -7.99917578e-02 1.17658650e-02 -1.54544014e+02] [-1.17937821e-02 -1.23466942e-04 -9.99930443e-01 2.25214449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.71999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.29, Y:-154.66, Z:2.25 [[ 1.55199607e-01 -9.87881642e-01 -1.71546913e-03 5.52896097e+01] [-9.87813949e-01 -1.55209055e-01 1.15650689e-02 -1.54661695e+02] [-1.16911756e-02 -1.00329808e-04 -9.99931651e-01 2.25215611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.29, Y:-154.78, Z:2.25 [[ 2.28786619e-01 -9.73472997e-01 -2.64700150e-03 5.52867023e+01] [-9.73404205e-01 -2.28801920e-01 1.15730801e-02 -1.54778725e+02] [-1.18717200e-02 -7.11634774e-05 -9.99929526e-01 2.25214670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.78 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.29, Y:-154.90, Z:2.25 [[ 3.01126107e-01 -9.53577688e-01 -3.55822086e-03 5.52942681e+01] [-9.53509510e-01 -3.01147127e-01 1.14027139e-02 -1.54900801e+02] [-1.19449216e-02 -4.08574265e-05 -9.99928656e-01 2.25271638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.81 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.31, Y:-155.02, Z:2.25 [[ 3.71411353e-01 -9.28457467e-01 -4.50976752e-03 5.53090162e+01] [-9.28388823e-01 -3.71438731e-01 1.12899607e-02 -1.55015178e+02] [-1.21573507e-02 -6.40182567e-06 -9.99926097e-01 2.25143923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.84 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.33, Y:-155.13, Z:2.25 [[ 4.42157026e-01 -8.96921583e-01 -5.37012257e-03 5.53312043e+01] [-8.96855263e-01 -4.42189636e-01 1.09070468e-02 -1.55132764e+02] [-1.21573783e-02 -6.40470153e-06 -9.99926096e-01 2.25144063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.87 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.36, Y:-155.24, Z:2.25 [[ 5.07511195e-01 -8.61622728e-01 -6.21787129e-03 5.53643795e+01] [-8.61558825e-01 -5.07549283e-01 1.04936386e-02 -1.55244785e+02] [-1.21974336e-02 3.14228251e-05 -9.99925608e-01 2.25231959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.9 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.41, Y:-155.35, Z:2.25 [[ 5.67215435e-01 -8.23544083e-01 -6.46484652e-03 5.54093887e+01] [-8.23492634e-01 -5.67252266e-01 9.20589317e-03 -1.55352521e+02] [-1.12486577e-02 1.02028790e-04 -9.99936727e-01 2.25192665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.93 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.45, Y:-155.45, Z:2.25 [[ 6.26512093e-01 -7.79381907e-01 -6.81473706e-03 5.54524615e+01] [-7.79338089e-01 -6.26549141e-01 8.26543340e-03 -1.55448711e+02] [-1.07116969e-02 1.32590183e-04 -9.99942619e-01 2.25152376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.96 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.51, Y:-155.55, Z:2.25 [[ 6.82403680e-01 -7.30942102e-01 -6.99003360e-03 5.55085475e+01] [-7.30906076e-01 -6.82439462e-01 7.25874218e-03 -1.55548034e+02] [-1.00759950e-02 1.55665644e-04 -9.99949224e-01 2.25121698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.99 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.56, Y:-155.64, Z:2.25 [[ 7.34305271e-01 -6.78779270e-01 -7.38054047e-03 5.55617716e+01] [-6.78747499e-01 -7.34342337e-01 6.56992948e-03 -1.55636477e+02] [-9.87937527e-03 1.85189545e-04 -9.99951181e-01 2.24952975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.02 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.56, Y:-155.64, Z:2.25 [[ 7.81412724e-01 -6.23974599e-01 -7.06070108e-03 5.55570210e+01] [-6.23951618e-01 -7.81444593e-01 5.35969164e-03 -1.55642871e+02] [-8.86185813e-03 2.17404615e-04 -9.99960709e-01 2.24803509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.05 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.55, Y:-155.65, Z:2.25 [[ 8.26291728e-01 -5.63198234e-01 -7.05192713e-03 5.55486814e+01] [-5.63180054e-01 -8.26321788e-01 4.53093255e-03 -1.55647055e+02] [-8.37897425e-03 2.27632622e-04 -9.99964870e-01 2.24767345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.08 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.54, Y:-155.65, Z:2.25 [[ 8.66881727e-01 -4.98462680e-01 -7.14340033e-03 5.55398611e+01] [-4.98447976e-01 -8.66911126e-01 3.83590174e-03 -1.55652975e+02] [-8.10474709e-03 2.35340309e-04 -9.99967128e-01 2.24705493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.11 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.53, Y:-155.66, Z:2.25 [[ 9.02653840e-01 -4.30312343e-01 -6.87989851e-03 5.55306624e+01] [-4.30301752e-01 -9.02680030e-01 3.02768246e-03 -1.55657528e+02] [-7.51319612e-03 2.27483180e-04 -9.99971750e-01 2.24733444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.14 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.52, Y:-155.66, Z:2.25 [[ 9.33090815e-01 -3.59575081e-01 -6.87690751e-03 5.55223777e+01] [-3.59567118e-01 -9.33116128e-01 2.40399135e-03 -1.55660550e+02] [-7.28136870e-03 2.29567568e-04 -9.99973464e-01 2.24771066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.17 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.51, Y:-155.67, Z:2.25 [[ 9.58321424e-01 -2.85603926e-01 -7.10254208e-03 5.55109324e+01] [-2.85597878e-01 -9.58347715e-01 1.87325219e-03 -1.55670095e+02] [-7.34171316e-03 2.33293233e-04 -9.99973022e-01 2.24740433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.2 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.50, Y:-155.68, Z:2.25 [[ 9.77693731e-01 -2.09907170e-01 -7.34489806e-03 5.55001273e+01] [-2.09903076e-01 -9.77721291e-01 1.33249824e-03 -1.55678354e+02] [-7.46096415e-03 2.38941522e-04 -9.99972138e-01 2.24759468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.23 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.49, Y:-155.69, Z:2.25 [[ 9.91116746e-01 -1.32771516e-01 -7.70201543e-03 5.54907035e+01] [-1.32769449e-01 -9.91146641e-01 7.81251406e-04 -1.55686892e+02] [-7.73755465e-03 2.48280997e-04 -9.99970034e-01 2.24793861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.26 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.48, Y:-155.69, Z:2.25 [[ 9.98479119e-01 -5.45661965e-02 -7.87274059e-03 5.54809001e+01] [-5.45664801e-02 -9.98510124e-01 1.78929026e-04 -1.55694901e+02] [-7.87077466e-03 2.50930847e-04 -9.99968994e-01 2.24850226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.28999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.47, Y:-155.71, Z:2.25 [[ 9.99640301e-01 2.55105732e-02 -8.27518760e-03 5.54727391e+01] [ 2.55076316e-02 -9.99674521e-01 -4.60837764e-04 -1.55706466e+02] [-8.28425044e-03 2.49591565e-04 -9.99965654e-01 2.24859603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.32 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.47, Y:-155.72, Z:2.25 [[ 9.94424188e-01 1.05127374e-01 -8.29273686e-03 5.54656069e+01] [ 1.05121706e-01 -9.94458736e-01 -1.11763468e-03 -1.55719163e+02] [-8.36427861e-03 2.39656305e-04 -9.99964990e-01 2.24827452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.34999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.46, Y:-155.73, Z:2.25 [[ 9.82831821e-01 1.84306545e-01 -8.52694151e-03 5.54582073e+01] [ 1.84297527e-01 -9.82868782e-01 -1.83835176e-03 -1.55729632e+02] [-8.71968488e-03 2.35296373e-04 -9.99961955e-01 2.24895848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.38 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.45, Y:-155.75, Z:2.25 [[ 9.64431152e-01 2.64225622e-01 -7.57449326e-03 5.54543613e+01] [ 2.64215967e-01 -9.64460879e-01 -2.26629424e-03 -1.55745574e+02] [-7.90411543e-03 1.84382706e-04 -9.99968745e-01 2.24847107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.40999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.45, Y:-155.76, Z:2.25 [[ 9.40107849e-01 3.40796156e-01 -7.43046655e-03 5.54516123e+01] [ 3.40784076e-01 -9.40137198e-01 -2.87451554e-03 -1.55761625e+02] [-7.96528185e-03 1.70169945e-04 -9.99968262e-01 2.24779730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.44 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.45, Y:-155.77, Z:2.25 [[ 9.09725415e-01 4.15145388e-01 -7.34683352e-03 5.54481949e+01] [ 4.15130443e-01 -9.09755067e-01 -3.52613529e-03 -1.55774405e+02] [-8.14767783e-03 1.57920636e-04 -9.99966795e-01 2.24871479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.46999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.45, Y:-155.79, Z:2.25 [[ 8.73385450e-01 4.86977007e-01 -7.15894694e-03 5.54485382e+01] [ 4.86959305e-01 -8.73414778e-01 -4.15468195e-03 -1.55789552e+02] [-8.27596463e-03 1.42522936e-04 -9.99965743e-01 2.24811439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.45, Y:-155.81, Z:2.25 [[ 8.29967992e-01 5.57767240e-01 -6.98843691e-03 5.54515759e+01] [ 5.57746383e-01 -8.29997406e-01 -4.82477500e-03 -1.55807332e+02] [-8.49148595e-03 1.06633415e-04 -9.99963941e-01 2.24874202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.53 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.45, Y:-155.82, Z:2.25 [[ 7.82254180e-01 6.22919775e-01 -7.02514405e-03 5.54526426e+01] [ 6.22893599e-01 -7.82285719e-01 -5.71130475e-03 -1.55821454e+02] [-9.05335453e-03 9.17747518e-05 -9.99959013e-01 2.25013732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.45, Y:-155.83, Z:2.25 [[ 7.29403790e-01 6.84047162e-01 -7.04205836e-03 5.54547785e+01] [ 6.84014296e-01 -7.29437780e-01 -6.70588837e-03 -1.55833857e+02] [-9.72388733e-03 7.44318086e-05 -9.99952719e-01 2.25052568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.59 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.46, Y:-155.85, Z:2.25 [[ 6.71733711e-01 7.40762549e-01 -6.68341058e-03 5.54585449e+01] [ 7.40725123e-01 -6.71766956e-01 -7.44639482e-03 -1.55846667e+02] [-1.00057048e-02 5.14243026e-05 -9.99949940e-01 2.25054616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.62 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.47, Y:-155.86, Z:2.25 [[ 6.07969903e-01 7.93935211e-01 -6.28309863e-03 5.54653999e+01] [ 7.93892739e-01 -6.08002369e-01 -8.21211531e-03 -1.55859586e+02] [-1.03400264e-02 4.61256796e-06 -9.99946541e-01 2.25100399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.65 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.47, Y:-155.87, Z:2.25 [[ 5.41876831e-01 8.40440454e-01 -5.41697911e-03 5.54697489e+01] [ 8.40398829e-01 -5.41903906e-01 -8.36450083e-03 -1.55870433e+02] [-9.96534701e-03 -1.98936960e-05 -9.99950345e-01 2.25092853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.68 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.48, Y:-155.88, Z:2.25 [[ 4.72220660e-01 8.81466335e-01 -4.97479824e-03 5.54763736e+01] [ 8.81418464e-01 -4.72246862e-01 -9.18658202e-03 -1.55881147e+02] [-1.04469956e-02 -4.67851912e-05 -9.99945428e-01 2.25016043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.71 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.48, Y:-155.89, Z:2.25 [[ 3.99451369e-01 9.16744966e-01 -4.15576367e-03 5.54828228e+01] [ 9.16697195e-01 -3.99472980e-01 -9.35898362e-03 -1.55891981e+02] [-1.02399164e-02 -7.11180808e-05 -9.99947568e-01 2.25010153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.74 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.49, Y:-155.90, Z:2.25 [[ 3.23515561e-01 9.46216951e-01 -3.34116163e-03 5.54903476e+01] [ 9.46169651e-01 -3.23532798e-01 -9.46149784e-03 -1.55901433e+02] [-1.00336050e-02 -1.00363954e-04 -9.99949657e-01 2.24948237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.77 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.50, Y:-155.91, Z:2.25 [[ 2.42551341e-01 9.70135054e-01 -2.61226983e-03 5.55021371e+01] [ 9.70085799e-01 -2.42565353e-01 -9.77708593e-03 -1.55910489e+02] [-1.01187399e-02 -1.62680565e-04 -9.99948791e-01 2.24946275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.8 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.51, Y:-155.92, Z:2.25 [[ 1.63125113e-01 9.86603801e-01 -1.77157416e-03 5.55121515e+01] [ 9.86557212e-01 -1.63134629e-01 -9.58956873e-03 -1.55917792e+02] [-9.75011005e-03 -1.83459790e-04 -9.99952450e-01 2.24989930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.83 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.52, Y:-155.93, Z:2.25 [[ 8.24808149e-02 9.96592051e-01 -1.09544747e-03 5.55222461e+01] [ 9.96537074e-01 -8.24877738e-02 -1.04702750e-02 -1.55925510e+02] [-1.05249538e-02 -2.28057206e-04 -9.99944585e-01 2.25072737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.86 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.53, Y:-155.93, Z:2.25 [[ 1.89070417e-03 9.99998173e-01 -2.81754157e-04 5.55305732e+01] [ 9.99938689e-01 -1.89366569e-03 -1.09101699e-02 -1.55930745e+02] [-1.09106835e-02 -2.61108978e-04 -9.99940443e-01 2.25125558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.54, Y:-155.94, Z:2.25 [[-7.99216526e-02 9.96800937e-01 6.49226317e-04 5.55397030e+01] [ 9.96724718e-01 7.99235730e-02 -1.23312597e-02 -1.55935205e+02] [-1.23436997e-02 -3.38434736e-04 -9.99923756e-01 2.25215453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.92 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.55, Y:-155.94, Z:2.25 [[-1.58862942e-01 9.87299226e-01 1.67466309e-03 5.55484012e+01] [ 9.87217518e-01 1.58871349e-01 -1.27069468e-02 -1.55939390e+02] [-1.28116147e-02 -3.65406207e-04 -9.99917861e-01 2.25194526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.95 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.56, Y:-155.94, Z:2.25 [[-2.36216714e-01 9.71696609e-01 2.71363077e-03 5.55585950e+01] [ 9.71612793e-01 2.36231996e-01 -1.27681042e-02 -1.55943691e+02] [-1.30477699e-02 -3.79441246e-04 -9.99914802e-01 2.25221863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.98 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.57, Y:-155.95, Z:2.25 [[-3.11568409e-01 9.50216563e-01 3.68909839e-03 5.55653939e+01] [ 9.50134920e-01 3.11590020e-01 -1.24616548e-02 -1.55946520e+02] [-1.29907571e-02 -3.77516768e-04 -9.99915545e-01 2.25080412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.01 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.57, Y:-155.95, Z:2.25 [[-3.84544853e-01 9.23094824e-01 4.60462904e-03 5.55737492e+01] [ 9.23016817e-01 3.84572245e-01 -1.20059996e-02 -1.55949168e+02] [-1.28534886e-02 -3.66695289e-04 -9.99917323e-01 2.24989379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.03999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.58, Y:-155.95, Z:2.25 [[-4.55120991e-01 8.90411609e-01 5.66117389e-03 5.55824750e+01] [ 8.90332409e-01 4.55156051e-01 -1.18815259e-02 -1.55951420e+02] [-1.31561662e-02 -3.67205282e-04 -9.99913386e-01 2.24953175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.59, Y:-155.95, Z:2.25 [[-5.22630245e-01 8.52533255e-01 6.68400885e-03 5.55908622e+01] [ 8.52454522e-01 5.22672860e-01 -1.15917478e-02 -1.55952767e+02] [-1.33759005e-02 -3.60384436e-04 -9.99910474e-01 2.24976199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.09999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.60, Y:-155.96, Z:2.25 [[-5.85456387e-01 8.10666559e-01 7.78136426e-03 5.55961755e+01] [ 8.10587317e-01 5.85508002e-01 -1.13393197e-02 -1.55955292e+02] [-1.37484583e-02 -3.31201957e-04 -9.99905431e-01 2.24956481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.13 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.60, Y:-155.96, Z:2.25 [[-6.45414551e-01 7.63784619e-01 8.55059497e-03 5.56035026e+01] [ 7.63711429e-01 6.45471121e-01 -1.05776071e-02 -1.55957070e+02] [-1.35981757e-02 -2.96754440e-04 -9.99907497e-01 2.24937103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.15999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.61, Y:-155.96, Z:2.25 [[-7.01339811e-01 7.12761632e-01 9.66050167e-03 5.56113124e+01] [ 7.12688681e-01 7.01406290e-01 -1.02009805e-02 -1.55957651e+02] [-1.40468042e-02 -2.69423578e-04 -9.99901303e-01 2.24932161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.19 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.62, Y:-155.96, Z:2.25 [[-7.52853433e-01 6.58109636e-01 1.01693750e-02 5.56189005e+01] [ 6.58045674e-01 7.52922081e-01 -9.17775699e-03 -1.55958028e+02] [-1.36967173e-02 -2.17592604e-04 -9.99906172e-01 2.24913741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.21999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.64, Y:-155.95, Z:2.25 [[-7.95481052e-01 6.05891346e-01 1.02748716e-02 5.56419915e+01] [ 6.05838153e-01 7.95547391e-01 -8.03007945e-03 -1.55946346e+02] [-1.30395029e-02 -1.62866809e-04 -9.99914969e-01 2.24892071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.25 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.15, Y:-155.31, Z:1.44 [[-7.41664308e-01 -6.70702660e-01 9.59145492e-03 5.61543238e+01] [ 6.70649142e-01 -7.41726311e-01 -8.47397398e-03 -1.55307995e+02] [ 1.27977514e-02 1.47656958e-04 9.99918095e-01 1.44117440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.28 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.15, Y:-155.34, Z:1.44 [[-6.97930544e-01 -7.16111219e-01 8.81351432e-03 5.61504240e+01] [ 7.16054154e-01 -6.97986191e-01 -9.04019746e-03 -1.55339839e+02] [ 1.26254981e-02 1.52361108e-06 9.99920295e-01 1.44195260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.31 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.13, Y:-155.32, Z:1.44 [[-7.01336698e-01 -7.12773530e-01 8.98508962e-03 5.61340807e+01] [ 7.12714021e-01 -7.01394249e-01 -9.21044231e-03 -1.55318071e+02] [ 1.28670497e-02 -5.58218395e-05 9.99917215e-01 1.44213801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.34 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.12, Y:-155.30, Z:1.44 [[-7.04461109e-01 -7.09685927e-01 8.96832922e-03 5.61169435e+01] [ 7.09626457e-01 -7.04518185e-01 -9.18800445e-03 -1.55295761e+02] [ 1.28389485e-02 -1.08428119e-04 9.99917571e-01 1.44239032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.37 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.10, Y:-155.27, Z:1.44 [[-7.07459406e-01 -7.06697888e-01 8.90410877e-03 5.61003559e+01] [ 7.06639099e-01 -7.07515420e-01 -9.11671234e-03 -1.55273474e+02] [ 1.27425556e-02 -1.57712505e-04 9.99918798e-01 1.44212474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.4 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.08, Y:-155.25, Z:1.44 [[-7.12457468e-01 -7.01659036e-01 8.88557111e-03 5.60843896e+01] [ 7.01600163e-01 -7.12512833e-01 -9.09253161e-03 -1.55249415e+02] [ 1.27109404e-02 -2.43923910e-04 9.99919183e-01 1.44247661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.43 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.07, Y:-155.23, Z:1.44 [[-7.15018424e-01 -6.99050860e-01 8.74918679e-03 5.60667937e+01] [ 6.98993648e-01 -7.15071895e-01 -8.94791465e-03 -1.55227593e+02] [ 1.25113450e-02 -2.82297839e-04 9.99921690e-01 1.44251821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.46 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.05, Y:-155.21, Z:1.44 [[-7.17261161e-01 -6.96749478e-01 8.75167121e-03 5.60497996e+01] [ 6.96692128e-01 -7.17314480e-01 -8.94511708e-03 -1.55206346e+02] [ 1.25102061e-02 -3.18764627e-04 9.99921694e-01 1.44245825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.49 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.03, Y:-155.18, Z:1.44 [[-7.21203820e-01 -6.92670085e-01 8.55592881e-03 5.60319972e+01] [ 6.92615024e-01 -7.21254470e-01 -8.74178162e-03 -1.55184475e+02] [ 1.22261725e-02 -3.78641464e-04 9.99925186e-01 1.44341491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.52 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.01, Y:-155.16, Z:1.44 [[-7.22982009e-01 -6.90816839e-01 8.31319242e-03 5.60148854e+01] [ 6.90764797e-01 -7.23029694e-01 -8.48861134e-03 -1.55163590e+02] [ 1.18747606e-02 -3.94652605e-04 9.99929415e-01 1.44329105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.55 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:56.00, Y:-155.14, Z:1.44 [[-7.24510497e-01 -6.89215173e-01 8.18446505e-03 5.59951394e+01] [ 6.89164680e-01 -7.24556607e-01 -8.35265225e-03 -1.55143196e+02] [ 1.16868829e-02 -4.11139996e-04 9.99931622e-01 1.44405028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.58 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.98, Y:-155.12, Z:1.44 [[-7.25419020e-01 -6.88259746e-01 8.10969141e-03 5.59775119e+01] [ 6.88210171e-01 -7.25464228e-01 -8.27129916e-03 -1.55122872e+02] [ 1.15760933e-02 -4.18985618e-04 9.99932907e-01 1.44364046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.61 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.96, Y:-155.10, Z:1.44 [[-7.26173314e-01 -6.87463923e-01 8.10390121e-03 5.59574503e+01] [ 6.87414423e-01 -7.26218405e-01 -8.26066998e-03 -1.55102810e+02] [ 1.15641148e-02 -4.27939520e-04 9.99933042e-01 1.44369983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.64 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.94, Y:-155.08, Z:1.44 [[-7.25995593e-01 -6.87646370e-01 8.53631392e-03 5.59372562e+01] [ 6.87591520e-01 -7.26045641e-01 -8.69649280e-03 -1.55083097e+02] [ 1.21778652e-02 -4.44118388e-04 9.99925748e-01 1.44323473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.67 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.92, Y:-155.06, Z:1.44 [[-7.25610729e-01 -6.88049128e-01 8.80157870e-03 5.59168288e+01] [ 6.87990910e-01 -7.25663970e-01 -8.96162802e-03 -1.55063708e+02] [ 1.25530289e-02 -4.47247300e-04 9.99921108e-01 1.44298577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.7 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.90, Y:-155.04, Z:1.44 [[-7.24758949e-01 -6.88943242e-01 9.03739381e-03 5.58976164e+01] [ 6.88881999e-01 -7.24815160e-01 -9.19652888e-03 -1.55043963e+02] [ 1.28863265e-02 -4.39568694e-04 9.99916871e-01 1.44212332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.73 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.88, Y:-155.02, Z:1.44 [[-7.24974378e-01 -6.88716506e-01 9.04026975e-03 5.58787503e+01] [ 6.88655280e-01 -7.25030607e-01 -9.19370181e-03 -1.55024914e+02] [ 1.28863265e-02 -4.39568750e-04 9.99916871e-01 1.44212337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.76 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.86, Y:-155.01, Z:1.44 [[-7.23997481e-01 -6.89742166e-01 9.13193801e-03 5.58574882e+01] [ 6.89679841e-01 -7.24054948e-01 -9.28172580e-03 -1.55006487e+02] [ 1.30140225e-02 -4.21832548e-04 9.99915225e-01 1.44219465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.78999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.83, Y:-154.99, Z:1.44 [[-7.21531147e-01 -6.92330120e-01 8.47399170e-03 5.58345214e+01] [ 6.92276688e-01 -7.21580824e-01 -8.60822714e-03 -1.54989520e+02] [ 1.20744048e-02 -3.44757091e-04 9.99927042e-01 1.44340328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.82 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.81, Y:-154.97, Z:1.44 [[-7.20157302e-01 -6.93768278e-01 7.68355247e-03 5.58142673e+01] [ 6.93724477e-01 -7.20198232e-01 -7.80105636e-03 -1.54971303e+02] [ 1.09458063e-02 -2.87719276e-04 9.99940051e-01 1.44367460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.84999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.79, Y:-154.95, Z:1.44 [[-7.18550406e-01 -6.95436364e-01 7.31972917e-03 5.57920318e+01] [ 6.95396743e-01 -7.18587645e-01 -7.42742252e-03 -1.54953652e+02] [ 1.04251667e-02 -2.46861634e-04 9.99945626e-01 1.44434986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.88 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.77, Y:-154.94, Z:1.44 [[-7.16888468e-01 -6.97152074e-01 7.06475945e-03 5.57703230e+01] [ 6.97115289e-01 -7.16923247e-01 -7.16463637e-03 -1.54935337e+02] [ 1.00597314e-02 -2.11293363e-04 9.99949377e-01 1.44443264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.90999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.75, Y:-154.92, Z:1.44 [[-7.15017144e-01 -6.99075592e-01 6.61819761e-03 5.57482947e+01] [ 6.99043429e-01 -7.15047752e-01 -6.70796567e-03 -1.54917248e+02] [ 9.42170240e-03 -1.69902904e-04 9.99955600e-01 1.44463286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.94 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.72, Y:-154.90, Z:1.44 [[-7.11138434e-01 -7.03023157e-01 6.36936107e-03 5.57249771e+01] [ 7.02993555e-01 -7.11166948e-01 -6.45237398e-03 -1.54902152e+02] [ 9.06584740e-03 -1.10911348e-04 9.99958898e-01 1.44418138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.96999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.70, Y:-154.89, Z:1.44 [[-7.09489929e-01 -7.04686618e-01 6.38837101e-03 5.57033759e+01] [ 7.04656943e-01 -7.09518684e-01 -6.46754651e-03 -1.54885429e+02] [ 9.09026207e-03 -8.70491309e-05 9.99958679e-01 1.44419366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.0 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.68, Y:-154.87, Z:1.44 [[-7.07887113e-01 -7.06294511e-01 6.62564884e-03 5.56821910e+01] [ 7.06262702e-01 -7.07918116e-01 -6.70349982e-03 -1.54868534e+02] [ 9.42506198e-03 -6.58724825e-05 9.99955581e-01 1.44415218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.03 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.66, Y:-154.85, Z:1.44 [[-7.06437718e-01 -7.07739598e-01 7.10012337e-03 5.56614147e+01] [ 7.07703191e-01 -7.06473396e-01 -7.17876527e-03 -1.54851760e+02] [ 1.00967447e-02 -4.65705986e-05 9.99949026e-01 1.44374453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.06 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.64, Y:-154.84, Z:1.44 [[-7.03240198e-01 -7.10910605e-01 7.70292754e-03 5.56379445e+01] [ 7.10867997e-01 -7.03282384e-01 -7.78328045e-03 -1.54836478e+02] [ 1.09505499e-02 2.24898680e-06 9.99940041e-01 1.44316251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.09 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.62, Y:-154.82, Z:1.44 [[-7.01781910e-01 -7.12345270e-01 8.14652972e-03 5.56161918e+01] [ 7.12297764e-01 -7.01829192e-01 -8.22685257e-03 -1.54818443e+02] [ 1.15778319e-02 2.92985901e-05 9.99932974e-01 1.44279272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.12 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.59, Y:-154.80, Z:1.44 [[-7.00405221e-01 -7.13692018e-01 8.73093752e-03 5.55948902e+01] [ 7.13637625e-01 -7.00459635e-01 -8.81140255e-03 -1.54800866e+02] [ 1.24042970e-02 5.91731590e-05 9.99923062e-01 1.44239616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.15 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.57, Y:-154.78, Z:1.44 [[-6.99035572e-01 -7.15033625e-01 8.72839247e-03 5.55735450e+01] [ 7.14979430e-01 -6.99090057e-01 -8.80381430e-03 -1.54782667e+02] [ 1.23969556e-02 8.64417056e-05 9.99923151e-01 1.44209515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.18 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.55, Y:-154.77, Z:1.44 [[-6.96970787e-01 -7.17045133e-01 8.83170326e-03 5.55511208e+01] [ 7.16989873e-01 -6.97026729e-01 -8.90293346e-03 -1.54765415e+02] [ 1.25397383e-02 1.27157258e-04 9.99921366e-01 1.44144829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.21 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.53, Y:-154.75, Z:1.44 [[-6.96581754e-01 -7.17425558e-01 8.62716890e-03 5.55316728e+01] [ 7.17372928e-01 -6.96635163e-01 -8.69090477e-03 -1.54747908e+02] [ 1.22450664e-02 1.34971725e-04 9.99925017e-01 1.44098849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.24 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.51, Y:-154.73, Z:1.44 [[-6.96324728e-01 -7.17674074e-01 8.70609427e-03 5.55118229e+01] [ 7.17620559e-01 -6.96379137e-01 -8.76536735e-03 -1.54728038e+02] [ 1.23534193e-02 1.44130194e-04 9.99923683e-01 1.44133585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.27 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.49, Y:-154.71, Z:1.44 [[-6.96515653e-01 -7.17489063e-01 8.68275558e-03 5.54919657e+01] [ 7.17435885e-01 -6.96569755e-01 -8.73656004e-03 -1.54709308e+02] [ 1.23165312e-02 1.44169610e-04 9.99924138e-01 1.44058621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.3 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.47, Y:-154.69, Z:1.44 [[-6.97032605e-01 -7.16991725e-01 8.27119406e-03 5.54737507e+01] [ 7.16943496e-01 -6.97081665e-01 -8.31718360e-03 -1.54689090e+02] [ 1.17290496e-02 1.32630631e-04 9.99931204e-01 1.44147104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.33 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.46, Y:-154.67, Z:1.44 [[-6.97596767e-01 -7.16440910e-01 8.43641530e-03 5.54552805e+01] [ 7.16390761e-01 -6.97647767e-01 -8.47770570e-03 -1.54670298e+02] [ 1.19594215e-02 1.29749884e-04 9.99928475e-01 1.44110279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.36 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.44, Y:-154.65, Z:1.44 [[-6.97761021e-01 -7.16281174e-01 8.41648451e-03 5.54370215e+01] [ 7.16231314e-01 -6.97811767e-01 -8.45236850e-03 -1.54650575e+02] [ 1.19273944e-02 1.30416481e-04 9.99928858e-01 1.44199669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.39 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.42, Y:-154.63, Z:1.44 [[-6.97881233e-01 -7.16162984e-01 8.50678732e-03 5.54177087e+01] [ 7.16112104e-01 -6.97933065e-01 -8.53770957e-03 -1.54630831e+02] [ 1.20515597e-02 1.33506086e-04 9.99927368e-01 1.44197975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.42 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.40, Y:-154.61, Z:1.44 [[-6.97802991e-01 -7.16240441e-01 8.40334356e-03 5.53993864e+01] [ 7.16190862e-01 -6.97853575e-01 -8.42836365e-03 -1.54612347e+02] [ 1.19010382e-02 1.37060498e-04 9.99929171e-01 1.44153399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.45 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.38, Y:-154.59, Z:1.44 [[-6.98139135e-01 -7.15913893e-01 8.30943808e-03 5.53805697e+01] [ 7.15865455e-01 -6.98188571e-01 -8.32886809e-03 -1.54592504e+02] [ 1.17643071e-02 1.33730904e-04 9.99930789e-01 1.44200956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.48 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.36, Y:-154.57, Z:1.44 [[-6.98599393e-01 -7.15467486e-01 8.07246836e-03 5.53612341e+01] [ 7.15421800e-01 -6.98646020e-01 -8.08623005e-03 -1.54573957e+02] [ 1.14252326e-02 1.26184441e-04 9.99934722e-01 1.44094073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.51 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.34, Y:-154.55, Z:1.44 [[-6.99030689e-01 -7.15046701e-01 8.01936779e-03 5.53436572e+01] [ 7.15001645e-01 -6.99076677e-01 -8.02793138e-03 -1.54553495e+02] [ 1.13464988e-02 1.22090754e-04 9.99935619e-01 1.44214354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.53999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.33, Y:-154.53, Z:1.44 [[-6.99953565e-01 -7.14143112e-01 8.03878885e-03 5.53256658e+01] [ 7.14097830e-01 -6.99999717e-01 -8.04276934e-03 -1.54531208e+02] [ 1.13708382e-02 1.10916598e-04 9.99935344e-01 1.44263829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.31, Y:-154.51, Z:1.44 [[-7.00669555e-01 -7.13439514e-01 8.13846195e-03 5.53068361e+01] [ 7.13393118e-01 -7.00716810e-01 -8.13699595e-03 -1.54512248e+02] [ 1.15080115e-02 1.04577422e-04 9.99933775e-01 1.44132750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.59999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.74, Y:-155.09, Z:2.25 [[-7.60937880e-01 6.48768450e-01 8.54644452e-03 5.47390165e+01] [ 6.48726113e-01 7.60985867e-01 -7.41221658e-03 -1.55085548e+02] [-1.13125357e-02 -9.59346344e-05 -9.99936007e-01 2.24779775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.63 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.28, Y:-154.48, Z:1.44 [[-7.04032473e-01 -7.10121406e-01 8.11574967e-03 5.52769574e+01] [ 7.10075911e-01 -7.04079241e-01 -8.03880870e-03 -1.54483441e+02] [ 1.14226610e-02 1.03215975e-04 9.99934754e-01 1.44215095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.65999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.26, Y:-154.51, Z:1.44 [[-6.55149485e-01 -7.55464902e-01 7.20653668e-03 5.52645551e+01] [ 7.55420533e-01 -6.55189114e-01 -8.18798497e-03 -1.54509852e+02] [ 1.09073796e-02 7.96116515e-05 9.99940510e-01 1.44393587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.69 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.25, Y:-154.49, Z:1.44 [[-6.56592118e-01 -7.54214082e-01 6.92171544e-03 5.52486569e+01] [ 7.54173136e-01 -6.56628598e-01 -7.85912937e-03 -1.54488612e+02] [ 1.04724623e-02 5.99294402e-05 9.99945160e-01 1.44372346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.71999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.23, Y:-154.47, Z:1.44 [[-6.57322535e-01 -7.53579346e-01 6.72705812e-03 5.52322779e+01] [ 7.53540676e-01 -6.57356955e-01 -7.63439400e-03 -1.54467973e+02] [ 1.01752001e-02 5.08527021e-05 9.99948230e-01 1.44362101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.22, Y:-154.45, Z:1.44 [[-6.58791399e-01 -7.52298349e-01 6.40988192e-03 5.52161560e+01] [ 7.52263224e-01 -6.58822581e-01 -7.26977684e-03 -1.54447365e+02] [ 9.69201607e-03 3.26519779e-05 9.99953031e-01 1.44216461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.78 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.20, Y:-154.42, Z:1.45 [[-6.61226788e-01 -7.50161233e-01 6.10412398e-03 5.52012387e+01] [ 7.50129324e-01 -6.61254962e-01 -6.91896818e-03 -1.54423122e+02] [ 9.22672397e-03 3.87528957e-06 9.99957433e-01 1.44538117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.81 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.19, Y:-154.40, Z:1.44 [[-6.62940460e-01 -7.48649430e-01 5.82897741e-03 5.51852532e+01] [ 7.48620311e-01 -6.62966086e-01 -6.60303215e-03 -1.54401562e+02] [ 8.80777060e-03 -1.37262948e-05 9.99961211e-01 1.44282723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.84 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.17, Y:-154.38, Z:1.45 [[-6.64573269e-01 -7.47202995e-01 5.48221136e-03 5.51686634e+01] [ 7.47177220e-01 -6.64595880e-01 -6.20629767e-03 -1.54379896e+02] [ 8.28081929e-03 -2.83560814e-05 9.99965713e-01 1.44517142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.87 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.15, Y:-154.36, Z:1.45 [[-6.66177515e-01 -7.45774699e-01 5.25511333e-03 5.51515494e+01] [ 7.45750998e-01 -6.66198241e-01 -5.94577682e-03 -1.54357965e+02] [ 7.93515718e-03 -4.19368154e-05 9.99968515e-01 1.44611895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.9 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.14, Y:-154.34, Z:1.45 [[-6.69518495e-01 -7.42776936e-01 5.23527177e-03 5.51365773e+01] [ 7.42753350e-01 -6.69538959e-01 -5.91973104e-03 -1.54335022e+02] [ 7.90225809e-03 -7.48537670e-05 9.99968774e-01 1.44623096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.93 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.12, Y:-154.31, Z:1.45 [[-6.71424801e-01 -7.41053912e-01 5.27596903e-03 5.51196005e+01] [ 7.41029932e-01 -6.71445523e-01 -5.96236464e-03 -1.54312917e+02] [ 7.96095942e-03 -9.36285255e-05 9.99968307e-01 1.44584949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.96 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.10, Y:-154.29, Z:1.45 [[-6.72918732e-01 -7.39695432e-01 5.57201215e-03 5.51027391e+01] [ 7.39668668e-01 -6.72941792e-01 -6.29334657e-03 -1.54290200e+02] [ 8.40479955e-03 -1.13467988e-04 9.99964673e-01 1.44589283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.99 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.09, Y:-154.27, Z:1.45 [[-6.74566898e-01 -7.38191649e-01 5.70868409e-03 5.50858149e+01] [ 7.38163534e-01 -6.74591040e-01 -6.44406321e-03 -1.54267607e+02] [ 8.60798079e-03 -1.33009314e-04 9.99962942e-01 1.44611165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.02 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.07, Y:-154.24, Z:1.45 [[-6.75938105e-01 -7.36935952e-01 5.75155881e-03 5.50683718e+01] [ 7.36907399e-01 -6.75962559e-01 -6.48880401e-03 -1.54244985e+02] [ 8.66967137e-03 -1.47663637e-04 9.99962407e-01 1.44615146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.05 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.05, Y:-154.22, Z:1.45 [[-6.78023425e-01 -7.35018567e-01 5.65162794e-03 5.50533643e+01] [ 7.34990953e-01 -6.78046959e-01 -6.37344972e-03 -1.54222290e+02] [ 8.51667302e-03 -1.67452810e-04 9.99963718e-01 1.44553439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.08 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.03, Y:-154.20, Z:1.45 [[-6.79075712e-01 -7.34048693e-01 5.35662602e-03 5.50340409e+01] [ 7.34023885e-01 -6.79096818e-01 -6.03732616e-03 -1.54201360e+02] [ 8.06935906e-03 -1.67910118e-04 9.99967428e-01 1.44589159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.11 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.02, Y:-154.18, Z:1.45 [[-6.79677329e-01 -7.33494292e-01 4.98508893e-03 5.50151805e+01] [ 7.33472815e-01 -6.79695592e-01 -5.61531485e-03 -1.54179888e+02] [ 7.50714436e-03 -1.60174990e-04 9.99971808e-01 1.44639384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.14 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:55.00, Y:-154.16, Z:1.45 [[-6.80178606e-01 -7.33029619e-01 4.96400112e-03 5.49977217e+01] [ 7.33008336e-01 -6.80196701e-01 -5.58814092e-03 -1.54158921e+02] [ 7.47277000e-03 -1.62279700e-04 9.99972065e-01 1.44640553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.17 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.98, Y:-154.14, Z:1.45 [[-6.79595946e-01 -7.33572262e-01 4.59189004e-03 5.49801596e+01] [ 7.33554086e-01 -6.79611444e-01 -5.16592545e-03 -1.54138520e+02] [ 6.91028064e-03 -1.42342285e-04 9.99976114e-01 1.44695643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.2 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.96, Y:-154.12, Z:1.45 [[-6.78635672e-01 -7.34462543e-01 4.28934166e-03 5.49611827e+01] [ 7.34446718e-01 -6.78649216e-01 -4.82281301e-03 -1.54117478e+02] [ 6.45313386e-03 -1.22640046e-04 9.99979171e-01 1.44721047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.23 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.94, Y:-154.10, Z:1.45 [[-6.77450335e-01 -7.35556778e-01 4.15573569e-03 5.49421502e+01] [ 7.35541962e-01 -6.77463073e-01 -4.66977900e-03 -1.54097220e+02] [ 6.25024507e-03 -1.06825360e-04 9.99980461e-01 1.44710752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.26 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.92, Y:-154.08, Z:1.45 [[-6.76075125e-01 -7.36821647e-01 4.03551606e-03 5.49224287e+01] [ 7.36807714e-01 -6.76087163e-01 -4.53211976e-03 -1.54076777e+02] [ 6.06772455e-03 -9.06540681e-05 9.99981587e-01 1.44750332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.28999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.90, Y:-154.06, Z:1.45 [[-6.72431003e-01 -7.40149903e-01 3.82974534e-03 5.49012999e+01] [ 7.40137422e-01 -6.72441907e-01 -4.29869935e-03 -1.54057415e+02] [ 5.75696316e-03 -5.60408756e-05 9.99983427e-01 1.44764110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.32 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.88, Y:-154.04, Z:1.45 [[-6.70570188e-01 -7.41835073e-01 4.04323190e-03 5.48821128e+01] [ 7.41821207e-01 -6.70582376e-01 -4.53572939e-03 -1.54037531e+02] [ 6.07608320e-03 -4.21697391e-05 9.99981540e-01 1.44736573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.34999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.86, Y:-154.02, Z:1.45 [[-6.68509429e-01 -7.43692779e-01 4.02409283e-03 5.48623348e+01] [ 7.43679094e-01 -6.68521540e-01 -4.51162188e-03 -1.54017874e+02] [ 6.04545335e-03 -2.34280597e-05 9.99981726e-01 1.44760052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.38 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.84, Y:-154.00, Z:1.45 [[-6.64003342e-01 -7.47717712e-01 4.21711920e-03 5.48419416e+01] [ 7.47702782e-01 -6.64016734e-01 -4.72511961e-03 -1.53999458e+02] [ 6.33329334e-03 1.56565431e-05 9.99979944e-01 1.44750708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.40999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.82, Y:-153.98, Z:1.45 [[-6.61766299e-01 -7.49698713e-01 4.14779191e-03 5.48224521e+01] [ 7.49684327e-01 -6.61779297e-01 -4.64459548e-03 -1.53980286e+02] [ 6.22697007e-03 3.58978189e-05 9.99980612e-01 1.44732512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.44 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.80, Y:-153.96, Z:1.45 [[-6.59605714e-01 -7.51600557e-01 4.11152998e-03 5.48021936e+01] [ 7.51586474e-01 -6.59618526e-01 -4.60134450e-03 -1.53960415e+02] [ 6.17041443e-03 5.50971909e-05 9.99980961e-01 1.44724241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.46999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.78, Y:-153.94, Z:1.45 [[-6.57608911e-01 -7.53347325e-01 4.28118889e-03 5.47817894e+01] [ 7.53332111e-01 -6.57622842e-01 -4.78831299e-03 -1.53941784e+02] [ 6.42267039e-03 7.63197788e-05 9.99979372e-01 1.44646835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.76, Y:-153.92, Z:1.45 [[-6.53503967e-01 -7.56910557e-01 4.35593959e-03 5.47613254e+01] [ 7.56894904e-01 -6.53518474e-01 -4.86910104e-03 -1.53922510e+02] [ 6.53216097e-03 1.15011631e-04 9.99978659e-01 1.44656200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.53 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.74, Y:-153.90, Z:1.45 [[-6.52106278e-01 -7.58115679e-01 4.24480363e-03 5.47420418e+01] [ 7.58100859e-01 -6.52120082e-01 -4.74198924e-03 -1.53903571e+02] [ 6.36309808e-03 1.25708326e-04 9.99979747e-01 1.44620617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.72, Y:-153.88, Z:1.45 [[-6.50980394e-01 -7.59082096e-01 4.34728835e-03 5.47232198e+01] [ 7.59066590e-01 -6.50994894e-01 -4.85379594e-03 -1.53882602e+02] [ 6.51449212e-03 1.40155353e-04 9.99978771e-01 1.44665820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.59 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.70, Y:-153.86, Z:1.45 [[-6.50015838e-01 -7.59909274e-01 4.16003290e-03 5.47034206e+01] [ 7.59895110e-01 -6.50029134e-01 -4.64185295e-03 -1.53863963e+02] [ 6.23152968e-03 1.43910721e-04 9.99980573e-01 1.44624202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.62 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.69, Y:-153.84, Z:1.45 [[-6.49734087e-01 -7.60146681e-01 4.75806120e-03 5.46852841e+01] [ 7.60128181e-01 -6.49751486e-01 -5.30605942e-03 -1.53842104e+02] [ 7.12494079e-03 1.69208733e-04 9.99974603e-01 1.44593100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.65 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.67, Y:-153.82, Z:1.45 [[-6.49954398e-01 -7.59958306e-01 4.75959906e-03 5.46667936e+01] [ 7.59939811e-01 -6.49971802e-01 -5.30467998e-03 -1.53821589e+02] [ 7.12494079e-03 1.69208732e-04 9.99974603e-01 1.44593103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.68 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.65, Y:-153.80, Z:1.45 [[-6.50424553e-01 -7.59552373e-01 5.30025891e-03 5.46480245e+01] [ 7.59529451e-01 -6.50446122e-01 -5.90383357e-03 -1.53800441e+02] [ 7.93180365e-03 1.85704424e-04 9.99968526e-01 1.44524509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.71 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.63, Y:-153.78, Z:1.44 [[-6.50966862e-01 -7.59085229e-01 5.63555899e-03 5.46296514e+01] [ 7.59059328e-01 -6.50991227e-01 -6.27369727e-03 -1.53779790e+02] [ 8.43097039e-03 1.93754602e-04 9.99964440e-01 1.44474251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.74 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.61, Y:-153.76, Z:1.44 [[-6.51281373e-01 -7.58808107e-01 6.54443698e-03 5.46115806e+01] [ 7.58773205e-01 -6.51314215e-01 -7.28125853e-03 -1.53757821e+02] [ 9.78756284e-03 2.23595379e-04 9.99952076e-01 1.44449139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.77 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.59, Y:-153.74, Z:1.44 [[-6.51579467e-01 -7.58547937e-01 7.01600785e-03 5.45928433e+01] [ 7.58507856e-01 -6.51617196e-01 -7.80141234e-03 -1.53736450e+02] [ 1.04894966e-02 2.38456977e-04 9.99944955e-01 1.44436856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.8 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.57, Y:-153.72, Z:1.44 [[-6.51661614e-01 -7.58473119e-01 7.46123042e-03 5.45747436e+01] [ 7.58427847e-01 -6.51704276e-01 -8.29083324e-03 -1.53717250e+02] [ 1.11508899e-02 2.55987163e-04 9.99937794e-01 1.44376565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.83 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.56, Y:-153.70, Z:1.44 [[-6.52005815e-01 -7.58171825e-01 7.99382281e-03 5.45572429e+01] [ 7.58119906e-01 -6.52054760e-01 -8.87688392e-03 -1.53695845e+02] [ 1.19426135e-02 2.72496259e-04 9.99928647e-01 1.44361974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.86 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.54, Y:-153.67, Z:1.44 [[-6.52861539e-01 -7.57429155e-01 8.53729880e-03 5.45394298e+01] [ 7.57369942e-01 -6.52917297e-01 -9.47491473e-03 -1.53673614e+02] [ 1.27507267e-02 2.80086082e-04 9.99918667e-01 1.44359612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.52, Y:-153.65, Z:1.44 [[-6.53597631e-01 -7.56794122e-01 8.53194129e-03 5.45212650e+01] [ 7.56735011e-01 -6.53653259e-01 -9.46250447e-03 -1.53653998e+02] [ 1.27380990e-02 2.71748189e-04 9.99918830e-01 1.44295281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.92 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.50, Y:-153.63, Z:1.44 [[-6.54393706e-01 -7.56103637e-01 8.72735778e-03 5.45045631e+01] [ 7.56041809e-01 -6.54451845e-01 -9.67295605e-03 -1.53632460e+02] [ 1.30253927e-02 2.68325798e-04 9.99915130e-01 1.44391288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.95 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.49, Y:-153.61, Z:1.44 [[-6.55285792e-01 -7.55328204e-01 8.93503504e-03 5.44863065e+01] [ 7.55263415e-01 -6.55346653e-01 -9.89642080e-03 -1.53614083e+02] [ 1.33305910e-02 2.63321129e-04 9.99911109e-01 1.44270402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.98 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.47, Y:-153.59, Z:1.44 [[-6.56992678e-01 -7.53842254e-01 9.08168326e-03 5.44707364e+01] [ 7.53775262e-01 -6.57055400e-01 -1.00526932e-02 -1.53590725e+02] [ 1.35453139e-02 2.41002343e-04 9.99908229e-01 1.44435599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.01 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.45, Y:-153.57, Z:1.44 [[-6.57977351e-01 -7.52984098e-01 8.98635727e-03 5.44529370e+01] [ 7.52918510e-01 -6.58038675e-01 -9.94076608e-03 -1.53570134e+02] [ 1.33986094e-02 2.25195803e-04 9.99910209e-01 1.44480375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.03999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.43, Y:-153.55, Z:1.45 [[-6.58686446e-01 -7.52364247e-01 8.95574246e-03 5.44347102e+01] [ 7.52299134e-01 -6.58747291e-01 -9.90052244e-03 -1.53549575e+02] [ 1.33483702e-02 2.16057352e-04 9.99910883e-01 1.44513968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.42, Y:-153.53, Z:1.45 [[-6.60181346e-01 -7.51050294e-01 9.16764807e-03 5.44171271e+01] [ 7.50982024e-01 -6.60244967e-01 -1.01283311e-02 -1.53528311e+02] [ 1.36597796e-02 1.98203623e-04 9.99906681e-01 1.44561123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.09999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.40, Y:-153.51, Z:1.45 [[-6.60692976e-01 -7.50600101e-01 9.18037518e-03 5.43998505e+01] [ 7.50531690e-01 -6.60756726e-01 -1.01356334e-02 -1.53508634e+02] [ 1.36738021e-02 1.93620696e-04 9.99906490e-01 1.44613975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.13 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.38, Y:-153.49, Z:1.45 [[-6.61179553e-01 -7.50174839e-01 8.90553593e-03 5.43815799e+01] [ 7.50110507e-01 -6.61239500e-01 -9.82599759e-03 -1.53488091e+02] [ 1.32599083e-02 1.83387376e-04 9.99912067e-01 1.44707633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.15999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.36, Y:-153.47, Z:1.45 [[-6.61192905e-01 -7.50166341e-01 8.62572426e-03 5.43630341e+01] [ 7.50106064e-01 -6.61249142e-01 -9.51127686e-03 -1.53468290e+02] [ 1.28387925e-02 1.81419297e-04 9.99917563e-01 1.44763704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.19 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.34, Y:-153.45, Z:1.45 [[-6.60953588e-01 -7.50373186e-01 8.96861692e-03 5.43437664e+01] [ 7.50308128e-01 -6.61014404e-01 -9.88284278e-03 -1.53450016e+02] [ 1.33442052e-02 1.97125784e-04 9.99910943e-01 1.44689522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.21999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.32, Y:-153.43, Z:1.45 [[-6.60664816e-01 -7.50625093e-01 9.16356692e-03 5.43247562e+01] [ 7.50557285e-01 -6.60728330e-01 -1.00914008e-02 -1.53430919e+02] [ 1.36294869e-02 2.10748481e-04 9.99907092e-01 1.44639896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.25 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.30, Y:-153.41, Z:1.45 [[-6.60008113e-01 -7.51195224e-01 9.74809085e-03 5.43044574e+01] [ 7.51118637e-01 -6.60080054e-01 -1.07292388e-02 -1.53410965e+02] [ 1.44942733e-02 2.40588030e-04 9.99894924e-01 1.44567558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.28 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.28, Y:-153.39, Z:1.45 [[-6.59449889e-01 -7.51681748e-01 1.00197109e-02 5.42840557e+01] [ 7.51600978e-01 -6.59525952e-01 -1.10221950e-02 -1.53391277e+02] [ 1.48934422e-02 2.62239264e-04 9.99889052e-01 1.44517746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.31 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.26, Y:-153.37, Z:1.45 [[-6.56980829e-01 -7.53835023e-01 1.04378518e-02 5.42633692e+01] [ 7.53747744e-01 -6.57063658e-01 -1.14755630e-02 -1.53371883e+02] [ 1.55090144e-02 3.28282323e-04 9.99879674e-01 1.44630420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.34 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.24, Y:-153.35, Z:1.45 [[-6.55801271e-01 -7.54860296e-01 1.05179532e-02 5.42433225e+01] [ 7.54771879e-01 -6.55885513e-01 -1.15587689e-02 -1.53353913e+02] [ 1.56238288e-02 3.58399949e-04 9.99877876e-01 1.44629425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.37 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.22, Y:-153.33, Z:1.45 [[-6.54662464e-01 -7.55848527e-01 1.04910256e-02 5.42236834e+01] [ 7.55760786e-01 -6.54746405e-01 -1.15229460e-02 -1.53333992e+02] [ 1.55785630e-02 3.85065498e-04 9.99878573e-01 1.44743406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.4 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.20, Y:-153.32, Z:1.45 [[-6.53508784e-01 -7.56848016e-01 1.03609711e-02 5.42024095e+01] [ 7.56762671e-01 -6.53590785e-01 -1.13730474e-02 -1.53316604e+02] [ 1.53795036e-02 4.08409828e-04 9.99881645e-01 1.44685140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.43 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.18, Y:-153.30, Z:1.45 [[-6.52423285e-01 -7.57786980e-01 1.01365775e-02 5.41824025e+01] [ 7.57705501e-01 -6.52501887e-01 -1.11202952e-02 -1.53297072e+02] [ 1.50409509e-02 4.25400960e-04 9.99886788e-01 1.44767032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.46 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.16, Y:-153.28, Z:1.45 [[-6.50047742e-01 -7.59836633e-01 9.28572276e-03 5.41601840e+01] [ 7.59768554e-01 -6.50113913e-01 -1.01805599e-02 -1.53280081e+02] [ 1.37723399e-02 4.37150219e-04 9.99905061e-01 1.44907474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.49 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.14, Y:-153.26, Z:1.45 [[-6.49132370e-01 -7.60624880e-01 8.77261755e-03 5.41397102e+01] [ 7.60564266e-01 -6.49191501e-01 -9.61209035e-03 -1.53262395e+02] [ 1.30063038e-02 4.32620445e-04 9.99915321e-01 1.44950226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.52 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.12, Y:-153.24, Z:1.45 [[-6.48506607e-01 -7.61162907e-01 8.37911822e-03 5.41187567e+01] [ 7.61107719e-01 -6.48560596e-01 -9.17568291e-03 -1.53243945e+02] [ 1.24185554e-02 4.26920564e-04 9.99922796e-01 1.45000611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.55 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.10, Y:-153.23, Z:1.45 [[-6.47491235e-01 -7.62036192e-01 7.47954908e-03 5.40952392e+01] [ 7.61992327e-01 -6.47534310e-01 -8.18594750e-03 -1.53226865e+02] [ 1.10812529e-02 3.99029762e-04 9.99938521e-01 1.45061609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.58 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.07, Y:-153.21, Z:1.45 [[-6.47068677e-01 -7.62398841e-01 7.08061960e-03 5.40749923e+01] [ 7.62359599e-01 -6.47107301e-01 -7.74490352e-03 -1.53207656e+02] [ 1.04866261e-02 3.86493844e-04 9.99944939e-01 1.45120843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.61 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.05, Y:-153.19, Z:1.45 [[-6.46515821e-01 -7.62871514e-01 6.65925774e-03 5.40549083e+01] [ 7.62836871e-01 -6.46550009e-01 -7.27975565e-03 -1.53187404e+02] [ 9.85906136e-03 3.73450136e-04 9.99951329e-01 1.45180499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.64 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.03, Y:-153.17, Z:1.45 [[-6.45327510e-01 -7.63873715e-01 7.02518728e-03 5.40320857e+01] [ 7.63835268e-01 -6.45365615e-01 -7.67504720e-03 -1.53171385e+02] [ 1.03965811e-02 4.13166710e-04 9.99945869e-01 1.45105425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.67 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:54.01, Y:-153.15, Z:1.45 [[-6.45053972e-01 -7.64100018e-01 7.51905552e-03 5.40110488e+01] [ 7.64056043e-01 -6.45097636e-01 -8.20987081e-03 -1.53152215e+02] [ 1.11236874e-02 4.49170041e-04 9.99938029e-01 1.45029557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.7 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.99, Y:-153.13, Z:1.45 [[-6.45377630e-01 -7.63818272e-01 8.32842943e-03 5.39914928e+01] [ 7.63764362e-01 -6.45431176e-01 -9.08830351e-03 -1.53132195e+02] [ 1.23172403e-02 4.95569803e-04 9.99924017e-01 1.44932888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.73 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.97, Y:-153.11, Z:1.45 [[-6.45881801e-01 -7.63385600e-01 8.89521992e-03 5.39712693e+01] [ 7.63324140e-01 -6.45942839e-01 -9.70084023e-03 -1.53114418e+02] [ 1.31512853e-02 5.24339930e-04 9.99913381e-01 1.44796925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.76 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.95, Y:-153.09, Z:1.45 [[-6.47799026e-01 -7.61754497e-01 9.30104179e-03 5.39519523e+01] [ 7.61687213e-01 -6.47865587e-01 -1.01375644e-02 -1.53093835e+02] [ 1.37481602e-02 5.17380238e-04 9.99905356e-01 1.44767140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.78999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.93, Y:-153.07, Z:1.45 [[-6.49331388e-01 -7.60451623e-01 9.05967747e-03 5.39334456e+01] [ 7.60387735e-01 -6.49394409e-01 -9.86883777e-03 -1.53072434e+02] [ 1.33880776e-02 4.80721502e-04 9.99910260e-01 1.44828043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.82 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.91, Y:-153.05, Z:1.45 [[-6.51283198e-01 -7.58784879e-01 8.70081460e-03 5.39145930e+01] [ 7.58725869e-01 -6.51341171e-01 -9.47281001e-03 -1.53052862e+02] [ 1.28550238e-02 4.32051132e-04 9.99917277e-01 1.44837824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.84999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.90, Y:-153.03, Z:1.45 [[-6.53516798e-01 -7.56863280e-01 8.58898604e-03 5.38974522e+01] [ 7.56805680e-01 -6.53573119e-01 -9.34568402e-03 -1.53030951e+02] [ 1.26869355e-02 3.92631926e-04 9.99919441e-01 1.44865971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.88 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.88, Y:-153.01, Z:1.45 [[-6.58277771e-01 -7.52731952e-01 8.06127319e-03 5.38810545e+01] [ 7.52680964e-01 -6.58327062e-01 -8.76618618e-03 -1.53008625e+02] [ 1.19055427e-02 2.96981379e-04 9.99929082e-01 1.44875160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.90999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.86, Y:-152.99, Z:1.45 [[-6.61071171e-01 -7.50284314e-01 7.63907289e-03 5.38642865e+01] [ 7.50238419e-01 -6.61115262e-01 -8.30217760e-03 -1.52986484e+02] [ 1.12793013e-02 2.42795700e-04 9.99936357e-01 1.44907045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.94 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.85, Y:-152.97, Z:1.45 [[-6.63439121e-01 -7.48193119e-01 7.45576406e-03 5.38471406e+01] [ 7.48149317e-01 -6.63480982e-01 -8.09845816e-03 -1.52965445e+02] [ 1.10059683e-02 2.05190829e-04 9.99939411e-01 1.44897040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.96999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.83, Y:-152.94, Z:1.45 [[-6.68333711e-01 -7.43824690e-01 7.40822010e-03 5.38318498e+01] [ 7.43781226e-01 -6.68374754e-01 -8.04210728e-03 -1.52941748e+02] [ 1.09333852e-02 1.35283627e-04 9.99940220e-01 1.44941979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.0 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.81, Y:-152.92, Z:1.45 [[-6.70830431e-01 -7.41575567e-01 7.22573905e-03 5.38146024e+01] [ 7.41534135e-01 -6.70869338e-01 -7.83951812e-03 -1.52919832e+02] [ 1.06611219e-02 9.91448347e-05 9.99943164e-01 1.44983717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.03 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.80, Y:-152.90, Z:1.45 [[-6.73281055e-01 -7.39351670e-01 7.19236122e-03 5.37978485e+01] [ 7.39310548e-01 -6.73319467e-01 -7.79803650e-03 -1.52899043e+02] [ 1.06082481e-02 6.71182796e-05 9.99943729e-01 1.44992711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.06 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.78, Y:-152.88, Z:1.45 [[-6.75656588e-01 -7.37180153e-01 7.32101065e-03 5.37810327e+01] [ 7.37137474e-01 -6.75696249e-01 -7.93248896e-03 -1.52877917e+02] [ 1.07944529e-02 3.69528737e-05 9.99941738e-01 1.44962562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.09 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.77, Y:-152.86, Z:1.45 [[-6.79344984e-01 -7.33779009e-01 7.66535958e-03 5.37655863e+01] [ 7.33732062e-01 -6.79388229e-01 -8.30037619e-03 -1.52855418e+02] [ 1.12983969e-02 -1.44988398e-05 9.99936171e-01 1.44938674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.12 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.75, Y:-152.83, Z:1.45 [[-6.80845387e-01 -7.32385876e-01 7.77734044e-03 5.37476369e+01] [ 7.32337511e-01 -6.80889805e-01 -8.41680430e-03 -1.52833759e+02] [ 1.14598604e-02 -3.49042378e-05 9.99934333e-01 1.44986999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.15 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.73, Y:-152.81, Z:1.45 [[-6.82055687e-01 -7.31258340e-01 7.82820017e-03 5.37309822e+01] [ 7.31209332e-01 -6.82100607e-01 -8.46612698e-03 -1.52813031e+02] [ 1.15305460e-02 -5.03170306e-05 9.99933520e-01 1.44895113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.18 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.71, Y:-152.79, Z:1.45 [[-6.83141568e-01 -7.30242352e-01 7.98158741e-03 5.37135831e+01] [ 7.30191399e-01 -6.83188190e-01 -8.62650579e-03 -1.52792383e+02] [ 1.17523661e-02 -6.50382070e-05 9.99930936e-01 1.44967266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.21 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.70, Y:-152.77, Z:1.45 [[-6.84000418e-01 -7.29445122e-01 7.29672985e-03 5.36959768e+01] [ 7.29402547e-01 -6.84039333e-01 -7.88131697e-03 -1.52771305e+02] [ 1.07402384e-02 -6.85707589e-05 9.99942320e-01 1.44958377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.24 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.68, Y:-152.75, Z:1.45 [[-6.83998565e-01 -7.29447975e-01 7.18436639e-03 5.36768350e+01] [ 7.29406748e-01 -6.84036291e-01 -7.75551208e-03 -1.52751033e+02] [ 1.05716099e-02 -6.44338072e-05 9.99944117e-01 1.45026105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.27 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.66, Y:-152.73, Z:1.45 [[-6.83813631e-01 -7.29625035e-01 6.79896301e-03 5.36591053e+01] [ 7.29588171e-01 -6.83847428e-01 -7.33452699e-03 -1.52732107e+02] [ 1.00009079e-02 -5.50065415e-05 9.99949988e-01 1.45022637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.3 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.64, Y:-152.71, Z:1.45 [[-6.83339753e-01 -7.30067220e-01 6.97403878e-03 5.36412305e+01] [ 7.30028507e-01 -6.83375338e-01 -7.51839338e-03 -1.52713411e+02] [ 1.02548187e-02 -4.63699570e-05 9.99947417e-01 1.44998763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.33 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.62, Y:-152.69, Z:1.45 [[-6.81263343e-01 -7.32003137e-01 7.18783113e-03 5.36215685e+01] [ 7.31962174e-01 -6.81301260e-01 -7.74400596e-03 -1.52694570e+02] [ 1.05657151e-02 -1.44868925e-05 9.99944181e-01 1.45030363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.36 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.60, Y:-152.68, Z:1.45 [[-6.80106491e-01 -7.33075787e-01 7.41963653e-03 5.36021974e+01] [ 7.33032257e-01 -6.80146962e-01 -7.98873516e-03 -1.52675947e+02] [ 1.09027916e-02 5.64227942e-06 9.99940563e-01 1.44975605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.39 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.58, Y:-152.66, Z:1.45 [[-6.78717819e-01 -7.34359315e-01 7.64971714e-03 5.35817588e+01] [ 7.34313177e-01 -6.78760927e-01 -8.23176885e-03 -1.52655965e+02] [ 1.12374052e-02 3.02398869e-05 9.99936858e-01 1.44978141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.42 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.56, Y:-152.64, Z:1.45 [[-6.75946566e-01 -7.36904450e-01 8.25047871e-03 5.35613452e+01] [ 7.36851035e-01 -6.75996912e-01 -8.87290573e-03 -1.52638374e+02] [ 1.21157818e-02 8.17636117e-05 9.99926598e-01 1.44895229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.45 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.54, Y:-152.62, Z:1.45 [[-6.74686791e-01 -7.38058498e-01 8.20899063e-03 5.35417161e+01] [ 7.38005771e-01 -6.74736721e-01 -8.82265833e-03 -1.52619142e+02] [ 1.20505454e-02 1.05751425e-04 9.99927384e-01 1.44921355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.48 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.52, Y:-152.60, Z:1.45 [[-6.73502824e-01 -7.39139620e-01 8.15895612e-03 5.35224122e+01] [ 7.39087680e-01 -6.73552230e-01 -8.76330575e-03 -1.52600240e+02] [ 1.19727896e-02 1.28072783e-04 9.99928315e-01 1.44937702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.51 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.50, Y:-152.58, Z:1.45 [[-6.72293114e-01 -7.40241009e-01 8.07572383e-03 5.35030008e+01] [ 7.40190264e-01 -6.72341600e-01 -8.66874499e-03 -1.52581599e+02] [ 1.18466056e-02 1.49634586e-04 9.99929815e-01 1.44909257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.53999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.48, Y:-152.56, Z:1.45 [[-6.72525584e-01 -7.40029781e-01 8.07844638e-03 5.34846622e+01] [ 7.39979051e-01 -6.72574085e-01 -8.66620788e-03 -1.52562078e+02] [ 1.18466056e-02 1.49634569e-04 9.99929815e-01 1.44909260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.46, Y:-152.54, Z:1.45 [[-6.70297971e-01 -7.42050697e-01 7.83543987e-03 5.34645189e+01] [ 7.42003167e-01 -6.70343740e-01 -8.40056015e-03 -1.52543685e+02] [ 1.14860796e-02 1.83042776e-04 9.99934016e-01 1.44950802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.59999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.45, Y:-152.52, Z:1.45 [[-6.69375148e-01 -7.42887945e-01 7.37648219e-03 5.34457286e+01] [ 7.42845926e-01 -6.69415764e-01 -7.90350489e-03 -1.52524340e+02] [ 1.08093520e-02 1.89179989e-04 9.99941559e-01 1.44978772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.63 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.43, Y:-152.51, Z:1.45 [[-6.68666090e-01 -7.43526880e-01 7.31027473e-03 5.34258010e+01] [ 7.43485699e-01 -6.68706018e-01 -7.82793140e-03 -1.52505556e+02] [ 1.07087021e-02 2.00812442e-04 9.99942640e-01 1.44936086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.65999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.41, Y:-152.49, Z:1.45 [[-6.67997078e-01 -7.44131567e-01 6.93648441e-03 5.34072219e+01] [ 7.44094558e-01 -6.68033061e-01 -7.42414466e-03 -1.52487287e+02] [ 1.01583413e-02 2.02093364e-04 9.99948382e-01 1.44901345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.69 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.39, Y:-152.47, Z:1.45 [[-6.67558752e-01 -7.44528573e-01 6.52049866e-03 5.33902200e+01] [ 7.44495932e-01 -6.67590567e-01 -6.97446387e-03 -1.52466240e+02] [ 9.54571103e-03 1.98620329e-04 9.99954419e-01 1.45010805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.71999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.37, Y:-152.45, Z:1.45 [[-6.67847395e-01 -7.44270389e-01 6.43772794e-03 5.33725254e+01] [ 7.44238603e-01 -6.67878394e-01 -6.88131365e-03 -1.52446664e+02] [ 9.42117739e-03 1.95538250e-04 9.99955601e-01 1.45022419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.35, Y:-152.43, Z:1.45 [[-6.68387369e-01 -7.43786546e-01 6.31657350e-03 5.33541734e+01] [ 7.43755962e-01 -6.68417189e-01 -6.74755014e-03 -1.52425929e+02] [ 9.24084332e-03 1.88011913e-04 9.99957285e-01 1.45037978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.78 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.34, Y:-152.41, Z:1.45 [[-6.68816912e-01 -7.43402811e-01 6.01647988e-03 5.33365838e+01] [ 7.43375085e-01 -6.68843949e-01 -6.42289819e-03 -1.52405594e+02] [ 8.79888673e-03 1.76758313e-04 9.99961273e-01 1.45062438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.81 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.32, Y:-152.39, Z:1.45 [[-6.69577321e-01 -7.42719355e-01 5.84562607e-03 5.33168433e+01] [ 7.42693182e-01 -6.69602817e-01 -6.23743686e-03 -1.52387749e+02] [ 8.54691276e-03 1.65060359e-04 9.99963461e-01 1.44939134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.84 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.30, Y:-152.36, Z:1.45 [[-6.70052581e-01 -7.42293423e-01 5.47830805e-03 5.33010430e+01] [ 7.42270449e-01 -6.70074959e-01 -5.84215617e-03 -1.52364553e+02] [ 8.00747115e-03 1.51834354e-04 9.99967928e-01 1.45130494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.87 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.28, Y:-152.34, Z:1.45 [[-6.70660855e-01 -7.41744518e-01 5.39325732e-03 5.32827292e+01] [ 7.41722263e-01 -6.70682524e-01 -5.74776748e-03 -1.52344584e+02] [ 7.88053846e-03 1.45496374e-04 9.99968938e-01 1.45123126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.9 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.27, Y:-152.32, Z:1.45 [[-6.72120047e-01 -7.40418938e-01 5.86843953e-03 5.32654084e+01] [ 7.40392572e-01 -6.72145650e-01 -6.25015637e-03 -1.52323645e+02] [ 8.57218024e-03 1.44093644e-04 9.99963248e-01 1.45059869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.93 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.25, Y:-152.30, Z:1.45 [[-6.73016788e-01 -7.39601833e-01 6.12636687e-03 5.32476055e+01] [ 7.39573093e-01 -6.73044656e-01 -6.52162065e-03 -1.52303709e+02] [ 8.94672107e-03 1.41735914e-04 9.99959967e-01 1.45006160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.96 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.23, Y:-152.28, Z:1.45 [[-6.74025341e-01 -7.38679226e-01 6.54528425e-03 5.32299625e+01] [ 7.38646417e-01 -6.74057105e-01 -6.96351522e-03 -1.52281419e+02] [ 9.55569939e-03 1.41065042e-04 9.99954333e-01 1.45025842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.99 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.21, Y:-152.26, Z:1.45 [[-6.75222298e-01 -7.37579149e-01 7.20044992e-03 5.32121588e+01] [ 7.37539429e-01 -6.75260674e-01 -7.65586969e-03 -1.52260490e+02] [ 1.05089905e-02 1.41201795e-04 9.99944769e-01 1.44991385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.02 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.20, Y:-152.24, Z:1.45 [[-6.77723853e-01 -7.35278691e-01 7.45826323e-03 5.31961799e+01] [ 7.35235994e-01 -6.77764881e-01 -7.92463997e-03 -1.52239696e+02] [ 1.08817678e-02 1.12866043e-04 9.99940785e-01 1.44954947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.05 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.18, Y:-152.22, Z:1.45 [[-6.78960003e-01 -7.34135894e-01 7.60278115e-03 5.31787996e+01] [ 7.34091511e-01 -6.79002562e-01 -8.07305471e-03 -1.52218869e+02] [ 1.10890271e-02 9.98558514e-05 9.99938510e-01 1.44976017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.08 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.16, Y:-152.20, Z:1.45 [[-6.80208458e-01 -7.32980164e-01 7.51880165e-03 5.31608360e+01] [ 7.32936736e-01 -6.80250007e-01 -7.97930729e-03 -1.52197746e+02] [ 1.09633388e-02 8.32136267e-05 9.99939897e-01 1.45037112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.11 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.14, Y:-152.18, Z:1.45 [[-6.81456322e-01 -7.31821705e-01 7.36699152e-03 5.31424407e+01] [ 7.31779993e-01 -6.81496139e-01 -7.81373206e-03 -1.52176580e+02] [ 1.07388350e-02 6.62998919e-05 9.99942335e-01 1.45086542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.14 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.13, Y:-152.16, Z:1.45 [[-6.83398820e-01 -7.30015324e-01 6.60907107e-03 5.31258332e+01] [ 7.29981702e-01 -6.83430776e-01 -7.00636128e-03 -1.52155680e+02] [ 9.63159367e-03 3.63619244e-05 9.99953614e-01 1.45239696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.17 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.11, Y:-152.13, Z:1.45 [[-6.84396556e-01 -7.29083773e-01 6.18106992e-03 5.31075552e+01] [ 7.29054365e-01 -6.84424467e-01 -6.54843823e-03 -1.52134939e+02] [ 9.00483554e-03 2.46074348e-05 9.99959455e-01 1.45334919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.2 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.09, Y:-152.11, Z:1.45 [[-6.85147654e-01 -7.28380612e-01 5.86315378e-03 5.30885447e+01] [ 7.28354155e-01 -6.85172740e-01 -6.20805727e-03 -1.52113985e+02] [ 8.53910170e-03 1.70165450e-05 9.99963541e-01 1.45418411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.22999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.07, Y:-152.09, Z:1.45 [[-6.86055019e-01 -7.27529553e-01 5.40933508e-03 5.30690156e+01] [ 7.27507033e-01 -6.86076344e-01 -5.72424951e-03 -1.52093328e+02] [ 7.87577752e-03 8.17921029e-06 9.99968986e-01 1.45448580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.26 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.05, Y:-152.07, Z:1.45 [[-6.86171465e-01 -7.27421299e-01 5.19371604e-03 5.30505187e+01] [ 7.27400564e-01 -6.86191120e-01 -5.49236531e-03 -1.52074692e+02] [ 7.55914534e-03 9.20762508e-06 9.99971429e-01 1.45430376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.28999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.03, Y:-152.06, Z:1.45 [[-6.86124959e-01 -7.27464577e-01 5.27535091e-03 5.30320407e+01] [ 7.27443207e-01 -6.86145239e-01 -5.57594748e-03 -1.52056540e+02] [ 7.67596119e-03 1.17214421e-05 9.99970539e-01 1.45373145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.32 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:53.01, Y:-152.04, Z:1.45 [[-6.86035499e-01 -7.27548016e-01 5.40182277e-03 5.30126340e+01] [ 7.27525640e-01 -6.86056765e-01 -5.70599410e-03 -1.52037362e+02] [ 7.85734174e-03 1.54500603e-05 9.99969131e-01 1.45340543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.34999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.99, Y:-152.02, Z:1.45 [[-6.85412090e-01 -7.28131488e-01 5.89939199e-03 5.29926019e+01] [ 7.28104856e-01 -6.85437477e-01 -6.22764161e-03 -1.52019057e+02] [ 8.57820632e-03 2.68750994e-05 9.99963206e-01 1.45294926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.38 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.97, Y:-152.00, Z:1.45 [[-6.85354368e-01 -7.28185490e-01 5.93985680e-03 5.29728959e+01] [ 7.28158528e-01 -6.85380107e-01 -6.26640164e-03 -1.51999851e+02] [ 8.63416244e-03 3.04516438e-05 9.99962724e-01 1.45267683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.40999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.95, Y:-151.98, Z:1.45 [[-6.85166495e-01 -7.28359943e-01 6.21833637e-03 5.29532379e+01] [ 7.28330438e-01 -6.85194711e-01 -6.55601928e-03 -1.51980684e+02] [ 9.03591302e-03 3.70388957e-05 9.99959175e-01 1.45245184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.44 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.93, Y:-151.96, Z:1.45 [[-6.85191972e-01 -7.28334765e-01 6.35861287e-03 5.29337530e+01] [ 7.28303951e-01 -6.85221474e-01 -6.69967818e-03 -1.51961881e+02] [ 9.23666662e-03 4.04371751e-05 9.99957340e-01 1.45210757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.46999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.91, Y:-151.94, Z:1.45 [[-6.85066195e-01 -7.28453083e-01 6.35717783e-03 5.29133148e+01] [ 7.28422328e-01 -6.85095689e-01 -6.69394260e-03 -1.51943342e+02] [ 9.23149825e-03 4.49164859e-05 9.99957388e-01 1.45132482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.89, Y:-151.92, Z:1.45 [[-6.85377721e-01 -7.28159658e-01 6.39467839e-03 5.28935143e+01] [ 7.28128565e-01 -6.85407551e-01 -6.72921782e-03 -1.51923858e+02] [ 9.28290580e-03 4.40920255e-05 9.99956912e-01 1.45102263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.53 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.87, Y:-151.90, Z:1.45 [[-6.85730771e-01 -7.27828006e-01 6.30105821e-03 5.28747351e+01] [ 7.27797840e-01 -6.85759719e-01 -6.62654253e-03 -1.51904609e+02] [ 9.14399514e-03 4.18724412e-05 9.99958192e-01 1.45119036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.86, Y:-151.88, Z:1.45 [[-6.86857210e-01 -7.26773821e-01 5.19488944e-03 5.28553583e+01] [ 7.26753311e-01 -6.86876854e-01 -5.46007455e-03 -1.51884530e+02] [ 7.53648856e-03 2.51115299e-05 9.99971600e-01 1.45247663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.59 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.84, Y:-151.87, Z:1.45 [[-6.87549637e-01 -7.26118593e-01 5.22350428e-03 5.28367183e+01] [ 7.26097863e-01 -6.87569479e-01 -5.48680772e-03 -1.51865296e+02] [ 7.57559522e-03 2.03226317e-05 9.99971305e-01 1.45282880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.62 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.82, Y:-151.85, Z:1.45 [[-6.88169775e-01 -7.25534742e-01 4.65826755e-03 5.28182099e+01] [ 7.25518259e-01 -6.88185540e-01 -4.89064769e-03 -1.51846493e+02] [ 6.75408718e-03 1.40622396e-05 9.99977191e-01 1.45321930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.65 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.80, Y:-151.83, Z:1.45 [[-6.88898356e-01 -7.24843715e-01 4.54346058e-03 5.27981632e+01] [ 7.24828037e-01 -6.88913339e-01 -4.76739464e-03 -1.51826626e+02] [ 6.58566664e-03 8.97728952e-06 9.99978314e-01 1.45357773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.68 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.78, Y:-151.81, Z:1.45 [[-6.89299109e-01 -7.24461903e-01 4.65722667e-03 5.27782207e+01] [ 7.24445440e-01 -6.89314842e-01 -4.88397946e-03 -1.51806762e+02] [ 6.74855252e-03 7.38393859e-06 9.99977228e-01 1.45311484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.71 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.76, Y:-151.79, Z:1.45 [[-6.89821667e-01 -7.23961460e-01 5.08652007e-03 5.27597199e+01] [ 7.23941835e-01 -6.89840420e-01 -5.33058368e-03 -1.51788591e+02] [ 7.36802428e-03 5.19255610e-06 9.99972856e-01 1.45250486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.74 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.74, Y:-151.77, Z:1.45 [[-6.90179159e-01 -7.23618139e-01 5.43291253e-03 5.27395739e+01] [ 7.23595766e-01 -6.90200542e-01 -5.69031320e-03 -1.51768579e+02] [ 7.86741302e-03 3.89692118e-06 9.99969051e-01 1.45209943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.77 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.72, Y:-151.75, Z:1.45 [[-6.90720730e-01 -7.23096540e-01 6.02224367e-03 5.27201168e+01] [ 7.23069052e-01 -6.90746982e-01 -6.30491759e-03 -1.51749715e+02] [ 8.71891074e-03 -4.39253148e-07 9.99961990e-01 1.45129176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.8 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.70, Y:-151.73, Z:1.45 [[-6.91280935e-01 -7.22560880e-01 6.03683295e-03 5.27003727e+01] [ 7.22533270e-01 -6.91307294e-01 -6.31658174e-03 -1.51729514e+02] [ 8.73742151e-03 -4.71988243e-06 9.99961828e-01 1.45174306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.83 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.68, Y:-151.71, Z:1.45 [[-6.91661233e-01 -7.22194326e-01 6.33206516e-03 5.26804749e+01] [ 7.22163968e-01 -6.91690217e-01 -6.62170043e-03 -1.51709247e+02] [ 9.16198199e-03 -7.18417912e-06 9.99958028e-01 1.45186381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.86 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.66, Y:-151.69, Z:1.45 [[-6.92067969e-01 -7.21804223e-01 6.37104611e-03 5.26621681e+01] [ 7.21773516e-01 -6.92097293e-01 -6.65795694e-03 -1.51690868e+02] [ 9.21512521e-03 -9.30638724e-06 9.99957540e-01 1.45190335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.64, Y:-151.67, Z:1.45 [[-6.92755297e-01 -7.21144808e-01 6.34540613e-03 5.26418088e+01] [ 7.21114355e-01 -6.92784357e-01 -6.62735649e-03 -1.51671463e+02] [ 9.17528184e-03 -1.53728671e-05 9.99957906e-01 1.45232982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.92 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.62, Y:-151.65, Z:1.45 [[-6.93204313e-01 -7.20714759e-01 6.16574232e-03 5.26224049e+01] [ 7.20686024e-01 -6.93231733e-01 -6.43581053e-03 -1.51651933e+02] [ 8.91267187e-03 -1.77672996e-05 9.99960281e-01 1.45245325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.95 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.60, Y:-151.63, Z:1.45 [[-6.93689615e-01 -7.20247193e-01 6.22087113e-03 5.26042897e+01] [ 7.20217961e-01 -6.93717508e-01 -6.48901558e-03 -1.51633442e+02] [ 8.98922247e-03 -2.09795957e-05 9.99959596e-01 1.45242884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.97999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.58, Y:-151.61, Z:1.45 [[-6.94460269e-01 -7.19501929e-01 6.47368923e-03 5.25848857e+01] [ 7.19470281e-01 -6.94490441e-01 -6.74845801e-03 -1.51613808e+02] [ 9.35144385e-03 -2.89089555e-05 9.99956274e-01 1.45232579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.01 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.56, Y:-151.59, Z:1.45 [[-6.95404084e-01 -7.18585245e-01 6.95736126e-03 5.25646572e+01] [ 7.18548687e-01 -6.95438885e-01 -7.24852726e-03 -1.51593612e+02] [ 1.00471043e-02 -4.14526601e-05 9.99949526e-01 1.45208997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.03999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.54, Y:-151.57, Z:1.45 [[-6.95757991e-01 -7.18239926e-01 7.22682563e-03 5.25446785e+01] [ 7.18200507e-01 -6.95795521e-01 -7.52498066e-03 -1.51573356e+02] [ 1.04331345e-02 -4.52555912e-05 9.99945572e-01 1.45191721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.53, Y:-151.55, Z:1.45 [[-6.95856630e-01 -7.18141556e-01 7.50037067e-03 5.25261467e+01] [ 7.18099147e-01 -6.95897049e-01 -7.80456835e-03 -1.51554636e+02] [ 1.08242707e-02 -4.48508486e-05 9.99941415e-01 1.45095973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.09999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.51, Y:-151.54, Z:1.45 [[-6.95967018e-01 -7.18035539e-01 7.40777981e-03 5.25063220e+01] [ 7.17994217e-01 -6.96006439e-01 -7.70332135e-03 -1.51535447e+02] [ 1.06871209e-02 -4.25145209e-05 9.99942890e-01 1.45149928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.13 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.49, Y:-151.52, Z:1.45 [[-6.94504777e-01 -7.19449339e-01 7.46751582e-03 5.24861618e+01] [ 7.19407485e-01 -6.94544922e-01 -7.76026262e-03 -1.51518061e+02] [ 1.07696410e-02 -1.73526788e-05 9.99942006e-01 1.45142929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.15999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.47, Y:-151.50, Z:1.45 [[-6.93401102e-01 -7.20512831e-01 7.49475657e-03 5.24664187e+01] [ 7.20470775e-01 -6.93441605e-01 -7.78478018e-03 -1.51500304e+02] [ 1.08062100e-02 1.77791426e-06 9.99941611e-01 1.45129035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.19 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.45, Y:-151.48, Z:1.45 [[-6.92104405e-01 -7.21755989e-01 7.73211915e-03 5.24458338e+01] [ 7.21711359e-01 -6.92147594e-01 -8.02632061e-03 -1.51482111e+02] [ 1.11448126e-02 2.53063793e-05 9.99937894e-01 1.45083778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.21999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.42, Y:-151.46, Z:1.45 [[-6.88809050e-01 -7.24890962e-01 8.67098551e-03 5.24228197e+01] [ 7.24835146e-01 -6.88863618e-01 -8.99587533e-03 -1.51464795e+02] [ 1.24941552e-02 8.85947108e-05 9.99921941e-01 1.44960259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.25 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.40, Y:-151.45, Z:1.45 [[-6.87423445e-01 -7.26202517e-01 8.88324675e-03 5.24022887e+01] [ 7.26144113e-01 -6.87480829e-01 -9.21064885e-03 -1.51447099e+02] [ 1.27958582e-02 1.18901375e-04 9.99918123e-01 1.44865291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.28 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.38, Y:-151.43, Z:1.45 [[-6.86008374e-01 -7.27537707e-01 9.02199333e-03 5.23819144e+01] [ 7.27477650e-01 -6.86067681e-01 -9.34914936e-03 -1.51428109e+02] [ 1.29915567e-02 1.49703754e-04 9.99915595e-01 1.44913493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.31 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.36, Y:-151.41, Z:1.45 [[-6.84632552e-01 -7.28836733e-01 8.67675330e-03 5.23613253e+01] [ 7.28781335e-01 -6.84687511e-01 -8.98763150e-03 -1.51410573e+02] [ 1.24913806e-02 1.70230771e-04 9.99921965e-01 1.44802750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.34 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.34, Y:-151.39, Z:1.45 [[-6.83422048e-01 -7.29971185e-01 8.73913696e-03 5.23411928e+01] [ 7.29915145e-01 -6.83477893e-01 -9.04713088e-03 -1.51390956e+02] [ 1.25771518e-02 1.95819707e-04 9.99920885e-01 1.44886974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.37 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.32, Y:-151.37, Z:1.45 [[-6.81787413e-01 -7.31505963e-01 8.05917577e-03 5.23203289e+01] [ 7.31458465e-01 -6.81835011e-01 -8.33852695e-03 -1.51372280e+02] [ 1.15947104e-02 2.09849622e-04 9.99932757e-01 1.44925607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.4 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.30, Y:-151.35, Z:1.45 [[-6.81459728e-01 -7.31813322e-01 7.86768303e-03 5.23009941e+01] [ 7.31768128e-01 -6.81505111e-01 -8.13571721e-03 -1.51351704e+02] [ 1.13156924e-02 2.13156051e-04 9.99935953e-01 1.45023907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.43 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.28, Y:-151.33, Z:1.45 [[-6.81316837e-01 -7.31952782e-01 7.24518182e-03 5.22813414e+01] [ 7.31914510e-01 -6.81355329e-01 -7.48770379e-03 -1.51331721e+02] [ 1.04171889e-02 2.01355036e-04 9.99945719e-01 1.45059583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.46 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.26, Y:-151.31, Z:1.45 [[-6.81526828e-01 -7.31757241e-01 7.24733007e-03 5.22620960e+01] [ 7.31718980e-01 -6.81565331e-01 -7.48562452e-03 -1.51311932e+02] [ 1.04171889e-02 2.01355037e-04 9.99945719e-01 1.45059586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.49 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.24, Y:-151.29, Z:1.45 [[-6.81054791e-01 -7.32199764e-01 6.91939534e-03 5.22426125e+01] [ 7.32164951e-01 -6.81089910e-01 -7.14281950e-03 -1.51292328e+02] [ 9.94270110e-03 2.01487311e-04 9.99950550e-01 1.45051039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.52 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.22, Y:-151.27, Z:1.45 [[-6.81106473e-01 -7.32151666e-01 6.92173220e-03 5.22228760e+01] [ 7.32116868e-01 -6.81141612e-01 -7.14114160e-03 -1.51271922e+02] [ 9.94307856e-03 2.03639132e-04 9.99950546e-01 1.45078710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.55 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.20, Y:-151.25, Z:1.45 [[-6.81261363e-01 -7.32009182e-01 6.74632039e-03 5.22037661e+01] [ 7.31976156e-01 -6.81294737e-01 -6.95616889e-03 -1.51251770e+02] [ 9.68821208e-03 1.99176566e-04 9.99953048e-01 1.45057885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.58 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.18, Y:-151.23, Z:1.45 [[-6.81407109e-01 -7.31871560e-01 6.95494338e-03 5.21849896e+01] [ 7.31836496e-01 -6.81442570e-01 -7.16706579e-03 -1.51230226e+02] [ 9.98476612e-03 2.06191815e-04 9.99950130e-01 1.45117643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.61 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.17, Y:-151.21, Z:1.45 [[-6.82048641e-01 -7.31268920e-01 7.44428411e-03 5.21665969e+01] [ 7.31228763e-01 -6.82089232e-01 -7.66658296e-03 -1.51209725e+02] [ 1.06839999e-02 2.14492170e-04 9.99942901e-01 1.45056209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.64 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.15, Y:-151.19, Z:1.45 [[-6.82417946e-01 -7.30921606e-01 7.70410186e-03 5.21476299e+01] [ 7.30878624e-01 -6.82461397e-01 -7.92959792e-03 -1.51189039e+02] [ 1.10536666e-02 2.19463445e-04 9.99938882e-01 1.45044297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.67 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.13, Y:-151.17, Z:1.45 [[-6.82860933e-01 -7.30505984e-01 7.87102674e-03 5.21266802e+01] [ 7.30461148e-01 -6.82906259e-01 -8.09649811e-03 -1.51171451e+02] [ 1.12897137e-02 2.20696977e-04 9.99936245e-01 1.44849121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.7 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.11, Y:-151.15, Z:1.45 [[-6.83184236e-01 -7.30200884e-01 8.12211086e-03 5.21100564e+01] [ 7.30153176e-01 -6.83232477e-01 -8.34998244e-03 -1.51148078e+02] [ 1.16464545e-02 2.25808666e-04 9.99932152e-01 1.45050446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.72999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.09, Y:-151.13, Z:1.45 [[-6.83511003e-01 -7.29884451e-01 9.02201104e-03 5.20927262e+01] [ 7.29825638e-01 -6.83570498e-01 -9.26887566e-03 -1.51128153e+02] [ 1.29323888e-02 2.49116469e-04 9.99916342e-01 1.44927106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.76 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.07, Y:-151.11, Z:1.45 [[-6.84094321e-01 -7.29326639e-01 9.87997767e-03 5.20749421e+01] [ 7.29256145e-01 -6.84165611e-01 -1.01435709e-02 -1.51108591e+02] [ 1.41575174e-02 2.65875199e-04 9.99899742e-01 1.44857786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.78999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.06, Y:-151.09, Z:1.45 [[-6.84641184e-01 -7.28810688e-01 1.00712564e-02 5.20566711e+01] [ 7.28737475e-01 -6.84715205e-01 -1.03334895e-02 -1.51087798e+02] [ 1.44271000e-02 2.64569419e-04 9.99895889e-01 1.44839345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.82 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.04, Y:-151.07, Z:1.45 [[-6.85164507e-01 -7.28314782e-01 1.03526052e-02 5.20387353e+01] [ 7.28237463e-01 -6.85242663e-01 -1.06155438e-02 -1.51067155e+02] [ 1.48255042e-02 2.65761097e-04 9.99890061e-01 1.44841319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.84999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.02, Y:-151.05, Z:1.45 [[-6.86567602e-01 -7.26996327e-01 1.00632253e-02 5.20223281e+01] [ 7.26923211e-01 -6.86641308e-01 -1.03130976e-02 -1.51045064e+02] [ 1.44074103e-02 2.34553370e-04 9.99896180e-01 1.44919578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.88 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:52.01, Y:-151.02, Z:1.45 [[-6.87523888e-01 -7.26096806e-01 9.71247769e-03 5.20051464e+01] [ 7.26028697e-01 -6.87592455e-01 -9.94720854e-03 -1.51024914e+02] [ 1.39008627e-02 2.12594037e-04 9.99903356e-01 1.44944209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.90999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.99, Y:-151.00, Z:1.45 [[-6.88337057e-01 -7.25326599e-01 9.66546595e-03 5.19873674e+01] [ 7.25259155e-01 -6.88404885e-01 -9.89306570e-03 -1.51003789e+02] [ 1.38294577e-02 2.00203940e-04 9.99904348e-01 1.45018937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.94 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.97, Y:-150.98, Z:1.45 [[-6.89244521e-01 -7.24467682e-01 9.41102051e-03 5.19707489e+01] [ 7.24403739e-01 -6.89308744e-01 -9.62698695e-03 -1.50980706e+02] [ 1.34615396e-02 1.82030430e-04 9.99909373e-01 1.45262117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.96999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.95, Y:-150.96, Z:1.45 [[-6.90200667e-01 -7.23560162e-01 9.15047078e-03 5.19512684e+01] [ 7.23499705e-01 -6.90261302e-01 -9.35478150e-03 -1.50961232e+02] [ 1.30849631e-02 1.63686482e-04 9.99914375e-01 1.45071462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.0 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.94, Y:-150.94, Z:1.45 [[-6.91697245e-01 -7.22130610e-01 9.07217455e-03 5.19354237e+01] [ 7.22071128e-01 -6.91756723e-01 -9.26941208e-03 -1.50937220e+02] [ 1.29694639e-02 1.39128522e-04 9.99915883e-01 1.45264660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.03 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.92, Y:-150.92, Z:1.45 [[-6.92637984e-01 -7.21224817e-01 9.34809906e-03 5.19165017e+01] [ 7.21161657e-01 -6.92701051e-01 -9.54555350e-03 -1.50917756e+02] [ 1.33599281e-02 1.29877683e-04 9.99910744e-01 1.45025659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.06 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.90, Y:-150.90, Z:1.45 [[-6.93854592e-01 -7.20049666e-01 9.70997380e-03 5.18990942e+01] [ 7.19981493e-01 -6.93922521e-01 -9.90883351e-03 -1.50897831e+02] [ 1.38728218e-02 1.15711804e-04 9.99903761e-01 1.44885336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.09 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.88, Y:-150.88, Z:1.45 [[-6.95155898e-01 -7.18791109e-01 9.88023973e-03 5.18822989e+01] [ 7.18720488e-01 -6.95226101e-01 -1.00761520e-02 -1.50875497e+02] [ 1.41116490e-02 9.66342467e-05 9.99900421e-01 1.45089082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.12 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.87, Y:-150.85, Z:1.45 [[-6.98005665e-01 -7.16024273e-01 9.86569296e-03 5.18675195e+01] [ 7.15953671e-01 -6.98075381e-01 -1.00549902e-02 -1.50852499e+02] [ 1.40866144e-02 4.49390125e-05 9.99900778e-01 1.44846298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.15 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.85, Y:-150.83, Z:1.45 [[-6.99923860e-01 -7.14150000e-01 9.81666589e-03 5.18518402e+01] [ 7.14080002e-01 -6.99992698e-01 -9.99871592e-03 -1.50831420e+02] [ 1.40121774e-02 1.15449583e-05 9.99901825e-01 1.44866308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.18 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.83, Y:-150.81, Z:1.45 [[-7.01539919e-01 -7.12572268e-01 9.08323684e-03 5.18345260e+01] [ 7.12512282e-01 -7.01598719e-01 -9.24585086e-03 -1.50809571e+02] [ 1.29611243e-02 -1.44156535e-05 9.99916001e-01 1.45192975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.21 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.82, Y:-150.79, Z:1.45 [[-7.03238566e-01 -7.10900556e-01 8.71318878e-03 5.18175623e+01] [ 7.10845302e-01 -7.03292541e-01 -8.86332250e-03 -1.50788833e+02] [ 1.24288616e-02 -3.93008896e-05 9.99922758e-01 1.45214065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.24 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.80, Y:-150.77, Z:1.45 [[-7.05908722e-01 -7.08266522e-01 7.17001768e-03 5.18012276e+01] [ 7.08229018e-01 -7.05945132e-01 -7.28898173e-03 -1.50766040e+02] [ 1.02241808e-02 -6.73412039e-05 9.99947729e-01 1.45349293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.27 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.78, Y:-150.75, Z:1.45 [[-7.07102231e-01 -7.07081505e-01 6.49457222e-03 5.17845307e+01] [ 7.07050725e-01 -7.07132052e-01 -6.59799138e-03 -1.50745935e+02] [ 9.25783786e-03 -7.34624324e-05 9.99957143e-01 1.45345159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.3 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.77, Y:-150.73, Z:1.45 [[-7.08030397e-01 -7.06154112e-01 6.27112104e-03 5.17677264e+01] [ 7.06125413e-01 -7.08058164e-01 -6.36688684e-03 -1.50725990e+02] [ 8.93632177e-03 -7.97514848e-05 9.99960067e-01 1.45317525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.33 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.75, Y:-150.70, Z:1.45 [[-7.09480729e-01 -7.04690791e-01 6.92709505e-03 5.17500544e+01] [ 7.04655743e-01 -7.09514537e-01 -7.02890162e-03 -1.50704001e+02] [ 9.86807687e-03 -1.05652935e-04 9.99951304e-01 1.45296220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.36 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.73, Y:-150.68, Z:1.45 [[-7.09975498e-01 -7.04184250e-01 7.70285972e-03 5.17319546e+01] [ 7.04140937e-01 -7.10017272e-01 -7.81112154e-03 -1.50683761e+02] [ 1.09696322e-02 -1.21806041e-04 9.99939824e-01 1.45195987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.39 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.71, Y:-150.66, Z:1.45 [[-7.10153784e-01 -7.04001054e-01 8.00745347e-03 5.17132171e+01] [ 7.03954295e-01 -7.10198916e-01 -8.11481619e-03 -1.50663768e+02] [ 1.13997239e-02 -1.25886157e-04 9.99935013e-01 1.45135040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.42 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.69, Y:-150.64, Z:1.45 [[-7.10240130e-01 -7.03910304e-01 8.32110902e-03 5.16940295e+01] [ 7.03859868e-01 -7.10288862e-01 -8.42731645e-03 -1.50643726e+02] [ 1.18424659e-02 -1.28523642e-04 9.99929867e-01 1.45086073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.45 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.68, Y:-150.62, Z:1.45 [[-7.09742540e-01 -7.04417677e-01 7.82706476e-03 5.16764328e+01] [ 7.04373141e-01 -7.09785689e-01 -7.92170271e-03 -1.50624637e+02] [ 1.11357260e-02 -1.09195215e-04 9.99937990e-01 1.45035680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.47999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.66, Y:-150.61, Z:1.45 [[-7.09533113e-01 -7.04634178e-01 7.31012333e-03 5.16568406e+01] [ 7.04595391e-01 -7.09570762e-01 -7.39385168e-03 -1.50605409e+02] [ 1.03970104e-02 -9.55033938e-05 9.99945945e-01 1.45159572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.51 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.64, Y:-150.59, Z:1.45 [[-7.09320309e-01 -7.04850812e-01 7.07336197e-03 5.16372848e+01] [ 7.04814553e-01 -7.09355570e-01 -7.14982935e-03 -1.50585958e+02] [ 1.00570917e-02 -8.61107004e-05 9.99949422e-01 1.45249030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.53999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.62, Y:-150.57, Z:1.45 [[-7.08887972e-01 -7.05290600e-01 6.55846967e-03 5.16187585e+01] [ 7.05259488e-01 -7.08918306e-01 -6.62495461e-03 -1.50566820e+02] [ 9.32193742e-03 -7.09276811e-05 9.99956547e-01 1.45213650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.60, Y:-150.55, Z:1.45 [[-7.08358111e-01 -7.05823448e-01 6.48435486e-03 5.15988754e+01] [ 7.05793096e-01 -7.08387787e-01 -6.54596914e-03 -1.50547560e+02] [ 9.21373630e-03 -6.02774420e-05 9.99957551e-01 1.45272783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.59999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.58, Y:-150.53, Z:1.45 [[-7.06720336e-01 -7.07464156e-01 6.39015810e-03 5.15786788e+01] [ 7.07434783e-01 -7.06749225e-01 -6.44679541e-03 -1.50529048e+02] [ 9.07711596e-03 -3.54613170e-05 9.99958802e-01 1.45316382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.63 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.56, Y:-150.51, Z:1.45 [[-7.05762453e-01 -7.08421535e-01 6.18774121e-03 5.15587232e+01] [ 7.08394065e-01 -7.05789578e-01 -6.23859585e-03 -1.50510139e+02] [ 8.78679891e-03 -1.96075572e-05 9.99961395e-01 1.45327865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.65999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.54, Y:-150.49, Z:1.45 [[-7.04653557e-01 -7.09522981e-01 6.36429122e-03 5.15385268e+01] [ 7.09494003e-01 -7.04682297e-01 -6.41248918e-03 -1.50491370e+02] [ 9.03461179e-03 -3.15685793e-06 9.99959187e-01 1.45332816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.69 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.52, Y:-150.47, Z:1.45 [[-7.03534999e-01 -7.10633123e-01 6.25062444e-03 5.15185085e+01] [ 7.10605252e-01 -7.03562765e-01 -6.29373688e-03 -1.50473537e+02] [ 8.87024451e-03 1.38623834e-05 9.99960659e-01 1.45268871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.71999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.50, Y:-150.46, Z:1.45 [[-7.00927023e-01 -7.13202591e-01 6.58586079e-03 5.14972763e+01] [ 7.13171802e-01 -7.00957960e-01 -6.62712186e-03 -1.50455930e+02] [ 9.34289202e-03 5.17214149e-05 9.99956353e-01 1.45266155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.48, Y:-150.44, Z:1.45 [[-6.99976578e-01 -7.14134256e-01 6.71223330e-03 5.14773738e+01] [ 7.14102358e-01 -7.00008757e-01 -6.74999501e-03 -1.50437054e+02] [ 9.51902475e-03 6.83832149e-05 9.99954691e-01 1.45274521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.78 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.46, Y:-150.42, Z:1.45 [[-6.99626514e-01 -7.14475708e-01 6.87046551e-03 5.14583036e+01] [ 7.14442340e-01 -6.99660244e-01 -6.90549330e-03 -1.50419687e+02] [ 9.74079879e-03 7.72852522e-05 9.99952554e-01 1.45178394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.81 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.44, Y:-150.40, Z:1.45 [[-6.99914512e-01 -7.14189690e-01 7.26377953e-03 5.14390607e+01] [ 7.14152424e-01 -6.99952198e-01 -7.29628900e-03 -1.50400900e+02] [ 1.02952328e-02 8.06672042e-05 9.99946999e-01 1.45118862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.84 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.42, Y:-150.38, Z:1.45 [[-7.00952611e-01 -7.13170024e-01 7.34534401e-03 5.14205698e+01] [ 7.13131909e-01 -7.00991092e-01 -7.37356126e-03 -1.50380613e+02] [ 1.04076236e-02 6.96821844e-05 9.99945837e-01 1.45110663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.87 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.40, Y:-150.36, Z:1.45 [[-7.01714578e-01 -7.12421084e-01 7.26973653e-03 5.14020934e+01] [ 7.12383757e-01 -7.01752232e-01 -7.29305934e-03 -1.50360691e+02] [ 1.02972831e-02 6.11961598e-05 9.99946980e-01 1.45146953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.9 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.38, Y:-150.34, Z:1.45 [[-7.02287111e-01 -7.11855779e-01 7.35955441e-03 5.13835166e+01] [ 7.11817541e-01 -7.02325670e-01 -7.37850744e-03 -1.50340556e+02] [ 1.04212371e-02 5.68292458e-05 9.99945696e-01 1.45181419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.93 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.37, Y:-150.32, Z:1.45 [[-7.03604823e-01 -7.10557595e-01 6.93957612e-03 5.13654160e+01] [ 7.10523572e-01 -7.03639043e-01 -6.95342993e-03 -1.50319405e+02] [ 9.82376914e-03 3.82655782e-05 9.99951745e-01 1.45239458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.96 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.35, Y:-150.30, Z:1.45 [[-7.04289034e-01 -7.09872935e-01 7.57447303e-03 5.13470678e+01] [ 7.09832397e-01 -7.04329763e-01 -7.58639431e-03 -1.50300116e+02] [ 1.07203028e-02 3.35920241e-05 9.99942535e-01 1.45195641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.99 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.33, Y:-150.28, Z:1.45 [[-7.05048901e-01 -7.09120269e-01 7.38184566e-03 5.13272605e+01] [ 7.09081770e-01 -7.05087543e-01 -7.38922943e-03 -1.50279598e+02] [ 1.04446998e-02 2.45640955e-05 9.99945452e-01 1.45144548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.02 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.31, Y:-150.26, Z:1.45 [[-7.06381612e-01 -7.07801804e-01 6.45171081e-03 5.13091168e+01] [ 7.07772378e-01 -7.06411074e-01 -6.45403917e-03 -1.50259849e+02] [ 9.12574053e-03 7.32811269e-06 9.99958360e-01 1.45099333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.05 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.29, Y:-150.24, Z:1.45 [[-7.06927925e-01 -7.07259368e-01 6.09055917e-03 5.12895293e+01] [ 7.07233155e-01 -7.06954161e-01 -6.08924936e-03 -1.50239229e+02] [ 8.61242481e-03 2.78495280e-06 9.99962912e-01 1.45179046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.08 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.66, Y:-150.88, Z:2.24 [[-7.55405601e-01 6.55227600e-01 6.25864572e-03 5.06624545e+01] [ 6.55205115e-01 7.55431527e-01 -5.42820830e-03 -1.50880763e+02] [-8.28469019e-03 1.97734928e-07 -9.99965681e-01 2.23706864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.11 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.68, Y:-150.86, Z:2.24 [[-7.99662937e-01 6.00418466e-01 6.07069800e-03 5.06774727e+01] [ 6.00401189e-01 7.99685980e-01 -4.55481836e-03 -1.50858612e+02] [-7.58944913e-03 2.53487120e-06 -9.99971200e-01 2.23688110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.14 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.71, Y:-150.85, Z:2.24 [[-8.39901694e-01 5.42704748e-01 6.05809106e-03 5.07098409e+01] [ 5.42690679e-01 8.39923542e-01 -3.90779151e-03 -1.50848547e+02] [-7.20911031e-03 5.50883874e-06 -9.99974014e-01 2.23699414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.17 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.20, Y:-150.10, Z:1.45 [[-8.02538458e-01 -5.96573976e-01 5.61385272e-03 5.11997563e+01] [ 5.96559232e-01 -8.02558092e-01 -4.19431138e-03 -1.50095237e+02] [ 7.00765994e-03 -1.71005231e-05 9.99975446e-01 1.45146743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.2 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.20, Y:-150.13, Z:1.45 [[-7.60706176e-01 -6.49075907e-01 5.15567570e-03 5.11987252e+01] [ 6.49060928e-01 -7.60723647e-01 -4.40962933e-03 -1.50132531e+02] [ 6.78422857e-03 -8.08461350e-06 9.99976987e-01 1.45120620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.22999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.63, Y:-150.83, Z:2.24 [[-8.03072820e-01 5.95857239e-01 5.31009155e-03 5.06250825e+01] [ 5.95844283e-01 8.03090375e-01 -3.92927964e-03 -1.50825931e+02] [-6.60577313e-03 8.49001229e-06 -9.99978182e-01 2.23825454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.26 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.65, Y:-150.81, Z:2.24 [[-8.43090890e-01 5.37749704e-01 4.79659393e-03 5.06466506e+01] [ 5.37741059e-01 8.43104534e-01 -3.04926031e-03 -1.50806790e+02] [-5.68376892e-03 8.52191115e-06 -9.99983847e-01 2.23750343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.28999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.14, Y:-150.06, Z:1.45 [[-8.06732609e-01 -5.90903322e-01 3.97008812e-03 5.11408647e+01] [ 5.90895859e-01 -8.06742376e-01 -2.97019260e-03 -1.50059219e+02] [ 4.95793500e-03 -5.02426026e-05 9.99987708e-01 1.45167646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.32 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.13, Y:-150.09, Z:1.45 [[-7.65096792e-01 -6.43905812e-01 3.49344238e-03 5.11291595e+01] [ 6.43899063e-01 -7.65104768e-01 -2.94809424e-03 -1.50088171e+02] [ 4.57114444e-03 -6.15317095e-06 9.99989552e-01 1.45231809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.34999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.12, Y:-150.12, Z:1.45 [[-7.20051786e-01 -6.93912545e-01 3.28724029e-03 5.11193363e+01] [ 6.93905275e-01 -7.20059289e-01 -3.17638480e-03 -1.50119284e+02] [ 4.57114117e-03 -6.12817372e-06 9.99989552e-01 1.45231816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.38 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.50, Y:-150.77, Z:2.24 [[-7.65571376e-01 6.43342738e-01 3.25426387e-03 5.05018947e+01] [ 6.43336961e-01 7.65578292e-01 -2.72638342e-03 -1.50770916e+02] [-4.24539275e-03 6.34712080e-06 -9.99990988e-01 2.23717099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.40999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.52, Y:-150.75, Z:2.24 [[-8.09222521e-01 5.87493581e-01 3.19435546e-03 5.05226123e+01] [ 5.87489030e-01 8.09228825e-01 -2.31257153e-03 -1.50751761e+02] [-3.94358544e-03 5.26382601e-06 -9.99992224e-01 2.23736779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.44 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:51.06, Y:-150.04, Z:1.45 [[-7.69518020e-01 -6.38617395e-01 3.13687617e-03 5.10644164e+01] [ 6.38612100e-01 -7.69524414e-01 -2.60035961e-03 -1.50041762e+02] [ 4.07453767e-03 2.22349885e-06 9.99991699e-01 1.45115595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.46999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.49, Y:-150.73, Z:2.24 [[-8.11248387e-01 5.84693408e-01 3.11024702e-03 5.04946028e+01] [ 5.84689137e-01 8.11254349e-01 -2.23489872e-03 -1.50731277e+02] [-3.82993197e-03 5.46966197e-06 -9.99992666e-01 2.23879462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.51, Y:-150.71, Z:2.24 [[-8.50653766e-01 5.25716235e-01 3.25744007e-03 5.05110897e+01] [ 5.25712403e-01 8.50660003e-01 -2.00737351e-03 -1.50708984e+02] [-3.82628283e-03 4.89681249e-06 -9.99992680e-01 2.23904152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.53 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.99, Y:-149.96, Z:1.45 [[-8.14645557e-01 -5.79949259e-01 3.38718048e-03 5.09949687e+01] [ 5.79944316e-01 -8.14652599e-01 -2.39437473e-03 -1.49961423e+02] [ 4.14799124e-03 1.38093310e-05 9.99991397e-01 1.45053117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.49, Y:-150.69, Z:2.24 [[-8.52880061e-01 5.22097467e-01 3.13632717e-03 5.04851357e+01] [ 5.22093947e-01 8.52885828e-01 -1.91722036e-03 -1.50692973e+02] [-3.67590489e-03 2.29841302e-06 -9.99993244e-01 2.23893353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.59 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.50, Y:-150.67, Z:2.24 [[-8.87789887e-01 4.60241281e-01 2.66083798e-03 5.05033429e+01] [ 4.60239218e-01 8.87793874e-01 -1.37790364e-03 -1.50671250e+02] [-2.99644380e-03 1.33307221e-06 -9.99995511e-01 2.23887805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.62 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.51, Y:-150.65, Z:2.24 [[-9.18192081e-01 3.96129065e-01 2.25093378e-03 5.05141086e+01] [ 3.96127877e-01 9.18194840e-01 -9.70171953e-04 -1.50645805e+02] [-2.45110909e-03 8.53417768e-07 -9.99996996e-01 2.23890328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.65 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.54, Y:-150.63, Z:2.24 [[-9.44012212e-01 3.29905154e-01 1.87941451e-03 5.05446403e+01] [ 3.29904501e-01 9.44014083e-01 -6.56377818e-04 -1.50628086e+02] [-1.99073619e-03 3.98630488e-07 -9.99998019e-01 2.23864757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.68 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.84, Y:-149.79, Z:1.45 [[-9.19386011e-01 -3.93355821e-01 7.49183996e-04 5.08386620e+01] [ 3.93355626e-01 -9.19386313e-01 -3.98051327e-04 -1.49792848e+02] [ 8.45365319e-04 -7.12670821e-05 9.99999640e-01 1.45091925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.71 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.50, Y:-150.61, Z:2.24 [[-9.45803671e-01 3.24738675e-01 4.56754824e-04 5.04962370e+01] [ 3.24738637e-01 9.45803781e-01 -1.57037852e-04 -1.50609586e+02] [-4.82996704e-04 -2.01037983e-07 -9.99999883e-01 2.23839501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.74 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.80, Y:-149.78, Z:1.45 [[-9.20059155e-01 -3.91779466e-01 -3.59153975e-05 5.07990090e+01] [ 3.91779466e-01 -9.20059155e-01 -2.00761795e-05 -1.49783453e+02] [-2.51788554e-05 -3.25421881e-05 9.99999999e-01 1.45096770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.77 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.46, Y:-150.59, Z:2.24 [[-9.47725987e-01 3.19085250e-01 -2.39264148e-04 5.04582788e+01] [ 3.19085240e-01 9.47726017e-01 8.22857806e-05 -1.50593943e+02] [ 2.53013037e-04 1.63871474e-06 -9.99999968e-01 2.23851622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.8 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.47, Y:-150.57, Z:2.24 [[-9.68179015e-01 2.50258395e-01 -3.61284966e-04 5.04714409e+01] [ 2.50258377e-01 9.68179083e-01 9.59033431e-05 -1.50568154e+02] [ 3.73789163e-04 2.43701525e-06 -9.99999930e-01 2.23868932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.83 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.71, Y:-149.73, Z:1.45 [[-9.45981478e-01 -3.24220199e-01 -5.53212038e-04 5.07056572e+01] [ 3.24220153e-01 -9.45981640e-01 1.72364384e-04 -1.49727667e+02] [-5.79212445e-04 -1.63089768e-05 9.99999832e-01 1.45058751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.86 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.42, Y:-150.55, Z:2.24 [[-9.69487948e-01 2.45138860e-01 -2.39414505e-04 5.04168167e+01] [ 2.45138852e-01 9.69487978e-01 6.28751486e-05 -1.50553060e+02] [ 2.47522626e-04 2.26690206e-06 -9.99999969e-01 2.23892804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.65, Y:-149.71, Z:1.45 [[-9.46581422e-01 -3.22464900e-01 2.35122598e-07 5.06480224e+01] [ 3.22464900e-01 -9.46581422e-01 1.53691798e-05 -1.49714220e+02] [-4.73345824e-06 1.46239988e-05 1.00000000e+00 1.44998952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.92 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.37, Y:-150.54, Z:2.24 [[-9.71252228e-01 2.38051952e-01 6.14264281e-04 5.03745714e+01] [ 2.38051901e-01 9.71252423e-01 -1.56031718e-04 -1.50540388e+02] [-6.33749327e-04 -5.31937439e-06 -9.99999799e-01 2.24079187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.95 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.40, Y:-150.52, Z:2.24 [[-9.85873757e-01 1.67485556e-01 1.23440004e-03 5.03952349e+01] [ 1.67485409e-01 9.85874530e-01 -2.22518343e-04 -1.50515264e+02] [-1.25423217e-03 -1.26309999e-05 -9.99999213e-01 2.24175318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.97999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.40, Y:-150.49, Z:2.24 [[-9.95366895e-01 9.61371868e-02 1.54458245e-03 5.04022747e+01] [ 9.61370440e-02 9.95368093e-01 -1.66595581e-04 -1.50488387e+02] [-1.55344412e-03 -1.73321356e-05 -9.99998793e-01 2.24300443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.01 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.50, Y:-149.63, Z:1.45 [[-9.82313504e-01 -1.87234619e-01 1.83772868e-03 5.05034022e+01] [ 1.87234370e-01 -9.82315222e-01 -3.08316287e-04 -1.49633179e+02] [ 1.86295634e-03 4.12227186e-05 9.99998264e-01 1.44593832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.03999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.33, Y:-150.48, Z:2.24 [[-9.96123846e-01 8.79371587e-02 2.08309964e-03 5.03310246e+01] [ 8.79369003e-02 9.96126024e-01 -2.15470739e-04 -1.50479390e+02] [-2.09397765e-03 -3.14542158e-05 -9.99997807e-01 2.24317981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.33, Y:-150.45, Z:2.24 [[-9.99872396e-01 1.58373793e-02 2.09005455e-03 5.03288284e+01] [ 1.58372740e-02 9.99874580e-01 -6.69152635e-05 -1.50451844e+02] [-2.09085218e-03 -3.38059583e-05 -9.99997814e-01 2.24282672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.09999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.35, Y:-150.43, Z:2.24 [[-9.98512913e-01 -5.44686169e-02 2.26567006e-03 5.03488761e+01] [-5.44685553e-02 9.98515482e-01 8.89550146e-05 -1.50425300e+02] [-2.26715189e-03 -3.45850441e-05 -9.99997429e-01 2.24293595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.13 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.35, Y:-150.40, Z:2.24 [[-9.92134203e-01 -1.25154614e-01 2.45903958e-03 5.03453899e+01] [-1.25154322e-01 9.92137249e-01 2.72850850e-04 -1.50398843e+02] [-2.47385330e-03 -3.70547692e-05 -9.99996939e-01 2.24270185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.15999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.34, Y:-150.37, Z:2.24 [[-9.80709088e-01 -1.95466413e-01 1.60183023e-03 5.03392298e+01] [-1.95466192e-01 9.80710396e-01 2.95000223e-04 -1.50372389e+02] [-1.62859419e-03 -2.37942546e-05 -9.99998674e-01 2.24178272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.19 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.32, Y:-150.35, Z:2.24 [[-9.63988495e-01 -2.65940252e-01 1.40153907e-03 5.03182659e+01] [-2.65940004e-01 9.63989513e-01 3.64030142e-04 -1.50348439e+02] [-1.44787923e-03 -2.18044359e-05 -9.99998952e-01 2.24167709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.21999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.27, Y:-150.33, Z:2.24 [[-9.41727088e-01 -3.36374209e-01 1.57603583e-03 5.02705981e+01] [-3.36373784e-01 9.41728406e-01 5.35800306e-04 -1.50334317e+02] [-1.66442711e-03 -2.55594731e-05 -9.99998615e-01 2.24202132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.25 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.21, Y:-150.33, Z:2.24 [[-9.13998797e-01 -4.05707288e-01 2.79194564e-03 5.02070105e+01] [-4.05705561e-01 9.14003060e-01 1.18504725e-03 -1.50328805e+02] [-3.03262916e-03 -4.95761152e-05 -9.99995400e-01 2.24316398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.28 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.14, Y:-150.33, Z:2.24 [[-8.80940823e-01 -4.73212495e-01 3.63319192e-03 5.01397328e+01] [-4.73208793e-01 8.80948313e-01 1.87309218e-03 -1.50330025e+02] [-4.08702492e-03 -6.91749948e-05 -9.99991646e-01 2.24394042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.31 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:50.06, Y:-150.34, Z:2.24 [[-8.42814330e-01 -5.38191124e-01 3.78415956e-03 5.00606263e+01] [-5.38186104e-01 8.42822822e-01 2.32573535e-03 -1.50343835e+02] [-4.44106616e-03 -7.64190091e-05 -9.99990136e-01 2.24413345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.34 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.96, Y:-150.37, Z:2.24 [[-7.99481617e-01 -6.00674339e-01 4.41400589e-03 4.99648252e+01] [-6.00665856e-01 7.99493796e-01 3.19380059e-03 -1.50374083e+02] [-5.44740439e-03 -9.79577663e-05 -9.99985158e-01 2.24448599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.37 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.89, Y:-150.40, Z:2.24 [[-7.51189107e-01 -6.60070339e-01 4.69818615e-03 4.98857213e+01] [-6.60058368e-01 7.51203790e-01 3.97700195e-03 -1.50402943e+02] [-6.15439627e-03 -1.13596542e-04 -9.99981055e-01 2.24459918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.4 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.80, Y:-150.44, Z:2.24 [[-6.98507925e-01 -7.15586832e-01 4.70796400e-03 4.98027079e+01] [-7.15571758e-01 6.98523780e-01 4.64635538e-03 -1.50441765e+02] [-6.61349553e-03 -1.23370022e-04 -9.99978123e-01 2.24498783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.43 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.71, Y:-150.50, Z:2.24 [[-6.41786050e-01 -7.66871600e-01 4.31450806e-03 4.97120919e+01] [-7.66855540e-01 6.41800541e-01 4.96457771e-03 -1.50498257e+02] [-6.57624726e-03 -1.22407688e-04 -9.99978369e-01 2.24475788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.46 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.63, Y:-150.56, Z:2.24 [[-5.81616849e-01 -8.13455318e-01 3.50531783e-03 4.96275914e+01] [-8.13441623e-01 5.81627402e-01 4.72131406e-03 -1.50561554e+02] [-5.87936693e-03 -1.05375627e-04 -9.99982711e-01 2.24380871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.49 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.55, Y:-150.63, Z:2.24 [[-5.18143413e-01 -8.55289208e-01 2.78827523e-03 4.95477860e+01] [-8.55277732e-01 5.18150907e-01 4.43154332e-03 -1.50631626e+02] [-5.23499851e-03 -8.85747358e-05 -9.99986293e-01 2.24329915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.52 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.47, Y:-150.71, Z:2.24 [[-4.51543864e-01 -8.92245813e-01 2.35537784e-03 4.94703690e+01] [-8.92234592e-01 4.51549999e-01 4.47549859e-03 -1.50714254e+02] [-5.05681574e-03 -8.06656576e-05 -9.99987211e-01 2.24243056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.55 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.40, Y:-150.81, Z:2.24 [[-3.82901275e-01 -9.23787398e-01 1.85946283e-03 4.93972330e+01] [-9.23777336e-01 3.82905784e-01 4.31208341e-03 -1.50807129e+02] [-4.69544738e-03 -6.66273834e-05 -9.99988974e-01 2.24232591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.58 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.33, Y:-150.91, Z:2.24 [[-3.13937214e-01 -9.49442511e-01 1.53106189e-03 4.93311186e+01] [-9.49431972e-01 3.13940943e-01 4.47387212e-03 -1.50913660e+02] [-4.72834739e-03 -4.91241572e-05 -9.99988820e-01 2.24286822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.61 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.27, Y:-151.02, Z:2.24 [[-2.40806614e-01 -9.70572325e-01 1.23938146e-03 4.92733146e+01] [-9.70560402e-01 2.40809799e-01 4.81118875e-03 -1.51019034e+02] [-4.96806185e-03 -4.43284958e-05 -9.99987658e-01 2.24313482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.64 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.22, Y:-151.13, Z:2.24 [[-1.66030423e-01 -9.86120169e-01 9.54874562e-04 4.92238178e+01] [-9.86105283e-01 1.66033163e-01 5.41843107e-03 -1.51128406e+02] [-5.50176500e-03 -4.19824483e-05 -9.99984864e-01 2.24350511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.67 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.18, Y:-151.23, Z:2.24 [[-9.02419033e-02 -9.95919624e-01 7.08764374e-04 4.91845910e+01] [-9.95892776e-01 9.02446749e-02 7.31280945e-03 -1.51226446e+02] [-7.34693264e-03 -4.59314770e-05 -9.99973010e-01 2.24495871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.7 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.15, Y:-151.35, Z:2.25 [[-1.29096033e-02 -9.99916656e-01 1.54868856e-04 4.91497292e+01] [-9.99882967e-01 1.29104397e-02 8.20813244e-03 -1.51347799e+02] [-8.20944776e-03 -4.88869979e-05 -9.99966301e-01 2.24634149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.72999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.12, Y:-151.46, Z:2.25 [[ 6.51507459e-02 -9.97875275e-01 -5.62588478e-04 4.91245467e+01] [-9.97829699e-01 -6.51531472e-02 9.53730301e-03 -1.51461571e+02] [-9.55369327e-03 -5.99949138e-05 -9.99954361e-01 2.24612637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.76 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.11, Y:-151.59, Z:2.25 [[ 1.42862783e-01 -9.89741583e-01 -1.35082811e-03 4.91071431e+01] [-9.89692843e-01 -1.42869154e-01 9.82252638e-03 -1.51587862e+02] [-9.91475448e-03 -6.63685432e-05 -9.99950845e-01 2.24782360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.78999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.10, Y:-151.70, Z:2.25 [[ 2.20144614e-01 -9.75465144e-01 -2.02531478e-03 4.90952019e+01] [-9.75420813e-01 -2.20153919e-01 9.30000052e-03 -1.51699395e+02] [-9.51770733e-03 -7.18108350e-05 -9.99954703e-01 2.24807529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.82 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.10, Y:-151.82, Z:2.25 [[ 2.95205803e-01 -9.55430474e-01 -2.47836695e-03 4.90978421e+01] [-9.55394929e-01 -2.95216199e-01 8.24164532e-03 -1.51820470e+02] [-8.60597317e-03 -6.51623093e-05 -9.99962966e-01 2.24648128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.84999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.11, Y:-151.95, Z:2.25 [[ 3.68172307e-01 -9.29753162e-01 -2.86537274e-03 4.91113789e+01] [-9.29723765e-01 -3.68183452e-01 7.39369730e-03 -1.51946564e+02] [-7.92929627e-03 -5.81494603e-05 -9.99968561e-01 2.24602498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.88 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.13, Y:-152.06, Z:2.25 [[ 4.38665001e-01 -8.98645060e-01 -3.17374740e-03 4.91289195e+01] [-8.98620712e-01 -4.38676479e-01 6.61537375e-03 -1.52056452e+02] [-7.33712128e-03 -4.99377842e-05 -9.99973082e-01 2.24523773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.90999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.16, Y:-152.17, Z:2.24 [[ 5.06420961e-01 -8.62279226e-01 -3.51372317e-03 4.91575236e+01] [-8.62257870e-01 -5.06433149e-01 6.06896267e-03 -1.52169681e+02] [-7.01260632e-03 -4.37144523e-05 -9.99975410e-01 2.24494329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.94 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.19, Y:-152.28, Z:2.25 [[ 5.70963609e-01 -8.20967065e-01 -3.69267168e-03 4.91940074e+01] [-8.20949488e-01 -5.70975548e-01 5.37226603e-03 -1.52281628e+02] [-6.51887871e-03 -3.58714797e-05 -9.99978751e-01 2.24518666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.96999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.24, Y:-152.40, Z:2.25 [[ 6.32457647e-01 -7.74583956e-01 -4.12552832e-03 4.92447718e+01] [-7.74567111e-01 -6.32471102e-01 5.10850912e-03 -1.52396798e+02] [-6.56624665e-03 -3.54171059e-05 -9.99978441e-01 2.24520621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.0 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.29, Y:-152.49, Z:2.25 [[ 6.90207882e-01 -7.23596854e-01 -4.54672594e-03 4.92872255e+01] [-7.23580816e-01 -6.90222856e-01 4.81784680e-03 -1.52488212e+02] [-6.62443296e-03 -3.53921730e-05 -9.99978058e-01 2.24501865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.03 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.35, Y:-152.58, Z:2.25 [[ 7.43992247e-01 -6.68171904e-01 -4.67368540e-03 4.93451885e+01] [-6.68158414e-01 -7.44006926e-01 4.24592052e-03 -1.52584785e+02] [-6.31425910e-03 -3.61697228e-05 -9.99980064e-01 2.24509738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.06 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.34, Y:-152.59, Z:2.25 [[ 7.94134956e-01 -6.07719179e-01 -5.20304519e-03 4.93393757e+01] [-6.07705800e-01 -7.94152000e-01 4.03270274e-03 -1.52591586e+02] [-6.58275954e-03 -4.05894722e-05 -9.99978333e-01 2.24565360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.09 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.33, Y:-152.60, Z:2.24 [[ 8.39522313e-01 -5.43294531e-01 -5.77391322e-03 4.93335929e+01] [-5.43281295e-01 -8.39542167e-01 3.79262452e-03 -1.52598072e+02] [-6.90795577e-03 -4.71338573e-05 -9.99976139e-01 2.24463157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.12 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.33, Y:-152.60, Z:2.24 [[ 8.79487614e-01 -4.75880989e-01 -6.23074000e-03 4.93272610e+01] [-4.75868646e-01 -8.79509683e-01 3.42775661e-03 -1.52604196e+02] [-7.11120036e-03 -4.96556671e-05 -9.99974714e-01 2.24449849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.15 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.32, Y:-152.61, Z:2.24 [[ 9.13939392e-01 -4.05799335e-01 -6.45657267e-03 4.93213296e+01] [-4.05788833e-01 -9.13962197e-01 2.91992992e-03 -1.52610057e+02] [-7.08596896e-03 -4.86338822e-05 -9.99974893e-01 2.24452915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.18 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.32, Y:-152.62, Z:2.25 [[ 9.42593206e-01 -3.33875405e-01 -6.72768961e-03 4.93150232e+01] [-3.33866572e-01 -9.42617214e-01 2.42898558e-03 -1.52616915e+02] [-7.15261458e-03 -4.33946396e-05 -9.99974419e-01 2.24549701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.21 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.31, Y:-152.62, Z:2.25 [[ 9.65728332e-01 -2.59466750e-01 -6.76717273e-03 4.93084776e+01] [-2.59460086e-01 -9.65752041e-01 1.86007911e-03 -1.52623282e+02] [-7.01803955e-03 -4.05198815e-05 -9.99975372e-01 2.24564627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.24 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.30, Y:-152.63, Z:2.25 [[ 9.83018737e-01 -1.83396408e-01 -6.31827806e-03 4.93011668e+01] [-1.83392394e-01 -9.83039041e-01 1.21377099e-03 -1.52628848e+02] [-6.43371524e-03 -3.44354841e-05 -9.99979303e-01 2.24553838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.27 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.29, Y:-152.63, Z:2.25 [[ 9.94361268e-01 -1.05852658e-01 -6.39394728e-03 4.92932656e+01] [-1.05850247e-01 -9.94381825e-01 7.15271968e-04 -1.52634938e+02] [-6.43373840e-03 -3.44378422e-05 -9.99979303e-01 2.24553859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.3 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.29, Y:-152.64, Z:2.24 [[ 9.99592769e-01 -2.79079755e-02 -5.95327381e-03 4.92862788e+01] [-2.79072983e-02 -9.99610496e-01 1.96813737e-04 -1.52641841e+02] [-5.95644766e-03 -3.05938005e-05 -9.99982260e-01 2.24494379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.33 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.28, Y:-152.65, Z:2.24 [[ 9.98762374e-01 4.94882208e-02 -4.96344938e-03 4.92795865e+01] [ 4.94877126e-02 -9.98774707e-01 -2.25241204e-04 -1.52648703e+02] [-4.96851449e-03 -2.06673163e-05 -9.99987657e-01 2.24351626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.36 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.27, Y:-152.66, Z:2.24 [[ 9.91866437e-01 1.27179172e-01 -5.14089343e-03 4.92740418e+01] [ 1.27177568e-01 -9.91879760e-01 -6.39141698e-04 -1.52656419e+02] [-5.18043365e-03 -1.98631235e-05 -9.99986581e-01 2.24300500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.39 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.27, Y:-152.67, Z:2.24 [[ 9.78928951e-01 2.04146939e-01 -4.70490625e-03 4.92674559e+01] [ 2.04144664e-01 -9.78940257e-01 -9.63854323e-04 -1.52665241e+02] [-4.80259004e-03 -1.69366054e-05 -9.99988467e-01 2.24310940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.42 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.26, Y:-152.67, Z:2.24 [[ 9.60006519e-01 2.79939016e-01 -4.65078564e-03 4.92615006e+01] [ 2.79935812e-01 -9.60017785e-01 -1.33955937e-03 -1.52670158e+02] [-4.83983185e-03 -1.59357264e-05 -9.99988288e-01 2.24311767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.45 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.25, Y:-152.67, Z:2.24 [[ 9.35158146e-01 3.54196797e-01 -4.88583221e-03 4.92547371e+01] [ 3.54192058e-01 -9.35170909e-01 -1.83215086e-03 -1.52674416e+02] [-5.21803011e-03 -1.71721643e-05 -9.99986386e-01 2.24347708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.47999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.25, Y:-152.68, Z:2.24 [[ 9.04630560e-01 4.26170622e-01 -4.70640395e-03 4.92516488e+01] [ 4.26164947e-01 -9.04642803e-01 -2.19937925e-03 -1.52684055e+02] [-5.19492528e-03 -1.60787074e-05 -9.99986506e-01 2.24296185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.51 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.25, Y:-152.69, Z:2.24 [[ 8.68619822e-01 4.95449139e-01 -5.45478463e-03 4.92477044e+01] [ 4.95439499e-01 -8.68636950e-01 -3.09073812e-03 -1.52693880e+02] [-6.26953102e-03 -1.78393632e-05 -9.99980346e-01 2.24373068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.53999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.24, Y:-152.70, Z:2.24 [[ 8.27303778e-01 5.61724765e-01 -5.80934149e-03 4.92449544e+01] [ 5.61711070e-01 -8.27324174e-01 -3.92239517e-03 -1.52703300e+02] [-7.00951515e-03 -1.81590800e-05 -9.99975433e-01 2.24423877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.24, Y:-152.71, Z:2.24 [[ 7.81165804e-01 6.24296807e-01 -5.78658642e-03 4.92446303e+01] [ 6.24279816e-01 -7.81187236e-01 -4.60590575e-03 -1.52714847e+02] [-7.39585970e-03 -1.44730352e-05 -9.99972650e-01 2.24447259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.59999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.24, Y:-152.73, Z:2.25 [[ 7.31127286e-01 6.82212222e-01 -6.27504147e-03 4.92428072e+01] [ 6.82187113e-01 -7.31154214e-01 -5.85312661e-03 -1.52725045e+02] [-8.58109753e-03 -1.37185362e-06 -9.99963182e-01 2.24572847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.63 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.24, Y:-152.74, Z:2.25 [[ 6.76458816e-01 7.36455743e-01 -6.03390397e-03 4.92417554e+01] [ 7.36426310e-01 -6.76485727e-01 -6.58419737e-03 -1.52735026e+02] [-8.93081988e-03 1.04127260e-05 -9.99960119e-01 2.24624875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.65999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.24, Y:-152.75, Z:2.25 [[ 6.17818227e-01 7.86302543e-01 -5.38041995e-03 4.92410024e+01] [ 7.86272408e-01 -6.17841654e-01 -6.88406098e-03 -1.52745452e+02] [-8.73720222e-03 2.26225963e-05 -9.99961830e-01 2.24638476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.69 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.24, Y:-152.75, Z:2.25 [[ 5.57149564e-01 8.30398252e-01 -4.80696531e-03 4.92396794e+01] [ 8.30366539e-01 -5.57170298e-01 -7.25740470e-03 -1.52754989e+02] [-8.70483447e-03 5.19167146e-05 -9.99962111e-01 2.24605936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.71999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.24, Y:-152.77, Z:2.25 [[ 4.92229232e-01 8.70455639e-01 -4.16693452e-03 4.92393017e+01] [ 8.70423248e-01 -4.92246864e-01 -7.50958292e-03 -1.52766154e+02] [-8.58791925e-03 6.94395563e-05 -9.99963121e-01 2.24586619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.24, Y:-152.78, Z:2.24 [[ 4.24494287e-01 9.05424513e-01 -3.32431267e-03 4.92411634e+01] [ 9.05395221e-01 -4.24507296e-01 -7.28346803e-03 -1.52777461e+02] [-8.00582548e-03 8.19737651e-05 -9.99967950e-01 2.24489479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.78 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.24, Y:-152.79, Z:2.24 [[ 3.54206986e-01 9.35163865e-01 -2.44044673e-03 4.92421515e+01] [ 9.35139937e-01 -3.54215383e-01 -6.69032272e-03 -1.52789473e+02] [-7.12099183e-03 8.75998429e-05 -9.99974642e-01 2.24449810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.81 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.25, Y:-152.80, Z:2.24 [[ 2.81925670e-01 9.59434668e-01 -1.74173115e-03 4.92470014e+01] [ 9.59414246e-01 -2.81931035e-01 -6.26064477e-03 -1.52801479e+02] [-6.49772771e-03 9.39947918e-05 -9.99978885e-01 2.24361978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.84 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.25, Y:-152.81, Z:2.24 [[ 2.09471298e-01 9.77814147e-01 -1.12645195e-03 4.92510111e+01] [ 9.77797155e-01 -2.09474300e-01 -5.76556212e-03 -1.52812489e+02] [-5.87361094e-03 1.06278270e-04 -9.99982745e-01 2.24294089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.87 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.26, Y:-152.82, Z:2.24 [[ 1.33455609e-01 9.91054613e-01 -5.95471917e-04 4.92589101e+01] [ 9.91041104e-01 -1.33456900e-01 -5.17551773e-03 -1.52823500e+02] [-5.20869056e-03 1.00564727e-04 -9.99986430e-01 2.24254911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.9 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.27, Y:-152.83, Z:2.24 [[ 5.61100230e-02 9.98424575e-01 -1.85152810e-04 4.92662642e+01] [ 9.98411449e-01 -5.61102349e-02 -5.12063448e-03 -1.52834793e+02] [-5.12295627e-03 1.02460234e-04 -9.99986872e-01 2.24229541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.93 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.28, Y:-152.85, Z:2.24 [[-2.22612546e-02 9.99752167e-01 2.04210292e-04 4.92766616e+01] [ 9.99740534e-01 2.22619809e-02 -4.82372087e-03 -1.52845278e+02] [-4.82707151e-03 9.67752277e-05 -9.99988345e-01 2.24215040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.96 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.29, Y:-152.86, Z:2.24 [[-1.01912340e-01 9.94793221e-01 5.67125885e-04 4.92878173e+01] [ 9.94782234e-01 1.01913880e-01 -4.67637624e-03 -1.52855450e+02] [-4.70982538e-03 8.75863090e-05 -9.99988905e-01 2.24215160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.99 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.30, Y:-152.86, Z:2.24 [[-1.80860138e-01 9.83508375e-01 9.41265748e-04 4.92988678e+01] [ 9.83497315e-01 1.80862569e-01 -4.66506005e-03 -1.52864152e+02] [-4.75836537e-03 8.20089311e-05 -9.99988676e-01 2.24225679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.02 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.31, Y:-152.87, Z:2.24 [[-2.59022288e-01 9.65870211e-01 1.47971784e-03 4.93109170e+01] [ 9.65856247e-01 2.59026501e-01 -5.19446915e-03 -1.52871973e+02] [-5.40046915e-03 8.37114294e-05 -9.99985414e-01 2.24254931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.05 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.33, Y:-152.88, Z:2.24 [[-3.37992688e-01 9.41146247e-01 2.16434909e-03 4.93251518e+01] [ 9.41128240e-01 3.37999611e-01 -5.82237689e-03 -1.52878834e+02] [-6.21125731e-03 6.90092349e-05 -9.99980708e-01 2.24369099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.08 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.34, Y:-152.88, Z:2.24 [[-4.13099167e-01 9.10681353e-01 2.92434151e-03 4.93388743e+01] [ 9.10659532e-01 4.13109513e-01 -6.30451676e-03 -1.52883751e+02] [-6.94947915e-03 5.86888458e-05 -9.99975850e-01 2.24384325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.11 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.35, Y:-152.89, Z:2.24 [[-4.85251479e-01 8.74367315e-01 3.57776597e-03 4.93541998e+01] [ 8.74344222e-01 4.85264667e-01 -6.35491078e-03 -1.52886589e+02] [-7.29268969e-03 4.44691495e-05 -9.99973407e-01 2.24360246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.14 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.37, Y:-152.89, Z:2.24 [[-5.54337313e-01 8.32281657e-01 4.16972830e-03 4.93689945e+01] [ 8.32258473e-01 5.54352994e-01 -6.21219161e-03 -1.52889098e+02] [-7.48179450e-03 2.66421038e-05 -9.99972011e-01 2.24394873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.17 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.38, Y:-152.89, Z:2.24 [[-6.19717674e-01 7.84811136e-01 4.63515167e-03 4.93822631e+01] [ 7.84789288e-01 6.19735008e-01 -5.85612699e-03 -1.52891638e+02] [-7.46851943e-03 8.47197989e-06 -9.99972110e-01 2.24450404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.2 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.40, Y:-152.89, Z:2.24 [[-6.82673785e-01 7.30704606e-01 5.22319017e-03 4.93974045e+01] [ 7.30682921e-01 6.82693766e-01 -5.62949883e-03 -1.52889201e+02] [-7.67934009e-03 -2.66154198e-05 -9.99970513e-01 2.24445229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.22999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.41, Y:-152.89, Z:2.25 [[-7.39306665e-01 6.73341259e-01 6.09952171e-03 4.94111265e+01] [ 6.73317818e-01 7.39331824e-01 -5.61867208e-03 -1.52888458e+02] [-8.29285425e-03 -4.70050676e-05 -9.99965613e-01 2.24506331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.26 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.45, Y:-152.88, Z:2.24 [[-7.86116828e-01 6.18041435e-01 6.71697540e-03 4.94494014e+01] [ 6.18018154e-01 7.86145521e-01 -5.36482222e-03 -1.52883967e+02] [-8.59620255e-03 -6.61642872e-05 -9.99963050e-01 2.24475187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.28999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.47, Y:-152.87, Z:2.24 [[-8.28892264e-01 5.59362942e-01 7.12134054e-03 4.94731945e+01] [ 5.59341441e-01 8.28922851e-01 -4.90511416e-03 -1.52865325e+02] [-8.64678098e-03 -8.25503009e-05 -9.99962613e-01 2.24485647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.32 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.49, Y:-152.84, Z:2.25 [[-8.67774791e-01 4.96899552e-01 7.59915284e-03 4.94920867e+01] [ 4.96879394e-01 8.67808057e-01 -4.47714721e-03 -1.52842553e+02] [-8.81929850e-03 -1.09293032e-04 -9.99961103e-01 2.24508832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.34999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.51, Y:-152.82, Z:2.24 [[-9.00940073e-01 4.33875069e-01 7.70778253e-03 4.95138720e+01] [ 4.33858114e-01 9.00973036e-01 -3.83738464e-03 -1.52822634e+02] [-8.60944975e-03 -1.13169606e-04 -9.99962932e-01 2.24483031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.38 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.54, Y:-152.80, Z:2.24 [[-9.29866649e-01 3.67833737e-01 6.80867489e-03 4.95350709e+01] [ 3.67823040e-01 9.29891569e-01 -2.80720566e-03 -1.52801470e+02] [-7.36391433e-03 -1.05939417e-04 -9.99972880e-01 2.24376980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.40999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.86, Y:-152.03, Z:1.45 [[-8.90056105e-01 -4.55812236e-01 5.94435847e-03 4.98639000e+01] [ 4.55802460e-01 -8.90075954e-01 -2.98564148e-03 -1.52028149e+02] [ 6.65182245e-03 5.20647903e-05 9.99977875e-01 1.44611511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.44 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.49, Y:-152.79, Z:2.24 [[-9.31437717e-01 3.63858054e-01 5.57637021e-03 4.94933165e+01] [ 3.63850956e-01 9.31454405e-01 -2.27449864e-03 -1.52785232e+02] [-6.02172924e-03 -8.95861883e-05 -9.99981865e-01 2.24258343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.46999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.81, Y:-152.01, Z:1.45 [[-8.91549224e-01 -4.52892609e-01 5.31656475e-03 4.98121537e+01] [ 4.52885103e-01 -8.91565072e-01 -2.60872951e-03 -1.52006436e+02] [ 5.92153775e-03 8.19822010e-05 9.99982464e-01 1.44686588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.45, Y:-152.77, Z:2.24 [[-9.32984455e-01 3.59875654e-01 5.43331190e-03 4.94476816e+01] [ 3.59868987e-01 9.33000271e-01 -2.19231590e-03 -1.52765417e+02] [-5.85824260e-03 -9.01162050e-05 -9.99982836e-01 2.24335587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.53 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.48, Y:-152.75, Z:2.24 [[-9.56199633e-01 2.92658240e-01 5.78074474e-03 4.94750178e+01] [ 2.92652271e-01 9.56217102e-01 -1.87166856e-03 -1.52748404e+02] [-6.07540621e-03 -9.79407117e-05 -9.99981540e-01 2.24326802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.74, Y:-151.95, Z:1.45 [[-9.22239144e-01 -3.86566189e-01 6.44542812e-03 4.97360110e+01] [ 3.86557982e-01 -9.22261652e-01 -2.52414449e-03 -1.51948781e+02] [ 6.92012010e-03 1.63666833e-04 9.99976042e-01 1.44536562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.59 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.42, Y:-152.73, Z:2.24 [[-9.57270461e-01 2.89119564e-01 6.56832030e-03 4.94245219e+01] [ 2.89111961e-01 9.57292988e-01 -2.09965145e-03 -1.52732562e+02] [-6.89485728e-03 -1.10954346e-04 -9.99976224e-01 2.24386715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.62 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.44, Y:-152.71, Z:2.25 [[-9.75171380e-01 2.21333457e-01 7.23047454e-03 4.94364400e+01] [ 2.21326508e-01 9.75198179e-01 -1.75750012e-03 -1.52708023e+02] [-7.44013918e-03 -1.13568137e-04 -9.99972315e-01 2.24509464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.65 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.63, Y:-151.89, Z:1.44 [[-9.49078629e-01 -3.14953313e-01 7.35979139e-03 4.96316363e+01] [ 3.14944937e-01 -9.49107156e-01 -2.30083479e-03 -1.51886862e+02] [ 7.70988621e-03 1.34255904e-04 9.99970269e-01 1.44370192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.68 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.39, Y:-152.70, Z:2.25 [[-9.75706193e-01 2.18920146e-01 8.44949550e-03 4.93911083e+01] [ 2.18910876e-01 9.75742771e-01 -2.01812654e-03 -1.52699792e+02] [-8.68634271e-03 -1.19412102e-04 -9.99962266e-01 2.24690296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.71 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.40, Y:-152.68, Z:2.25 [[-9.88574262e-01 1.50444097e-01 9.35425550e-03 4.94004825e+01] [ 1.50436230e-01 9.88618511e-01 -1.54304124e-03 -1.52675232e+02] [-9.47993159e-03 -1.18191924e-04 -9.99955057e-01 2.24767474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.74 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.55, Y:-151.84, Z:1.44 [[-9.70848080e-01 -2.39503197e-01 9.60333051e-03 4.95486598e+01] [ 2.39492967e-01 -9.70895564e-01 -2.21843551e-03 -1.51838905e+02] [ 9.85515340e-03 1.46166267e-04 9.99951426e-01 1.44090104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.77 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.35, Y:-152.67, Z:2.25 [[-9.88746427e-01 1.49276830e-01 9.84539033e-03 4.93490860e+01] [ 1.49268505e-01 9.88795439e-01 -1.57922391e-03 -1.52670218e+02] [-9.97081859e-03 -9.18453020e-05 -9.99950286e-01 2.24883872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.8 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.36, Y:-152.65, Z:2.25 [[-9.96527268e-01 8.27743229e-02 9.04514911e-03 4.93621960e+01] [ 8.27704879e-02 9.96568316e-01 -7.98151083e-04 -1.52649693e+02] [-9.08017544e-03 -4.67079128e-05 -9.99958773e-01 2.24666535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.83 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.36, Y:-152.62, Z:2.25 [[-9.99870766e-01 1.38999437e-02 8.07736786e-03 4.93645366e+01] [ 1.38992945e-02 9.99903391e-01 -1.36506010e-04 -1.52624495e+02] [-8.07848493e-03 -2.42186547e-05 -9.99967368e-01 2.24594868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.86 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.40, Y:-151.75, Z:1.44 [[-9.96317266e-01 -8.54445194e-02 7.15125166e-03 4.93950882e+01] [ 8.54420592e-02 -9.96342929e-01 -6.49390040e-04 -1.51754672e+02] [ 7.18058585e-03 -3.59808412e-05 9.99974219e-01 1.44425772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.27, Y:-152.63, Z:2.24 [[-9.99889436e-01 1.33783558e-02 6.49118993e-03 4.92739273e+01] [ 1.33781923e-02 9.99910506e-01 -6.86124780e-05 -1.52627548e+02] [-6.49152692e-03 1.82354949e-05 -9.99978930e-01 2.24438085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.92 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.29, Y:-151.75, Z:1.45 [[-9.97284215e-01 -7.33846120e-02 6.23649026e-03 4.92860925e+01] [ 7.33829726e-02 -9.97303714e-01 -4.91601432e-04 -1.51746785e+02] [ 6.25575088e-03 -3.26141539e-05 9.99980432e-01 1.44505781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.95 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.18, Y:-152.63, Z:2.24 [[-9.99923828e-01 1.08856698e-02 5.81720130e-03 4.91770658e+01] [ 1.08857097e-02 9.99940749e-01 -2.48008497e-05 -1.52628132e+02] [-5.81712659e-03 3.85254041e-05 -9.99983080e-01 2.24395596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.97999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.18, Y:-152.60, Z:2.24 [[-9.98328528e-01 -5.75264350e-02 5.55505552e-03 4.91784779e+01] [-5.75252529e-02 9.98343982e-01 3.72460618e-04 -1.52602627e+02] [-5.56728258e-03 5.22820867e-05 -9.99984501e-01 2.24370878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.01 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.17, Y:-152.58, Z:2.24 [[-9.91870322e-01 -1.27138553e-01 5.39010006e-03 4.91704368e+01] [-1.27136352e-01 9.91884966e-01 7.50385133e-04 -1.52576650e+02] [-5.44176209e-03 5.90070851e-05 -9.99985192e-01 2.24340998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.03999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.15, Y:-152.55, Z:2.24 [[-9.80472575e-01 -1.96584795e-01 5.28661093e-03 4.91545997e+01] [-1.96581566e-01 9.80486825e-01 1.12881049e-03 -1.52552544e+02] [-5.40535935e-03 6.75174694e-05 -9.99985389e-01 2.24344770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.11, Y:-152.54, Z:2.24 [[-9.63755730e-01 -2.66731213e-01 5.41780998e-03 4.91104367e+01] [-2.66726536e-01 9.63770955e-01 1.58164879e-03 -1.52535113e+02] [-5.64340300e-03 7.92494017e-05 -9.99984073e-01 2.24356731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.09999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:49.05, Y:-152.53, Z:2.24 [[-9.41735706e-01 -3.36315074e-01 5.10214205e-03 4.90512842e+01] [-3.36309667e-01 9.41749523e-01 1.90875597e-03 -1.52525853e+02] [-5.44688325e-03 8.16439590e-05 -9.99985162e-01 2.24398185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.13 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.98, Y:-152.52, Z:2.24 [[-9.14381931e-01 -4.04813703e-01 5.61692127e-03 4.89778603e+01] [-4.04805414e-01 9.14399178e-01 2.59239676e-03 -1.52524246e+02] [-6.18554592e-03 9.66806140e-05 -9.99980865e-01 2.24438502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.15999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.90, Y:-152.53, Z:2.24 [[-8.81434573e-01 -4.72275197e-01 5.40661102e-03 4.88981741e+01] [-4.72265637e-01 8.81451150e-01 3.00650817e-03 -1.52533662e+02] [-6.18556274e-03 9.66836448e-05 -9.99980865e-01 2.24438568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.19 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.81, Y:-152.55, Z:2.24 [[-8.43134576e-01 -5.37675962e-01 5.35232987e-03 4.88136927e+01] [-5.37664381e-01 8.43151558e-01 3.53037981e-03 -1.52551281e+02] [-6.41102563e-03 9.88281537e-05 -9.99979444e-01 2.24463899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.21999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.73, Y:-152.58, Z:2.24 [[-7.99531782e-01 -6.00599502e-01 5.40076890e-03 4.87251487e+01] [-6.00584940e-01 7.99550016e-01 4.18357859e-03 -1.52578852e+02] [-6.83084007e-03 1.01283577e-04 -9.99976664e-01 2.24453629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.25 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.63, Y:-152.62, Z:2.24 [[-7.51234767e-01 -6.60016093e-01 5.00806396e-03 4.86327416e+01] [-6.60000555e-01 7.51251454e-01 4.52998053e-03 -1.52618275e+02] [-6.75217538e-03 9.77538818e-05 -9.99977199e-01 2.24456363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.28 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.54, Y:-152.67, Z:2.24 [[-6.98223149e-01 -7.15866199e-01 4.47428963e-03 4.85380150e+01] [-7.15850661e-01 6.98237479e-01 4.71743886e-03 -1.52669751e+02] [-6.50117174e-03 9.09018228e-05 -9.99978863e-01 2.24426578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.31 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.45, Y:-152.73, Z:2.24 [[-6.40332900e-01 -7.68086721e-01 4.07011715e-03 4.84479224e+01] [-7.68070383e-01 6.40345830e-01 5.01040696e-03 -1.52726101e+02] [-6.45470959e-03 8.21919842e-05 -9.99979165e-01 2.24439974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.34 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.36, Y:-152.80, Z:2.24 [[-5.78890324e-01 -8.15398728e-01 3.30245616e-03 4.83571613e+01] [-8.15384765e-01 5.78899740e-01 4.77252211e-03 -1.52797218e+02] [-5.80329948e-03 6.99944339e-05 -9.99983158e-01 2.24413525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.37 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.27, Y:-152.87, Z:2.24 [[-5.13712381e-01 -8.57957613e-01 2.88504017e-03 4.82749304e+01] [-8.57943368e-01 5.13720478e-01 4.94451492e-03 -1.52871686e+02] [-5.72428843e-03 6.48574519e-05 -9.99983614e-01 2.24379297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.4 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.19, Y:-152.96, Z:2.24 [[-4.45434458e-01 -8.95311712e-01 2.25445607e-03 4.81935167e+01] [-8.95299613e-01 4.45440160e-01 4.65483730e-03 -1.52961989e+02] [-5.17175562e-03 5.50112877e-05 -9.99986625e-01 2.24370503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.43 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.12, Y:-153.05, Z:2.24 [[-3.72987253e-01 -9.27834323e-01 1.99431426e-03 4.81215740e+01] [-9.27820384e-01 3.72992582e-01 5.08612987e-03 -1.53050765e+02] [-5.46295029e-03 4.66961839e-05 -9.99985077e-01 2.24448678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.46 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.05, Y:-153.15, Z:2.24 [[-2.99136457e-01 -9.54208827e-01 1.70134027e-03 4.80543814e+01] [-9.54192544e-01 2.99141292e-01 5.57454418e-03 -1.53151149e+02] [-5.82822039e-03 4.41431935e-05 -9.99983015e-01 2.24370944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.49 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.00, Y:-153.26, Z:2.24 [[-2.23044763e-01 -9.74807242e-01 1.36891454e-03 4.79959957e+01] [-9.74787800e-01 2.23048960e-01 6.15685179e-03 -1.53258100e+02] [-6.30707868e-03 3.88523595e-05 -9.99980109e-01 2.24386697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.52 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.94, Y:-153.37, Z:2.25 [[-1.43800368e-01 -9.89606101e-01 1.10438305e-03 4.79434146e+01] [-9.89575654e-01 1.43804607e-01 7.76272319e-03 -1.53371866e+02] [-7.84085360e-03 2.34118665e-05 -9.99969260e-01 2.24563873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.55 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.90, Y:-153.49, Z:2.25 [[-6.47836881e-02 -9.97899174e-01 5.58332868e-04 4.79014019e+01] [-9.97860889e-01 6.47860933e-02 8.74115804e-03 -1.53487552e+02] [-8.75896660e-03 9.14592363e-06 -9.99961640e-01 2.24600276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.58 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.87, Y:-153.60, Z:2.25 [[ 1.43417356e-02 -9.99897144e-01 -1.27424755e-04 4.78686698e+01] [-9.99851384e-01 -1.43422983e-02 9.56602868e-03 -1.53597651e+02] [-9.56687232e-03 -9.78763552e-06 -9.99954236e-01 2.24677658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.61 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.84, Y:-153.72, Z:2.25 [[ 9.38540251e-02 -9.95585581e-01 -8.79672710e-04 4.78448907e+01] [-9.95538786e-01 -9.38581427e-02 9.65275295e-03 -1.53718025e+02] [-9.69270610e-03 -3.02014164e-05 -9.99953024e-01 2.24702269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.64 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.83, Y:-153.85, Z:2.25 [[ 1.74548502e-01 -9.84647326e-01 -1.56964816e-03 4.78292904e+01] [-9.84604029e-01 -1.74555547e-01 9.23399507e-03 -1.53845068e+02] [-9.36621935e-03 -6.62981069e-05 -9.99956134e-01 2.24714030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.67 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.83, Y:-153.97, Z:2.25 [[ 2.52024243e-01 -9.67718430e-01 -2.19548470e-03 4.78263692e+01] [-9.67678886e-01 -2.52033793e-01 8.74876367e-03 -1.53971081e+02] [-9.01967618e-03 -8.03763542e-05 -9.99959319e-01 2.24648437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.7 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.83, Y:-154.10, Z:2.25 [[ 3.27557674e-01 -9.44827420e-01 -2.66790723e-03 4.78331526e+01] [-9.44793876e-01 -3.27568527e-01 7.96192780e-03 -1.54095842e+02] [-8.39657013e-03 -8.73681356e-05 -9.99964744e-01 2.24590778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.72999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.84, Y:-154.20, Z:2.25 [[ 4.01225444e-01 -9.15973773e-01 -3.19223116e-03 4.78434567e+01] [-9.15942790e-01 -4.01238130e-01 7.53451599e-03 -1.54204122e+02] [-8.18226390e-03 -9.91384081e-05 -9.99966520e-01 2.24552904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.76 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.87, Y:-154.32, Z:2.25 [[ 4.72928699e-01 -8.81093320e-01 -3.60655355e-03 4.78654626e+01] [-8.81065830e-01 -4.72942437e-01 6.96096372e-03 -1.54322166e+02] [-7.83895086e-03 -1.14428423e-04 -9.99969268e-01 2.24580875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.78999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.90, Y:-154.44, Z:2.25 [[ 5.40296284e-01 -8.41464728e-01 -4.12756402e-03 4.78985808e+01] [-8.41438430e-01 -5.40312036e-01 6.65374598e-03 -1.54438008e+02] [-7.82906507e-03 -1.21903242e-04 -9.99969345e-01 2.24622037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.82 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.94, Y:-154.55, Z:2.25 [[ 6.04206057e-01 -7.96812099e-01 -5.05174815e-03 4.79423520e+01] [-7.96782279e-01 -6.04227158e-01 6.89495527e-03 -1.54554381e+02] [-8.54638721e-03 -1.40830324e-04 -9.99963469e-01 2.24709145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.84999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.98, Y:-154.65, Z:2.25 [[ 6.64719354e-01 -7.47067300e-01 -6.21538558e-03 4.79792242e+01] [-7.47032227e-01 -6.64748389e-01 7.24092480e-03 -1.54647834e+02] [-9.54112570e-03 -1.70089522e-04 -9.99954468e-01 2.24850118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.88 meters Centerline goodness [0,1] 0.9999778985987712 Centerline is valid? [True, True] Translation: X:48.03, Y:-154.75, Z:2.25 [[ 7.20415332e-01 -6.93506886e-01 -7.06742506e-03 4.80334990e+01] [-6.93471005e-01 -7.20449974e-01 7.05695585e-03 -1.54746926e+02] [-9.98577368e-03 -1.82884837e-04 -9.99950124e-01 2.24853005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.90999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.03, Y:-154.75, Z:2.25 [[ 7.72688638e-01 -6.34737325e-01 -7.79723840e-03 4.80286321e+01] [-6.34702467e-01 -7.72727954e-01 6.65492034e-03 -1.54754955e+02] [-1.02492704e-02 -1.93254886e-04 -9.99947456e-01 2.24865883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.94 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.02, Y:-154.76, Z:2.25 [[ 8.19907236e-01 -5.72427030e-01 -8.91178733e-03 4.80236592e+01] [-5.72390453e-01 -8.19955641e-01 6.47430688e-03 -1.54761869e+02] [-1.10133385e-02 -2.07309075e-04 -9.99939330e-01 2.24902770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.96999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.02, Y:-154.77, Z:2.25 [[ 8.62130525e-01 -5.06590926e-01 -9.82811434e-03 4.80194665e+01] [-5.06555125e-01 -8.62186515e-01 6.02645152e-03 -1.54768830e+02] [-1.15266133e-02 -2.17106119e-04 -9.99933543e-01 2.24952708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.0 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.01, Y:-154.78, Z:2.25 [[ 8.99002327e-01 -4.37801126e-01 -1.11798855e-02 4.80147029e+01] [-4.37764026e-01 -8.99071810e-01 5.70421093e-03 -1.54775647e+02] [-1.25488298e-02 -2.33947220e-04 -9.99921233e-01 2.25054156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.03 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.01, Y:-154.78, Z:2.25 [[ 9.30465277e-01 -3.66186140e-01 -1.19196881e-02 4.80095146e+01] [-3.66152770e-01 -9.30541591e-01 4.94935447e-03 -1.54783071e+02] [-1.29041505e-02 -2.40775663e-04 -9.99916709e-01 2.25133904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.06 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.01, Y:-154.79, Z:2.25 [[ 9.56203173e-01 -2.92444663e-01 -1.23130934e-02 4.80074587e+01] [-2.92417184e-01 -9.56282417e-01 4.01600563e-03 -1.54788452e+02] [-1.29492542e-02 -2.39557210e-04 -9.99916126e-01 2.25141039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.09 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.00, Y:-154.79, Z:2.25 [[ 9.76067607e-01 -2.17089303e-01 -1.28164333e-02 4.80049958e+01] [-2.17067356e-01 -9.76151718e-01 3.09612605e-03 -1.54794712e+02] [-1.31829192e-02 -2.39999065e-04 -9.99913073e-01 2.25082068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.12 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.00, Y:-154.80, Z:2.25 [[ 9.89964639e-01 -1.40753710e-01 -1.25859432e-02 4.79997993e+01] [-1.40739482e-01 -9.90044617e-01 2.01350815e-03 -1.54799601e+02] [-1.27440541e-02 -2.21962742e-04 -9.99918767e-01 2.25075625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.15 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.99, Y:-154.81, Z:2.25 [[ 9.97922256e-01 -6.32968904e-02 -1.20280631e-02 4.79945483e+01] [-6.32898235e-02 -9.97994720e-01 9.67652263e-04 -1.54805426e+02] [-1.20651928e-02 -2.04387742e-04 -9.99927192e-01 2.24994658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.18 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.99, Y:-154.81, Z:2.25 [[ 9.99834047e-01 1.42786412e-02 -1.13136234e-02 4.79888177e+01] [ 1.42798061e-02 -9.99898038e-01 2.21885819e-05 -1.54812403e+02] [-1.13121530e-02 -1.83741248e-04 -9.99935999e-01 2.24959027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.21 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.98, Y:-154.82, Z:2.25 [[ 9.95678768e-01 9.22860627e-02 -1.03476287e-02 4.79844886e+01] [ 9.22828070e-02 -9.95732522e-01 -7.92675396e-04 -1.54819537e+02] [-1.03766233e-02 -1.65658156e-04 -9.99946148e-01 2.24901939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.24 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.98, Y:-154.83, Z:2.25 [[ 9.85445036e-01 1.69762672e-01 -8.87226788e-03 4.79812622e+01] [ 1.69757082e-01 -9.85484965e-01 -1.38482797e-03 -1.54828077e+02] [-8.97857870e-03 -1.41458459e-04 -9.99959682e-01 2.24796106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.27 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.98, Y:-154.84, Z:2.25 [[ 9.69101416e-01 2.46519878e-01 -8.39020133e-03 4.79784912e+01] [ 2.46511859e-01 -9.69137726e-01 -1.99308672e-03 -1.54839573e+02] [-8.62259613e-03 -1.36780970e-04 -9.99962815e-01 2.24902627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.3 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.98, Y:-154.85, Z:2.25 [[ 9.46783555e-01 3.21763773e-01 -8.30508715e-03 4.79760900e+01] [ 3.21752683e-01 -9.46819970e-01 -2.67505129e-03 -1.54847096e+02] [-8.72415696e-03 -1.39489502e-04 -9.99961934e-01 2.24772583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.33 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.97, Y:-154.86, Z:2.25 [[ 9.18643443e-01 3.95004501e-01 -8.10362245e-03 4.79739185e+01] [ 3.94990482e-01 -9.18679174e-01 -3.33094669e-03 -1.54857129e+02] [-8.76036811e-03 -1.40901403e-04 -9.99961617e-01 2.24875497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.36 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.97, Y:-154.87, Z:2.25 [[ 8.85009830e-01 4.65496931e-01 -8.37900264e-03 4.79730432e+01] [ 4.65477653e-01 -8.85049482e-01 -4.23902100e-03 -1.54865539e+02] [-9.38908321e-03 -1.48663221e-04 -9.99955911e-01 2.24903092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.39 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.97, Y:-154.87, Z:2.25 [[ 8.46006073e-01 5.33113494e-01 -7.98295164e-03 4.79727157e+01] [ 5.33091372e-01 -8.46043723e-01 -4.85882272e-03 -1.54874706e+02] [-9.34423008e-03 -1.45049111e-04 -9.99956331e-01 2.24939756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.42 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.97, Y:-154.88, Z:2.25 [[ 8.01920895e-01 5.97381444e-01 -7.63470354e-03 4.79732633e+01] [ 5.97356052e-01 -8.01957225e-01 -5.50970588e-03 -1.54883620e+02] [-9.41410172e-03 -1.42288098e-04 -9.99955676e-01 2.24972756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.45 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.97, Y:-154.89, Z:2.25 [[ 7.53178045e-01 6.57775094e-01 -7.39983261e-03 4.79728103e+01] [ 6.57745156e-01 -7.53214382e-01 -6.27726896e-03 -1.54892696e+02] [-9.70269153e-03 -1.39302887e-04 -9.99952918e-01 2.25097874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.47999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.97, Y:-154.90, Z:2.25 [[ 6.99517404e-01 7.14581177e-01 -7.01027992e-03 4.79724361e+01] [ 7.14547286e-01 -6.99552516e-01 -6.96084159e-03 -1.54900076e+02] [-9.87814532e-03 -1.39946656e-04 -9.99951200e-01 2.25108384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.51 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.97, Y:-154.91, Z:2.25 [[ 6.41694453e-01 7.66933524e-01 -6.41865419e-03 4.79709776e+01] [ 7.66897258e-01 -6.41726539e-01 -7.45955145e-03 -1.54907814e+02] [-9.84000082e-03 -1.35695512e-04 -9.99951577e-01 2.25144046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.53999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.97, Y:-154.92, Z:2.25 [[ 5.79812907e-01 8.14729630e-01 -5.71167763e-03 4.79716193e+01] [ 8.14692315e-01 -5.79841024e-01 -7.79867558e-03 -1.54916335e+02] [-9.66567707e-03 -1.31487115e-04 -9.99953278e-01 2.25125980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.97, Y:-154.93, Z:2.25 [[ 5.13828370e-01 8.57878633e-01 -4.96563341e-03 4.79736284e+01] [ 8.57841047e-01 -5.13852346e-01 -8.03148174e-03 -1.54925067e+02] [-9.44163895e-03 -1.32920994e-04 -9.99955418e-01 2.25180093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.59999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.98, Y:-154.94, Z:2.25 [[ 4.44562038e-01 8.95737546e-01 -4.34090330e-03 4.79766016e+01] [ 8.95697851e-01 -4.44583209e-01 -8.43387223e-03 -1.54935180e+02] [-9.48442873e-03 -1.38758327e-04 -9.99955012e-01 2.25227930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.63 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.98, Y:-154.94, Z:2.25 [[ 3.72135739e-01 9.28171200e-01 -3.63530238e-03 4.79806860e+01] [ 9.28130702e-01 -3.72153466e-01 -8.67165726e-03 -1.54943897e+02] [-9.40167291e-03 -1.47002169e-04 -9.99955793e-01 2.25188317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.65999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.99, Y:-154.95, Z:2.25 [[ 2.97305626e-01 9.54777808e-01 -2.94979757e-03 4.79861475e+01] [ 9.54735914e-01 -2.97320218e-01 -8.94552651e-03 -1.54952426e+02] [-9.41802466e-03 -1.56722321e-04 -9.99955637e-01 2.25202363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.69 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.99, Y:-154.96, Z:2.25 [[ 2.19207348e-01 9.75675745e-01 -2.23141533e-03 4.79926074e+01] [ 9.75633201e-01 -2.19218631e-01 -9.11309323e-03 -1.54961709e+02] [-9.38059184e-03 -1.79385886e-04 -9.99955985e-01 2.25235402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.71999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.00, Y:-154.97, Z:2.25 [[ 1.40756925e-01 9.90043159e-01 -1.42511746e-03 4.79969613e+01] [ 9.90004637e-01 -1.40764023e-01 -8.73542980e-03 -1.54969241e+02] [-8.84905778e-03 -1.81300655e-04 -9.99960830e-01 2.25155862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.00, Y:-154.98, Z:2.25 [[ 6.13996787e-02 9.98113005e-01 -7.13519986e-04 4.80042956e+01] [ 9.98076451e-01 -6.14035380e-02 -8.54417158e-03 -1.54977030e+02] [-8.57186142e-03 -1.87538106e-04 -9.99963243e-01 2.25096659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.78 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.01, Y:-154.99, Z:2.25 [[-1.82417868e-02 9.99833604e-01 -3.91391868e-05 4.80128784e+01] [ 9.99801589e-01 1.82408894e-02 -8.00332714e-03 -1.54985239e+02] [-8.00128149e-03 -1.85126409e-04 -9.99967972e-01 2.25048824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.81 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.02, Y:-154.99, Z:2.25 [[-9.83946033e-02 9.95147326e-01 5.48325710e-04 4.80220807e+01] [ 9.95119516e-01 9.83959541e-02 -7.44216983e-03 -1.54991313e+02] [-7.46000844e-03 -1.86619733e-04 -9.99972156e-01 2.24970676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.84 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.03, Y:-155.00, Z:2.25 [[-1.76467550e-01 9.84305893e-01 1.05506047e-03 4.80315060e+01] [ 9.84281785e-01 1.76470614e-01 -6.89135997e-03 -1.54998438e+02] [-6.96939340e-03 -1.77624605e-04 -9.99975698e-01 2.24963574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.87 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.04, Y:-155.00, Z:2.25 [[-2.53382204e-01 9.67364902e-01 1.61400034e-03 4.80401151e+01] [ 9.67340438e-01 2.53387279e-01 -6.88210784e-03 -1.55004246e+02] [-7.06647673e-03 -1.82515859e-04 -9.99975016e-01 2.24978484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.9 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.05, Y:-155.01, Z:2.25 [[-3.28127153e-01 9.44631167e-01 2.12834855e-03 4.80485112e+01] [ 9.44607619e-01 3.28134007e-01 -6.67229682e-03 -1.55010296e+02] [-7.00124307e-03 -1.78907509e-04 -9.99975475e-01 2.24989416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.93 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.06, Y:-155.01, Z:2.25 [[-4.01143115e-01 9.16011215e-01 2.76673547e-03 4.80573686e+01] [ 9.15986101e-01 4.01152612e-01 -6.78556862e-03 -1.55014117e+02] [-7.32554012e-03 -1.87692898e-04 -9.99973150e-01 2.24938554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.96 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.07, Y:-155.02, Z:2.25 [[-4.71453000e-01 8.81884463e-01 3.44413627e-03 4.80692806e+01] [ 8.81857840e-01 4.71465540e-01 -6.85520146e-03 -1.55017179e+02] [-7.66928722e-03 -1.94666722e-04 -9.99970572e-01 2.25012171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.99 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.08, Y:-155.02, Z:2.25 [[-5.38902662e-01 8.42357823e-01 4.14946866e-03 4.80778303e+01] [ 8.42329915e-01 5.38918599e-01 -6.85991574e-03 -1.55020850e+02] [-8.01472953e-03 -2.01605275e-04 -9.99967861e-01 2.24964919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.02 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.09, Y:-155.02, Z:2.25 [[-6.02744724e-01 7.97919647e-01 4.79940937e-03 4.80877076e+01] [ 7.97891638e-01 6.02763798e-01 -6.68864483e-03 -1.55022059e+02] [-8.22991135e-03 -2.02136778e-04 -9.99966113e-01 2.25019441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.05 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.10, Y:-155.02, Z:2.25 [[-6.62459009e-01 7.49075594e-01 5.81520853e-03 4.80980237e+01] [ 7.49043908e-01 6.62484498e-01 -6.89298694e-03 -1.55023759e+02] [-9.01585379e-03 -2.10474775e-04 -9.99959334e-01 2.25067766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.08 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.11, Y:-155.03, Z:2.25 [[-7.19105553e-01 6.94871960e-01 6.33736514e-03 4.81062056e+01] [ 6.94842369e-01 7.19133447e-01 -6.41622907e-03 -1.55025921e+02] [-9.01586891e-03 -2.10476153e-04 -9.99959334e-01 2.25067779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.11 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.11, Y:-155.03, Z:2.25 [[-7.70568580e-01 6.37320424e-01 6.83668633e-03 4.81139527e+01] [ 6.37293017e-01 7.70598882e-01 -5.91380092e-03 -1.55026518e+02] [-9.03732896e-03 -2.00016722e-04 -9.99959143e-01 2.25038223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.14 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.14, Y:-155.02, Z:2.25 [[-8.12745196e-01 5.82571145e-01 7.49048462e-03 4.81424206e+01] [ 5.82544185e-01 8.12779689e-01 -5.60794232e-03 -1.55016132e+02] [-9.35513914e-03 -1.94289920e-04 -9.99956221e-01 2.25016042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.17 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.64, Y:-154.36, Z:1.44 [[-7.45866630e-01 -6.66056232e-01 7.21572439e-03 4.86405972e+01] [ 6.66027696e-01 -7.45901504e-01 -6.16876993e-03 -1.54359844e+02] [ 9.49096733e-03 2.04792656e-04 9.99954939e-01 1.43966950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.2 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.10, Y:-154.99, Z:2.25 [[-8.11081970e-01 5.84871255e-01 8.46478617e-03 4.81024032e+01] [ 5.84837432e-01 8.11126126e-01 -6.29183018e-03 -1.54992498e+02] [-1.05459198e-02 -1.52666211e-04 -9.99944379e-01 2.25047917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.22999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.13, Y:-154.98, Z:2.25 [[-8.49241033e-01 5.27932002e-01 8.80167484e-03 4.81345146e+01] [ 5.27902090e-01 8.49286633e-01 -5.62130224e-03 -1.54983446e+02] [-1.04428101e-02 -1.27417985e-04 -9.99945464e-01 2.25011641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.26 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.59, Y:-154.28, Z:1.44 [[-7.98625047e-01 -6.01771394e-01 8.32011173e-03 4.85880744e+01] [ 6.01740291e-01 -7.98668377e-01 -6.11938941e-03 -1.54282996e+02] [ 1.03274836e-02 1.19448797e-04 9.99946663e-01 1.43958923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.28999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.10, Y:-154.97, Z:2.25 [[-8.48172584e-01 5.29654540e-01 8.32678611e-03 4.81020373e+01] [ 5.29628266e-01 8.48213454e-01 -5.27602469e-03 -1.54967297e+02] [-9.85736244e-03 -6.48782052e-05 -9.99951413e-01 2.24930924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.32 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.11, Y:-154.94, Z:2.25 [[-8.82858778e-01 4.69563127e-01 8.41711973e-03 4.81148748e+01] [ 4.69541254e-01 8.82898900e-01 -4.53251902e-03 -1.54944248e+02] [-9.55976955e-03 -4.93892548e-05 -9.99954303e-01 2.24848680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.34999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.13, Y:-154.92, Z:2.25 [[-9.13263113e-01 4.07277613e-01 8.68525174e-03 4.81318178e+01] [ 4.07258826e-01 9.13304410e-01 -3.91199660e-03 -1.54923153e+02] [-9.52554735e-03 -3.55367670e-05 -9.99954630e-01 2.24809114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.38 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.16, Y:-154.91, Z:2.25 [[-9.39253003e-01 3.43107275e-01 9.01077282e-03 4.81610788e+01] [ 3.43091278e-01 9.39296224e-01 -3.31331233e-03 -1.54906309e+02] [-9.60060646e-03 -2.05209981e-05 -9.99953913e-01 2.24799594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.40999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.46, Y:-154.12, Z:1.44 [[-9.13552788e-01 -4.06638784e-01 8.13655263e-03 4.84632310e+01] [ 4.06622452e-01 -9.13589021e-01 -3.64452153e-03 -1.54117810e+02] [ 8.91546895e-03 -2.09578231e-05 9.99960256e-01 1.44221984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.44 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.12, Y:-154.89, Z:2.25 [[-9.39037293e-01 3.43707592e-01 8.60546205e-03 4.81207672e+01] [ 3.43693367e-01 9.39076723e-01 -3.12713657e-03 -1.54894304e+02] [-9.15600968e-03 2.11423630e-05 -9.99958083e-01 2.24701347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.46999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.42, Y:-154.10, Z:1.44 [[-9.16218157e-01 -4.00584167e-01 8.75296261e-03 4.84152326e+01] [ 4.00565906e-01 -9.16259966e-01 -3.82490789e-03 -1.54099921e+02] [ 9.55218676e-03 1.68834140e-06 9.99954377e-01 1.44215211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.08, Y:-154.88, Z:2.25 [[-9.39335988e-01 3.42873796e-01 9.24460143e-03 4.80781230e+01] [ 3.42857725e-01 9.39381476e-01 -3.32007940e-03 -1.54880670e+02] [-9.82257557e-03 5.09129464e-05 -9.99951756e-01 2.24737549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.53 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.08, Y:-154.86, Z:2.25 [[-9.60382497e-01 2.78472259e-01 1.08931184e-02 4.80849367e+01] [ 2.78455464e-01 9.60444268e-01 -3.05984486e-03 -1.54855570e+02] [-1.13143150e-02 9.46268886e-05 -9.99935987e-01 2.24776273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.11, Y:-154.83, Z:2.25 [[-9.77370290e-01 2.11231885e-01 1.13316742e-02 4.81074199e+01] [ 2.11219062e-01 9.77435971e-01 -2.33032132e-03 -1.54833297e+02] [-1.15682241e-02 1.15878766e-04 -9.99933079e-01 2.24752351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.59 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.11, Y:-154.81, Z:2.25 [[-9.89697666e-01 1.42716462e-01 1.14254734e-02 4.81132143e+01] [ 1.42708482e-01 9.89763605e-01 -1.51490156e-03 -1.54806446e+02] [-1.15247191e-02 1.31217426e-04 -9.99933580e-01 2.24700551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.62 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.13, Y:-154.78, Z:2.25 [[-9.97221683e-01 7.36361107e-02 1.12533658e-02 4.81264756e+01] [ 7.36330792e-02 9.97285166e-01 -6.84036996e-04 -1.54780292e+02] [-1.12731846e-02 1.46483448e-04 -9.99936445e-01 2.24664578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.65 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.19, Y:-153.93, Z:1.44 [[-9.93684322e-01 -1.11683531e-01 1.08746124e-02 4.81857891e+01] [ 1.11675061e-01 -9.93743811e-01 -1.38495953e-03 -1.53929468e+02] [ 1.09612559e-02 -1.61789573e-04 9.99939911e-01 1.44392322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.68 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.04, Y:-154.77, Z:2.25 [[-9.97306023e-01 7.25763436e-02 1.06475398e-02 4.80378286e+01] [ 7.25742352e-02 9.97362842e-01 -5.84773036e-04 -1.54774366e+02] [-1.06619012e-02 1.89539386e-04 -9.99943142e-01 2.24541941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.71 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.09, Y:-153.92, Z:1.44 [[-9.94611636e-01 -1.03164244e-01 1.02387937e-02 4.80934509e+01] [ 1.03156648e-01 -9.94664314e-01 -1.26868257e-03 -1.53923629e+02] [ 1.03150454e-02 -2.05646812e-04 9.99946777e-01 1.44431159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.74 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.95, Y:-154.77, Z:2.24 [[-9.97586608e-01 6.86396782e-02 1.04667701e-02 4.79472862e+01] [ 6.86380562e-02 9.97641495e-01 -5.14531359e-04 -1.54768207e+02] [-1.04774014e-02 2.05129161e-04 -9.99945090e-01 2.24476815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.77 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:48.00, Y:-153.92, Z:1.44 [[-9.95240377e-01 -9.68890619e-02 1.04451380e-02 4.79990803e+01] [ 9.68815793e-02 -9.95295166e-01 -1.22118393e-03 -1.53919160e+02] [ 1.05143148e-02 -2.03430083e-04 9.99944702e-01 1.44479960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.8 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.86, Y:-154.76, Z:2.24 [[-9.97994311e-01 6.24057285e-02 1.06244867e-02 4.78593266e+01] [ 6.24043773e-02 9.98050842e-01 -4.58977221e-04 -1.54759735e+02] [-1.06324207e-02 2.04957821e-04 -9.99943453e-01 2.24358982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.83 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.86, Y:-154.73, Z:2.24 [[-9.99899027e-01 -9.14985110e-03 1.08727061e-02 4.78606159e+01] [-9.14708380e-03 9.99958118e-01 3.04219837e-04 -1.54731267e+02] [-1.08750343e-02 2.04735565e-04 -9.99940844e-01 2.24374918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.86 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.85, Y:-154.70, Z:2.24 [[-9.96652991e-01 -8.10524248e-02 1.06451430e-02 4.78545024e+01] [-8.10457215e-02 9.96709821e-01 1.06030291e-03 -1.54702407e+02] [-1.06960587e-02 1.94010777e-04 -9.99942777e-01 2.24354921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.84, Y:-154.67, Z:2.24 [[-9.88024576e-01 -1.53916967e-01 1.08168451e-02 4.78428872e+01] [-1.53905731e-01 9.88083769e-01 1.86855444e-03 -1.54673026e+02] [-1.09755513e-02 1.81403252e-04 -9.99939750e-01 2.24366155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.92 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.81, Y:-154.65, Z:2.24 [[-9.74146939e-01 -2.25651491e-01 1.09153660e-02 4.78124163e+01] [-2.25635297e-01 9.74208075e-01 2.70904917e-03 -1.54650575e+02] [-1.12451387e-02 1.76120096e-04 -9.99936756e-01 2.24425355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.95 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.76, Y:-154.64, Z:2.24 [[-9.54548173e-01 -2.97848906e-01 1.11272375e-02 4.77550965e+01] [-2.97826610e-01 9.54613011e-01 3.64824681e-03 -1.54635790e+02] [-1.17088320e-02 1.68439912e-04 -9.99931435e-01 2.24333300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.97999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.69, Y:-154.63, Z:2.24 [[-9.29406301e-01 -3.68888408e-01 1.11924032e-02 4.76947554e+01] [-3.68859599e-01 9.29473678e-01 4.61293223e-03 -1.54626229e+02] [-1.21047013e-02 1.58862944e-04 -9.99926723e-01 2.24280061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.01 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.62, Y:-154.63, Z:2.24 [[-8.98137693e-01 -4.39569907e-01 1.12685791e-02 4.76166840e+01] [-4.39533490e-01 8.98208372e-01 5.65960551e-03 -1.54628025e+02] [-1.26093243e-02 1.30187157e-04 -9.99920491e-01 2.24379708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.03999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.54, Y:-154.64, Z:2.24 [[-8.61757444e-01 -5.07210149e-01 1.05816990e-02 4.75371993e+01] [-5.07170395e-01 8.61822402e-01 6.35116431e-03 -1.54637274e+02] [-1.23409203e-02 1.06438660e-04 -9.99923842e-01 2.24321780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.45, Y:-154.66, Z:2.24 [[-8.19921388e-01 -5.72393655e-01 9.71707316e-03 4.74467874e+01] [-5.72352347e-01 8.19978962e-01 6.87699929e-03 -1.54660601e+02] [-1.19041463e-02 7.70091769e-05 -9.99929140e-01 2.24338778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.09999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.36, Y:-154.69, Z:2.24 [[-7.71210807e-01 -6.36524406e-01 8.40071440e-03 4.73578235e+01] [-6.36486385e-01 7.71256559e-01 6.95718205e-03 -1.54688169e+02] [-1.09075223e-02 1.85136409e-05 -9.99940511e-01 2.24207778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.13 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.27, Y:-154.73, Z:2.24 [[-7.18804228e-01 -6.95169192e-01 7.76384757e-03 4.72662462e+01] [-6.95128793e-01 7.18846155e-01 7.49442613e-03 -1.54729872e+02] [-1.07909061e-02 -9.84880200e-06 -9.99941776e-01 2.24193836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.15999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.17, Y:-154.78, Z:2.24 [[-6.61777421e-01 -7.49663855e-01 7.39930814e-03 4.71740079e+01] [-7.49617681e-01 6.61818784e-01 8.32038675e-03 -1.54782658e+02] [-1.11344943e-02 -4.04081220e-05 -9.99938009e-01 2.24165924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.19 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.08, Y:-154.85, Z:2.24 [[-6.00425700e-01 -7.99652578e-01 6.68835115e-03 4.70823029e+01] [-7.99604261e-01 6.00462947e-01 8.79068492e-03 -1.54847466e+02] [-1.10456009e-02 -6.98809352e-05 -9.99938993e-01 2.24151412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.21999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.00, Y:-154.91, Z:2.24 [[-5.32852754e-01 -8.46186134e-01 6.08017496e-03 4.69979529e+01] [-8.46133827e-01 5.32887426e-01 9.40941438e-03 -1.54910705e+02] [-1.12021648e-02 -1.30809345e-04 -9.99937245e-01 2.24185737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.25 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.92, Y:-154.99, Z:2.24 [[-4.64282341e-01 -8.85671667e-01 5.25420674e-03 4.69160764e+01] [-8.85618685e-01 4.64312045e-01 9.68868624e-03 -1.54991159e+02] [-1.10205864e-02 -1.54937734e-04 -9.99939260e-01 2.24149558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.28 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.84, Y:-155.08, Z:2.24 [[-3.92985870e-01 -9.19534222e-01 4.34991270e-03 4.68393990e+01] [-9.19482639e-01 3.93009906e-01 9.74119054e-03 -1.55080043e+02] [-1.06669168e-02 -1.71518976e-04 -9.99943092e-01 2.24147847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.31 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.77, Y:-155.17, Z:2.24 [[-3.19560592e-01 -9.47559099e-01 3.57514633e-03 4.67720599e+01] [-9.47506201e-01 3.19580535e-01 1.00140317e-02 -1.55171397e+02] [-1.06314340e-02 -1.87383425e-04 -9.99943467e-01 2.24132016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.34 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.71, Y:-155.27, Z:2.24 [[-2.43559914e-01 -9.69881785e-01 2.80897352e-03 4.67102745e+01] [-9.69826927e-01 2.43576020e-01 1.03176372e-02 -1.55269587e+02] [-1.06910869e-02 -2.11255336e-04 -9.99942826e-01 2.24133767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.37 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.66, Y:-155.38, Z:2.24 [[-1.67047194e-01 -9.85947044e-01 1.91347658e-03 4.66561384e+01] [-9.85896117e-01 1.67058018e-01 1.00232353e-02 -1.55375779e+02] [-1.02020409e-02 -2.12135799e-04 -9.99947935e-01 2.24179232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.4 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.61, Y:-155.49, Z:2.24 [[-8.99588457e-02 -9.95944791e-01 1.17466123e-03 4.66111228e+01] [-9.95889461e-01 8.99662327e-02 1.05004083e-02 -1.55487386e+02] [-1.05635068e-02 -2.25228125e-04 -9.99944179e-01 2.24180916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.43 meters Centerline goodness [0,1] 0.99997813729777 Centerline is valid? [True, True] Translation: X:46.57, Y:-155.60, Z:2.24 [[-1.20666726e-02 -9.99927121e-01 3.84066341e-04 4.65749618e+01] [-9.99863759e-01 1.20702326e-02 1.12593460e-02 -1.55595703e+02] [-1.12631612e-02 -2.48151174e-04 -9.99936538e-01 2.24238771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.46 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.55, Y:-155.71, Z:2.24 [[ 6.49935314e-02 -9.97885554e-01 -5.12464587e-04 4.65484544e+01] [-9.97815352e-01 -6.49950392e-02 1.18392915e-02 -1.55712252e+02] [-1.18475656e-02 -2.58132331e-04 -9.99929782e-01 2.24249518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.49 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.53, Y:-155.83, Z:2.24 [[ 1.40991117e-01 -9.90009737e-01 -1.49176694e-03 4.65306767e+01] [-9.89933286e-01 -1.40998772e-01 1.23059354e-02 -1.55831293e+02] [-1.23933332e-02 -2.58277823e-04 -9.99923166e-01 2.24341744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.52 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.52, Y:-155.95, Z:2.24 [[ 2.13883178e-01 -9.76855681e-01 -2.63914781e-03 4.65234870e+01] [-9.76767060e-01 -2.13899329e-01 1.31600867e-02 -1.55947925e+02] [-1.34200174e-02 -2.36888526e-04 -9.99909919e-01 2.24419271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.55 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.53, Y:-156.07, Z:2.24 [[ 2.86804430e-01 -9.57981816e-01 -3.74953775e-03 4.65262231e+01] [-9.57889888e-01 -2.86828858e-01 1.32728685e-02 -1.56065599e+02] [-1.37906423e-02 -2.15073194e-04 -9.99904881e-01 2.24367900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.58 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.54, Y:-156.18, Z:2.24 [[ 3.57794421e-01 -9.33787833e-01 -4.84098890e-03 4.65390321e+01] [-9.33695207e-01 -3.57827120e-01 1.31534176e-02 -1.56184599e+02] [-1.40147384e-02 -1.86211286e-04 -9.99901771e-01 2.24241497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.61 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.56, Y:-156.30, Z:2.24 [[ 4.26573851e-01 -9.04434094e-01 -5.80683898e-03 4.65587986e+01] [-9.04345454e-01 -4.26613346e-01 1.26630771e-02 -1.56299694e+02] [-1.39301937e-02 -1.50349141e-04 -9.99902959e-01 2.24263335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.64 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.59, Y:-156.41, Z:2.24 [[ 4.90456095e-01 -8.71441394e-01 -6.53574318e-03 4.65860471e+01] [-8.71362026e-01 -4.90499634e-01 1.17613173e-02 -1.56405030e+02] [-1.34550784e-02 -7.34113189e-05 -9.99909474e-01 2.24228463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.67 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.63, Y:-156.52, Z:2.24 [[ 5.54347017e-01 -8.32253348e-01 -7.33141861e-03 4.66251755e+01] [-8.32179512e-01 -5.54395494e-01 1.10858702e-02 -1.56519083e+02] [-1.32907580e-02 -4.43627303e-05 -9.99911673e-01 2.24259907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.7 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.66, Y:-156.62, Z:2.24 [[ 6.15261557e-01 -7.88282401e-01 -8.00458110e-03 4.66639867e+01] [-7.88215290e-01 -6.15313625e-01 1.02859297e-02 -1.56617657e+02] [-1.30335452e-02 -1.92039273e-05 -9.99915060e-01 2.24196970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.72999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.71, Y:-156.72, Z:2.24 [[ 6.72727876e-01 -7.39840050e-01 -8.59678688e-03 4.67132687e+01] [-7.39779671e-01 -6.72782803e-01 9.45183190e-03 -1.56717288e+02] [-1.27766142e-02 1.21737178e-06 -9.99918376e-01 2.24251373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.76 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.77, Y:-156.81, Z:2.24 [[ 7.25942855e-01 -6.87696924e-01 -8.93936795e-03 4.67656403e+01] [-6.87645243e-01 -7.25997893e-01 8.43086597e-03 -1.56808097e+02] [-1.22878429e-02 2.67869339e-05 -9.99924501e-01 2.24187880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.78999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.76, Y:-156.81, Z:2.24 [[ 7.77315479e-01 -6.29038644e-01 -9.54096235e-03 4.67611076e+01] [-6.28991725e-01 -7.77374030e-01 7.68289514e-03 -1.56813743e+02] [-1.22497343e-02 2.91530447e-05 -9.99924969e-01 2.24173185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.82 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.76, Y:-156.82, Z:2.24 [[ 8.24285698e-01 -5.66083991e-01 -1.00996840e-02 4.67571340e+01] [-5.66041880e-01 -8.24347569e-01 6.90473659e-03 -1.56819345e+02] [-1.22343108e-02 2.53684740e-05 -9.99925158e-01 2.24196990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.84999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.75, Y:-156.82, Z:2.24 [[ 8.66458331e-01 -4.99132120e-01 -1.08206861e-02 4.67528587e+01] [-4.99093406e-01 -8.66525895e-01 6.21650099e-03 -1.56824154e+02] [-1.24792600e-02 1.41940167e-05 -9.99922131e-01 2.24210449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.88 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.75, Y:-156.83, Z:2.24 [[ 9.03885778e-01 -4.27627224e-01 -1.12008200e-02 4.67481545e+01] [-4.27594171e-01 -9.03955174e-01 5.31678226e-03 -1.56832233e+02] [-1.23986401e-02 -1.63585123e-05 -9.99923134e-01 2.24201977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.90999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.74, Y:-156.84, Z:2.24 [[ 9.34929077e-01 -3.54639571e-01 -1.17641870e-02 4.67449776e+01] [-3.54611086e-01 -9.35003088e-01 4.49484686e-03 -1.56839755e+02] [-1.25936018e-02 -3.06518766e-05 -9.99920697e-01 2.24238857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.94 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.74, Y:-156.85, Z:2.24 [[ 9.60132437e-01 -2.79281725e-01 -1.21417513e-02 4.67423900e+01] [-2.79258784e-01 -9.60209204e-01 3.57989878e-03 -1.56846919e+02] [-1.26584217e-02 -4.64862144e-05 -9.99919878e-01 2.24245534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.96999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.74, Y:-156.85, Z:2.24 [[ 9.79025398e-01 -2.03361489e-01 -1.23844548e-02 4.67403960e+01] [-2.03344620e-01 -9.79103724e-01 2.61974658e-03 -1.56852898e+02] [-1.26584214e-02 -4.64861872e-05 -9.99919878e-01 2.24245534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.0 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.74, Y:-156.86, Z:2.24 [[ 9.92213308e-01 -1.23918149e-01 -1.25316964e-02 4.67350792e+01] [-1.23907327e-01 -9.92292440e-01 1.63933659e-03 -1.56863464e+02] [-1.26382512e-02 -7.38025718e-05 -9.99920131e-01 2.24209554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.03 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.73, Y:-156.87, Z:2.24 [[ 9.98923219e-01 -4.44778038e-02 -1.31957351e-02 4.67305609e+01] [-4.44726690e-02 -9.99010368e-01 6.82448002e-04 -1.56873149e+02] [-1.32130300e-02 -9.48635953e-05 -9.99912700e-01 2.24216771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.06 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.73, Y:-156.88, Z:2.24 [[ 9.99308858e-01 3.48698827e-02 -1.28800924e-02 4.67262576e+01] [ 3.48683463e-02 -9.99391855e-01 -3.43893211e-04 -1.56882629e+02] [-1.28842509e-02 -1.05451988e-04 -9.99916989e-01 2.24278803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.09 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.72, Y:-156.89, Z:2.24 [[ 9.93377356e-01 1.14109986e-01 -1.34290341e-02 4.67234920e+01] [ 1.14101274e-01 -9.93468115e-01 -1.41567589e-03 -1.56893092e+02] [-1.35028599e-02 -1.25969515e-04 -9.99908824e-01 2.24222929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.12 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.72, Y:-156.90, Z:2.24 [[ 9.81225862e-01 1.92381384e-01 -1.36092131e-02 4.67214336e+01] [ 1.92364874e-01 -9.81320225e-01 -2.52429334e-03 -1.56903772e+02] [-1.38406231e-02 -1.41032659e-04 -9.99904204e-01 2.24264420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.15 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.72, Y:-156.91, Z:2.24 [[ 9.63136234e-01 2.68694583e-01 -1.31078449e-02 4.67197637e+01] [ 2.68671667e-01 -9.63225416e-01 -3.51191706e-03 -1.56912771e+02] [-1.35694424e-02 -1.39251963e-04 -9.99907921e-01 2.24273519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.18 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.72, Y:-156.92, Z:2.24 [[ 9.39190764e-01 3.43179656e-01 -1.21832769e-02 4.67197973e+01] [ 3.43152594e-01 -9.39269773e-01 -4.31167878e-03 -1.56922745e+02] [-1.29230642e-02 -1.31234188e-04 -9.99916485e-01 2.24166297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.21 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.72, Y:-156.93, Z:2.24 [[ 9.10054085e-01 4.14362920e-01 -1.02436256e-02 4.67196468e+01] [ 4.14337876e-01 -9.10111730e-01 -4.55671875e-03 -1.56931925e+02] [-1.12109791e-02 -9.74615664e-05 -9.99937150e-01 2.24119649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.24 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.72, Y:-156.94, Z:2.24 [[ 8.75240712e-01 4.83606931e-01 -8.83362608e-03 4.67206233e+01] [ 4.83583209e-01 -8.75285285e-01 -4.79062844e-03 -1.56940239e+02] [-1.00487240e-02 -7.88402006e-05 -9.99949507e-01 2.24060549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.27 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.72, Y:-156.95, Z:2.24 [[ 8.35086076e-01 5.50062766e-01 -7.88666003e-03 4.67221393e+01] [ 5.50038998e-01 -8.35123313e-01 -5.11387417e-03 -1.56949260e+02] [-9.39928543e-03 -6.74454680e-05 -9.99955823e-01 2.23975697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.3 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.72, Y:-156.96, Z:2.24 [[ 7.89824695e-01 6.13288626e-01 -7.34934192e-03 4.67242626e+01] [ 6.13262792e-01 -7.89858884e-01 -5.62946381e-03 -1.56958137e+02] [-9.25742914e-03 -6.07884121e-05 -9.99957147e-01 2.23965984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.33 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.73, Y:-156.97, Z:2.24 [[ 7.39774281e-01 6.72819543e-01 -6.91922592e-03 4.67267395e+01] [ 6.72790818e-01 -7.39806637e-01 -6.21740765e-03 -1.56966164e+02] [-9.30208263e-03 -5.57133909e-05 -9.99956733e-01 2.23978155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.36 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.73, Y:-156.97, Z:2.24 [[ 6.85338513e-01 7.28196832e-01 -6.36367876e-03 4.67295159e+01] [ 7.28166097e-01 -6.85368056e-01 -6.69050149e-03 -1.56974221e+02] [-9.23346413e-03 -4.85567837e-05 -9.99957370e-01 2.24037975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.39 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.73, Y:-156.98, Z:2.24 [[ 6.26523680e-01 7.79379208e-01 -6.01065375e-03 4.67335948e+01] [ 7.79344047e-01 -6.26552510e-01 -7.40329685e-03 -1.56983235e+02] [-9.53596583e-03 -4.60264306e-05 -9.99954531e-01 2.24058792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.42 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.74, Y:-156.99, Z:2.24 [[ 5.64158799e-01 8.25647357e-01 -5.59394980e-03 4.67370850e+01] [ 8.25607490e-01 -5.64186530e-01 -8.11364496e-03 -1.56992520e+02] [-9.85504064e-03 -4.10226585e-05 -9.99951437e-01 2.24118492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.45 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.74, Y:-157.00, Z:2.24 [[ 4.98770143e-01 8.66717799e-01 -5.34806560e-03 4.67412780e+01] [ 8.66668673e-01 -4.98798814e-01 -9.22788455e-03 -1.57000682e+02] [-1.06655806e-02 -3.24076198e-05 -9.99943121e-01 2.24179759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.47999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.74, Y:-157.01, Z:2.24 [[ 4.32230062e-01 9.01749869e-01 -4.93437110e-03 4.67438367e+01] [ 9.01691071e-01 -4.32258227e-01 -1.02974600e-02 -1.57008040e+02] [-1.14186557e-02 1.59340739e-06 -9.99934805e-01 2.24321147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.51 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.75, Y:-157.01, Z:2.24 [[ 3.62178491e-01 9.32098882e-01 -4.29125629e-03 4.67483682e+01] [ 9.32032598e-01 -3.62203912e-01 -1.11158986e-02 -1.57014709e+02] [-1.19154265e-02 2.63486376e-05 -9.99929008e-01 2.24320007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.53999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.75, Y:-157.02, Z:2.24 [[ 2.90183671e-01 9.56965098e-01 -3.35227281e-03 4.67531510e+01] [ 9.56899182e-01 -2.90203029e-01 -1.12320185e-02 -1.57021921e+02] [-1.17214894e-02 5.15612399e-05 -9.99931300e-01 2.24267987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.76, Y:-157.03, Z:2.24 [[ 2.16431561e-01 9.76294937e-01 -2.36134865e-03 4.67587065e+01] [ 9.76233061e-01 -2.16444430e-01 -1.09917462e-02 -1.57028917e+02] [-1.12422870e-02 7.37341783e-05 -9.99936801e-01 2.24224494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.59999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.76, Y:-157.04, Z:2.24 [[ 1.42824190e-01 9.89747194e-01 -1.32004423e-03 4.67625776e+01] [ 9.89698166e-01 -1.42830255e-01 -9.85181913e-03 -1.57036351e+02] [-9.93935259e-03 1.00632734e-04 -9.99950598e-01 2.24145397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.63 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.77, Y:-157.04, Z:2.24 [[ 6.62268312e-02 9.97804467e-01 -5.03145261e-04 4.67673440e+01] [ 9.97762335e-01 -6.62286588e-02 -9.16998505e-03 -1.57042573e+02] [-9.18317468e-03 1.05279663e-04 -9.99957828e-01 2.24108863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.65999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.78, Y:-157.05, Z:2.24 [[-1.16906219e-02 9.99931641e-01 2.08820100e-04 4.67750137e+01] [ 9.99892623e-01 1.16920106e-02 -8.83399297e-03 -1.57048133e+02] [-8.83583061e-03 1.05522805e-04 -9.99960958e-01 2.24055275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.69 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.79, Y:-157.05, Z:2.24 [[-9.08290570e-02 9.95866188e-01 7.86306629e-04 4.67851865e+01] [ 9.95836575e-01 9.08324203e-02 -7.68036361e-03 -1.57052870e+02] [-7.72003657e-03 8.54327149e-05 -9.99970196e-01 2.24009563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.71999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.79, Y:-157.06, Z:2.24 [[-1.69885540e-01 9.85462744e-01 1.44367408e-03 4.67946273e+01] [ 9.85430970e-01 1.69891656e-01 -7.91379039e-03 -1.57058864e+02] [-8.04401377e-03 7.82025898e-05 -9.99967643e-01 2.24033439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.80, Y:-157.06, Z:2.24 [[-2.48397714e-01 9.68655754e-01 2.14605675e-03 4.68034337e+01] [ 9.68621856e-01 2.48406975e-01 -8.10401415e-03 -1.57063249e+02] [-8.38309541e-03 6.56988893e-05 -9.99964859e-01 2.24034784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.78 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.82, Y:-157.07, Z:2.24 [[-3.27875722e-01 9.44716544e-01 2.85691922e-03 4.68157257e+01] [ 9.44681425e-01 3.27888167e-01 -8.14589804e-03 -1.57065082e+02] [-8.63231465e-03 2.80363222e-05 -9.99962741e-01 2.24068593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.81 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.83, Y:-157.07, Z:2.24 [[-4.03260930e-01 9.15077295e-01 3.76379690e-03 4.68261717e+01] [ 9.15037573e-01 4.03278494e-01 -8.52620924e-03 -1.57068420e+02] [-9.31999884e-03 5.72851570e-06 -9.99956568e-01 2.24191339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.84 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.84, Y:-157.07, Z:2.24 [[-4.76222526e-01 8.79313009e-01 4.55392980e-03 4.68385157e+01] [ 8.79272371e-01 4.76244299e-01 -8.45370733e-03 -1.57067571e+02] [-9.60223793e-03 -2.17012041e-05 -9.99953897e-01 2.24135910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.87 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.85, Y:-157.07, Z:2.24 [[-5.45972540e-01 8.37784916e-01 5.51536928e-03 4.68512394e+01] [ 8.37741217e-01 5.46000395e-01 -8.55696156e-03 -1.57066952e+02] [-1.01802871e-02 -5.14138695e-05 -9.99948178e-01 2.24274128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.9 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.86, Y:-157.06, Z:2.24 [[-6.14262872e-01 7.89073747e-01 6.61408470e-03 4.68625335e+01] [ 7.89025976e-01 6.14298469e-01 -8.68335422e-03 -1.57064478e+02] [-1.09148289e-02 -1.15177469e-04 -9.99940425e-01 2.24197569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.93 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.87, Y:-157.06, Z:2.24 [[-6.76122664e-01 7.36755803e-01 7.00216251e-03 4.68733220e+01] [ 7.36714160e-01 6.76158907e-01 -7.83449300e-03 -1.57060912e+02] [-1.05066827e-02 -1.38486013e-04 -9.99944794e-01 2.24144658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.96 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.88, Y:-157.06, Z:2.24 [[-7.33322570e-01 6.79842703e-01 7.20464860e-03 4.68843656e+01] [ 6.79807809e-01 7.33357945e-01 -6.88965342e-03 -1.57057293e+02] [-9.96746689e-03 -1.54561966e-04 -9.99950312e-01 2.24152931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.99 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.91, Y:-157.04, Z:2.24 [[-7.80705634e-01 6.24854178e-01 7.48126941e-03 4.69082070e+01] [ 6.24823401e-01 7.80741460e-01 -6.20399473e-03 -1.57042344e+02] [-9.71752923e-03 -1.69021439e-04 -9.99952769e-01 2.24094935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.02 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.93, Y:-157.02, Z:2.24 [[-8.24774974e-01 5.65415263e-01 7.19876611e-03 4.69264942e+01] [ 5.65391783e-01 8.24806369e-01 -5.15610596e-03 -1.57021891e+02] [-8.85292915e-03 -1.82503957e-04 -9.99960795e-01 2.24011436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.05 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.94, Y:-157.00, Z:2.24 [[-8.63372097e-01 5.04518537e-01 7.04758623e-03 4.69445377e+01] [ 5.04500003e-01 8.63400841e-01 -4.32832961e-03 -1.57001073e+02] [-8.26861440e-03 -1.81451737e-04 -9.99965798e-01 2.23974731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.08 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.96, Y:-156.98, Z:2.24 [[-8.97452774e-01 4.41051589e-01 7.21201922e-03 4.69599637e+01] [ 4.41035655e-01 8.97481732e-01 -3.75384792e-03 -1.56979044e+02] [-8.12829610e-03 -1.88143612e-04 -9.99966947e-01 2.23912095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.11 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.98, Y:-156.96, Z:2.24 [[-9.27371794e-01 3.74071199e-01 7.23140625e-03 4.69762876e+01] [ 3.74058113e-01 9.27399966e-01 -3.13551799e-03 -1.56958255e+02] [-7.87931288e-03 -2.02824773e-04 -9.99968937e-01 2.23866377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.14 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.99, Y:-156.93, Z:2.24 [[-9.51944320e-01 3.06184018e-01 7.30471729e-03 4.69887697e+01] [ 3.06173308e-01 9.51972323e-01 -2.56950679e-03 -1.56932028e+02] [-7.74063060e-03 -2.09517935e-04 -9.99970019e-01 2.23924902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.17 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.00, Y:-156.91, Z:2.24 [[-9.71503003e-01 2.36894663e-01 7.92682029e-03 4.69991356e+01] [ 2.36884832e-01 9.71535313e-01 -2.17051486e-03 -1.56908512e+02] [-8.21536922e-03 -2.30918207e-04 -9.99966227e-01 2.23907986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.2 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.01, Y:-156.88, Z:2.24 [[-9.86002377e-01 1.66507578e-01 8.63364672e-03 4.70077139e+01] [ 1.66498920e-01 9.86040142e-01 -1.71711534e-03 -1.56882310e+02] [-8.79903496e-03 -2.55586953e-04 -9.99961255e-01 2.23965858e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.22999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.16, Y:-156.13, Z:1.45 [[-9.56898311e-01 -2.90260705e-01 9.71315082e-03 4.71628578e+01] [ 2.90249677e-01 -9.56947535e-01 -2.55744757e-03 -1.56126131e+02] [ 1.00373023e-02 3.72021623e-04 9.99949556e-01 1.44835638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.26 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.96, Y:-156.87, Z:2.24 [[-9.87044590e-01 1.60081952e-01 1.08049531e-02 4.69585618e+01] [ 1.60068494e-01 9.87103666e-01 -2.10462733e-03 -1.56871245e+02] [-1.10025217e-02 -3.47828442e-04 -9.99939410e-01 2.24286712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.28999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.96, Y:-156.85, Z:2.24 [[-9.95929302e-01 8.94017638e-02 1.14956207e-02 4.69643916e+01] [ 8.93915245e-02 9.95995576e-01 -1.40250651e-03 -1.56847961e+02] [-1.15749739e-02 -3.69186269e-04 -9.99932940e-01 2.24262868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.32 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.07, Y:-156.08, Z:1.45 [[-9.75643797e-01 -2.19031750e-01 1.20114043e-02 4.70663918e+01] [ 2.19020566e-01 -9.75717637e-01 -2.25497849e-03 -1.56080382e+02] [ 1.22136509e-02 4.30688789e-04 9.99925318e-01 1.44612949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.34999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.91, Y:-156.84, Z:2.24 [[-9.96304763e-01 8.49538659e-02 1.26356868e-02 4.69062848e+01] [ 8.49418387e-02 9.96384802e-01 -1.48645982e-03 -1.56843332e+02] [-1.27162868e-02 -4.07668522e-04 -9.99919062e-01 2.24364449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.38 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:47.01, Y:-156.07, Z:1.45 [[-9.76724782e-01 -2.14115921e-01 1.27699659e-02 4.70102667e+01] [ 2.14103394e-01 -9.76808162e-01 -2.35616992e-03 -1.56071942e+02] [ 1.29783005e-02 4.32763496e-04 9.99915685e-01 1.44527867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.40999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.85, Y:-156.84, Z:2.24 [[-9.96460958e-01 8.30643366e-02 1.28792576e-02 4.68505768e+01] [ 8.30524063e-02 9.96544113e-01 -1.45934107e-03 -1.56843362e+02] [-1.29559675e-02 -3.84523066e-04 -9.99915994e-01 2.24339998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.44 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.95, Y:-156.06, Z:1.45 [[-9.78233622e-01 -2.07148708e-01 1.21816702e-02 4.69514049e+01] [ 2.07136852e-01 -9.78309411e-01 -2.24088501e-03 -1.56058258e+02] [ 1.23816390e-02 3.31163740e-04 9.99923290e-01 1.44676747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.46999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.80, Y:-156.84, Z:2.24 [[-9.96671681e-01 8.05706868e-02 1.24066434e-02 4.67959512e+01] [ 8.05601486e-02 9.96748838e-01 -1.34764282e-03 -1.56841866e+02] [-1.24748879e-02 -3.43676400e-04 -9.99922127e-01 2.24238000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.89, Y:-156.05, Z:1.45 [[-9.79632916e-01 -2.00448056e-01 1.18290476e-02 4.68902095e+01] [ 2.00437154e-01 -9.79704285e-01 -2.11223758e-03 -1.56046951e+02] [ 1.20123626e-02 3.01763184e-04 9.99927803e-01 1.44746819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.53 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.73, Y:-156.84, Z:2.24 [[-9.96848656e-01 7.84879762e-02 1.15062598e-02 4.67334335e+01] [ 7.84793865e-02 9.96915018e-01 -1.19684938e-03 -1.56840672e+02] [-1.15647015e-02 -2.90073488e-04 -9.99933085e-01 2.24143472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.82, Y:-156.04, Z:1.45 [[-9.80822154e-01 -1.94610359e-01 1.07103388e-02 4.68226596e+01] [ 1.94601295e-01 -9.80880602e-01 -1.89204474e-03 -1.56035523e+02] [ 1.08737751e-02 2.28486410e-04 9.99940853e-01 1.44905780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.59 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.67, Y:-156.84, Z:2.24 [[-9.97189700e-01 7.41834529e-02 1.04650658e-02 4.66676845e+01] [ 7.41766213e-02 9.97244578e-01 -1.03996954e-03 -1.56837793e+02] [-1.05133787e-02 -2.60783685e-04 -9.99944699e-01 2.23926362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.62 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.76, Y:-156.03, Z:1.45 [[-9.81657684e-01 -1.90391619e-01 9.96103889e-03 4.67609231e+01] [ 1.90384128e-01 -9.81708196e-01 -1.70367851e-03 -1.56027682e+02] [ 1.01031996e-02 2.23994608e-04 9.99948936e-01 1.45006940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.65 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.61, Y:-156.83, Z:2.24 [[-9.97581429e-01 6.87395466e-02 1.03037719e-02 4.66077664e+01] [ 6.87331322e-02 9.97634605e-01 -9.75780984e-04 -1.56830939e+02] [-1.03464742e-02 -2.65210469e-04 -9.99946439e-01 2.24020902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.68 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.69, Y:-156.02, Z:1.45 [[-9.82430180e-01 -1.86340455e-01 1.04008233e-02 4.66872347e+01] [ 1.86333043e-01 -9.82485194e-01 -1.68567403e-03 -1.56020336e+02] [ 1.05327642e-02 2.81960019e-04 9.99944489e-01 1.44897504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.71 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.55, Y:-156.83, Z:2.24 [[-9.97864444e-01 6.44465929e-02 1.06389464e-02 4.65453347e+01] [ 6.44400470e-02 9.97921121e-01 -9.57290552e-04 -1.56826754e+02] [-1.06785235e-02 -2.69671997e-04 -9.99942947e-01 2.24077480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.74 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.55, Y:-156.80, Z:2.24 [[-9.99913418e-01 -5.33146060e-03 1.20304490e-02 4.65507782e+01] [-5.33454727e-03 9.99985746e-01 -2.24495677e-04 -1.56800603e+02] [-1.20290806e-02 -2.88653239e-04 -9.99927606e-01 2.24189850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.77 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.56, Y:-155.98, Z:1.45 [[-9.94033076e-01 -1.08317212e-01 1.28695756e-02 4.65645125e+01] [ 1.08312889e-01 -9.94116315e-01 -1.03453831e-03 -1.55980338e+02] [ 1.29059134e-02 3.65575608e-04 9.99916648e-01 1.44776986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.8 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.46, Y:-156.80, Z:2.24 [[-9.99880512e-01 -7.56503225e-03 1.34807731e-02 4.64576572e+01] [-7.56800389e-03 9.99971348e-01 -1.69434786e-04 -1.56800252e+02] [-1.34791050e-02 -2.71437084e-04 -9.99909116e-01 2.24309730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.83 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.47, Y:-155.98, Z:1.45 [[-9.95190744e-01 -9.70027489e-02 1.36326722e-02 4.64742057e+01] [ 9.69975972e-02 -9.95284072e-01 -1.04014572e-03 -1.55975878e+02] [ 1.36692785e-02 2.87193056e-04 9.99906530e-01 1.44624432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.86 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.37, Y:-156.81, Z:2.24 [[-9.99915686e-01 -1.86151855e-03 1.28513047e-02 4.63653755e+01] [-1.86271918e-03 9.99998262e-01 -8.14560063e-05 -1.56806468e+02] [-1.28511307e-02 -1.05387510e-04 -9.99917415e-01 2.24259697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.38, Y:-155.97, Z:1.45 [[-9.96571158e-01 -8.17447868e-02 1.27951737e-02 4.63786657e+01] [ 8.17393867e-02 -9.96653289e-01 -9.45312925e-04 -1.55968084e+02] [ 1.28296264e-02 1.03798055e-04 9.99917692e-01 1.44687993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.92 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.27, Y:-156.81, Z:2.24 [[-9.99925711e-01 -2.09925288e-03 1.20069186e-02 4.62712987e+01] [-2.09941740e-03 9.99997796e-01 -1.09782298e-06 -1.56809205e+02] [-1.20068898e-02 -2.63052752e-05 -9.99927914e-01 2.24133851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.95 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.28, Y:-156.79, Z:2.24 [[-9.97711974e-01 -6.67121487e-02 1.09683861e-02 4.62750794e+01] [-6.67075895e-02 9.97772262e-01 7.81394397e-04 -1.56785992e+02] [-1.09960799e-02 4.79319483e-05 -9.99939540e-01 2.24060809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.97999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.27, Y:-156.76, Z:2.24 [[-9.91306374e-01 -1.31228310e-01 9.52909630e-03 4.62719444e+01] [-1.31221214e-01 9.91352167e-01 1.36885294e-03 -1.56763370e+02] [-9.62632252e-03 1.06533060e-04 -9.99953660e-01 2.23942713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.01 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.25, Y:-156.75, Z:2.24 [[-9.81962353e-01 -1.88917030e-01 7.76481535e-03 4.62453649e+01] [-1.88909488e-01 9.81993032e-01 1.70024650e-03 -1.56750791e+02] [-7.94620009e-03 2.02730762e-04 -9.99968408e-01 2.23764592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.03999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.20, Y:-156.74, Z:2.24 [[-9.67218231e-01 -2.53843916e-01 7.22224273e-03 4.62003071e+01] [-2.53834949e-01 9.67245164e-01 2.14747767e-03 -1.56737145e+02] [-7.53080349e-03 2.43821939e-04 -9.99971613e-01 2.23661711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.14, Y:-156.73, Z:2.24 [[-9.47805280e-01 -3.18788801e-01 6.23308827e-03 4.61368321e+01] [-3.18780096e-01 9.47825740e-01 2.37011189e-03 -1.56733649e+02] [-6.66344663e-03 2.59420088e-04 -9.99977765e-01 2.23612109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.09999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:46.06, Y:-156.74, Z:2.24 [[-9.25334942e-01 -3.79112641e-01 5.37122692e-03 4.60633598e+01] [-3.79104390e-01 9.25350484e-01 2.51858754e-03 -1.56739870e+02] [-5.92509581e-03 2.94281350e-04 -9.99982403e-01 2.23513377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.13 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.98, Y:-156.75, Z:2.23 [[-8.95982430e-01 -4.44064760e-01 4.68769045e-03 4.59814254e+01] [-4.44056966e-01 8.95994646e-01 2.64674596e-03 -1.56754307e+02] [-5.37547216e-03 2.89836275e-04 -9.99985510e-01 2.23486429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.15999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.89, Y:-156.78, Z:2.23 [[-8.61422457e-01 -5.07873338e-01 4.00287150e-03 4.58915487e+01] [-5.07866346e-01 8.61431714e-01 2.67907283e-03 -1.56776042e+02] [-4.80883012e-03 2.74889785e-04 -9.99988400e-01 2.23411671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.19 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.80, Y:-156.81, Z:2.23 [[-8.21616216e-01 -5.70029543e-01 3.62136346e-03 4.58025214e+01] [-5.70022505e-01 8.21624151e-01 2.84595101e-03 -1.56808813e+02] [-4.59767583e-03 2.74020824e-04 -9.99989393e-01 2.23409151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.21999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.71, Y:-156.85, Z:2.24 [[-7.77387829e-01 -6.29010162e-01 3.79211089e-03 4.57073255e+01] [-6.29000612e-01 7.77397012e-01 3.48094266e-03 -1.56852059e+02] [-5.13752398e-03 3.20802384e-04 -9.99986751e-01 2.23511777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.25 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.61, Y:-156.91, Z:2.24 [[-7.27065646e-01 -6.86556429e-01 3.97693472e-03 4.56107449e+01] [-6.86543329e-01 7.27076431e-01 4.25689249e-03 -1.56906450e+02] [-5.81413241e-03 3.64702292e-04 -9.99983031e-01 2.23576549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.28 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.52, Y:-156.97, Z:2.24 [[-6.71807138e-01 -7.40716172e-01 3.83695178e-03 4.55174461e+01] [-7.40700723e-01 6.71817986e-01 4.79925072e-03 -1.56970494e+02] [-6.13261584e-03 3.82137932e-04 -9.99981122e-01 2.23618032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.31 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.42, Y:-157.04, Z:2.24 [[-6.09162938e-01 -7.93037195e-01 3.53865851e-03 4.54202864e+01] [-7.93020216e-01 6.09173108e-01 5.20213904e-03 -1.57043472e+02] [-6.28114536e-03 3.62722570e-04 -9.99980208e-01 2.23614102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.34 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.33, Y:-157.12, Z:2.24 [[-5.43239039e-01 -8.39571631e-01 3.28979200e-03 4.53318990e+01] [-8.39552054e-01 5.43248882e-01 5.74457019e-03 -1.57124017e+02] [-6.61015398e-03 3.58723162e-04 -9.99978088e-01 2.23667238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.37 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.24, Y:-157.22, Z:2.24 [[-4.69041053e-01 -8.83171822e-01 2.83251958e-03 4.52447419e+01] [-8.83151675e-01 4.69049510e-01 5.97295413e-03 -1.57216399e+02] [-6.60373670e-03 3.00016287e-04 -9.99978150e-01 2.23766817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.4 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.16, Y:-157.31, Z:2.24 [[-3.95348921e-01 -9.18528287e-01 2.23973341e-03 4.51646902e+01] [-9.18509668e-01 3.95355182e-01 5.85404084e-03 -1.57311097e+02] [-6.26259231e-03 2.57171943e-04 -9.99980357e-01 2.23700681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.43 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.09, Y:-157.42, Z:2.24 [[-3.19068358e-01 -9.47730167e-01 1.70688692e-03 4.50941675e+01] [-9.47712681e-01 3.19072847e-01 5.76137404e-03 -1.57416907e+02] [-6.00484925e-03 2.20633773e-04 -9.99981946e-01 2.23678160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.46 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.03, Y:-157.52, Z:2.24 [[-2.40988884e-01 -9.70527268e-01 1.08641499e-03 4.50343588e+01] [-9.70513975e-01 2.40991273e-01 5.08243485e-03 -1.57522057e+02] [-5.19445814e-03 1.70429378e-04 -9.99986494e-01 2.23653695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.49 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.98, Y:-157.64, Z:2.24 [[-1.61737736e-01 -9.86833558e-01 6.58928317e-04 4.49818128e+01] [-9.86821295e-01 1.61739013e-01 4.92170794e-03 -1.57638700e+02] [-4.96348097e-03 1.45781405e-04 -9.99987671e-01 2.23609074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.52 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.93, Y:-157.76, Z:2.24 [[-7.92741748e-02 -9.96852817e-01 2.59015764e-04 4.49341229e+01] [-9.96841981e-01 7.92745211e-02 4.64917818e-03 -1.57756076e+02] [-4.65507971e-03 1.10361977e-04 -9.99989159e-01 2.23520899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.55 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.90, Y:-157.87, Z:2.24 [[ 1.18888672e-04 -9.99999988e-01 -1.00112119e-04 4.48998501e+01] [-9.99989489e-01 -1.19346284e-04 4.58347206e-03 -1.57874321e+02] [-4.58348395e-03 9.95661433e-05 -9.99989491e-01 2.23513413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.58 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.88, Y:-158.00, Z:2.24 [[ 7.93120082e-02 -9.96849754e-01 -4.15828960e-04 4.48759126e+01] [-9.96841021e-01 -7.93130543e-02 4.17358449e-03 -1.57996754e+02] [-4.19341734e-03 8.34999974e-05 -9.99991204e-01 2.23543278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.61 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.86, Y:-158.12, Z:2.24 [[ 1.57615022e-01 -9.87500358e-01 -7.40596709e-04 4.48598894e+01] [-9.87491658e-01 -1.57616742e-01 4.14577253e-03 -1.58120782e+02] [-4.21068230e-03 7.78970450e-05 -9.99991132e-01 2.23599033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.64 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.86, Y:-158.24, Z:2.24 [[ 2.33367002e-01 -9.72388098e-01 -1.10830942e-03 4.48556050e+01] [-9.72378742e-01 -2.33369620e-01 4.26644628e-03 -1.58243550e+02] [-4.40728734e-03 8.20487423e-05 -9.99990285e-01 2.23588983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.67 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.86, Y:-158.36, Z:2.24 [[ 3.07298051e-01 -9.51612139e-01 -1.49835925e-03 4.48612700e+01] [-9.51602185e-01 -3.07301691e-01 4.35331189e-03 -1.58363877e+02] [-4.60311277e-03 8.80776766e-05 -9.99989402e-01 2.23669856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.7 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.88, Y:-158.48, Z:2.24 [[ 3.79022867e-01 -9.25385035e-01 -2.05008132e-03 4.48751568e+01] [-9.25372937e-01 -3.79028398e-01 4.73300339e-03 -1.58484255e+02] [-5.15688955e-03 1.03173253e-04 -9.99986698e-01 2.23701183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.72999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.90, Y:-158.60, Z:2.24 [[ 4.47271716e-01 -8.94391784e-01 -3.36879902e-03 4.48965110e+01] [-8.94369062e-01 -4.47284374e-01 6.37733577e-03 -1.58600055e+02] [-7.21064787e-03 1.60547698e-04 -9.99973990e-01 2.23824969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.76 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.93, Y:-158.71, Z:2.24 [[ 5.13755221e-01 -8.57927610e-01 -3.97353055e-03 4.49273229e+01] [-8.57904527e-01 -5.13770557e-01 6.29582220e-03 -1.58711999e+02] [-7.44284269e-03 1.74398319e-04 -9.99972286e-01 2.23864907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.78999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.97, Y:-158.82, Z:2.24 [[ 5.77298738e-01 -8.16518944e-01 -4.79382646e-03 4.49686673e+01] [-8.16493567e-01 -5.77318608e-01 6.44049077e-03 -1.58822533e+02] [-8.02634795e-03 1.96041272e-04 -9.99967769e-01 2.23899039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.82 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.01, Y:-158.92, Z:2.24 [[ 6.37721684e-01 -7.70246680e-01 -5.57730390e-03 4.50122154e+01] [-7.70220100e-01 -6.37746036e-01 6.40240765e-03 -1.58920662e+02] [-8.48833669e-03 2.12797388e-04 -9.99963951e-01 2.23966192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.84999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.06, Y:-159.02, Z:2.24 [[ 6.94066114e-01 -7.19882776e-01 -6.40459855e-03 4.50635384e+01] [-7.19855198e-01 -6.94095623e-01 6.30550858e-03 -1.59018477e+02] [-8.98463085e-03 2.33943721e-04 -9.99959610e-01 2.23989992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.88 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.06, Y:-159.03, Z:2.24 [[ 7.48089066e-01 -6.63559208e-01 -7.20600908e-03 4.50587673e+01] [-6.63531565e-01 -7.48123731e-01 6.06182521e-03 -1.59025891e+02] [-9.41336633e-03 2.46629326e-04 -9.99955663e-01 2.23989357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.90999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.05, Y:-159.04, Z:2.24 [[ 7.97574309e-01 -6.03174525e-01 -7.46420672e-03 4.50518184e+01] [-6.03150921e-01 -7.97609199e-01 5.34155465e-03 -1.59036354e+02] [-9.17540963e-03 2.41756392e-04 -9.99957876e-01 2.23935067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.94 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.05, Y:-159.04, Z:2.24 [[ 8.42599155e-01 -5.38494715e-01 -7.07854458e-03 4.50452904e+01] [-5.38477817e-01 -8.42628861e-01 4.27132160e-03 -1.59044494e+02] [-8.26467007e-03 2.12627258e-04 -9.99965824e-01 2.23948022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.96999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.04, Y:-159.05, Z:2.24 [[ 8.82503792e-01 -4.70247388e-01 -7.37905893e-03 4.50399851e+01] [-4.70232888e-01 -8.82534618e-01 3.69866578e-03 -1.59054872e+02] [-8.25156288e-03 2.05789616e-04 -9.99965934e-01 2.23921337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.0 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.04, Y:-159.07, Z:2.24 [[ 9.16913475e-01 -3.99009840e-01 -7.79912064e-03 4.50359152e+01] [-3.98997275e-01 -9.16946621e-01 3.17299048e-03 -1.59066170e+02] [-8.41743174e-03 2.02470158e-04 -9.99964552e-01 2.23918746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.03 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.03, Y:-159.08, Z:2.24 [[ 9.45888434e-01 -3.24396101e-01 -7.88919097e-03 4.50330277e+01] [-3.24386432e-01 -9.45921316e-01 2.51127482e-03 -1.59077871e+02] [-8.27720167e-03 1.83760702e-04 -9.99965727e-01 2.23919895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.06 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.03, Y:-159.09, Z:2.24 [[ 9.68606413e-01 -2.48482751e-01 -7.61177719e-03 4.50308226e+01] [-2.48476417e-01 -9.68636307e-01 1.78179732e-03 -1.59086928e+02] [-7.81578965e-03 1.65486813e-04 -9.99969443e-01 2.23900096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.09 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.03, Y:-159.10, Z:2.24 [[ 9.85286401e-01 -1.70769792e-01 -6.95598950e-03 4.50267573e+01] [-1.70766544e-01 -9.85310945e-01 1.06269431e-03 -1.59096772e+02] [-7.03528867e-03 1.40792028e-04 -9.99975242e-01 2.23840032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.12 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.02, Y:-159.11, Z:2.24 [[ 9.95818802e-01 -9.11311354e-02 -6.32691821e-03 4.50233694e+01] [-9.11300235e-02 -9.95838894e-01 4.64403014e-04 -1.59110445e+02] [-6.34291281e-03 1.14110952e-04 -9.99979877e-01 2.23740043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.15 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.02, Y:-159.12, Z:2.24 [[ 9.99904721e-01 -1.22011996e-02 -6.45594336e-03 4.50194229e+01] [-1.22016659e-02 -9.99925556e-01 -3.28449315e-05 -1.59120903e+02] [-6.45506201e-03 1.11615066e-04 -9.99979160e-01 2.23765345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.18 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.02, Y:-159.13, Z:2.24 [[ 9.97768691e-01 6.64423833e-02 -6.56116898e-03 4.50176142e+01] [ 6.64402115e-02 -9.97790257e-01 -5.48671005e-04 -1.59131891e+02] [-6.58312550e-03 1.11521295e-04 -9.99978325e-01 2.23763881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.21 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.02, Y:-159.14, Z:2.24 [[ 9.89562471e-01 1.43909949e-01 -7.48612165e-03 4.50153146e+01] [ 1.43904821e-01 -9.89590779e-01 -1.22195024e-03 -1.59141737e+02] [-7.58404775e-03 1.31907102e-04 -9.99971232e-01 2.23872372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.24 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.01, Y:-159.15, Z:2.24 [[ 9.75370840e-01 2.20442170e-01 -7.54809101e-03 4.50137864e+01] [ 2.20434463e-01 -9.75400036e-01 -1.84867386e-03 -1.59150001e+02] [-7.76993392e-03 1.39283195e-04 -9.99969804e-01 2.23956878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.27 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.01, Y:-159.16, Z:2.24 [[ 9.55342994e-01 2.95398149e-01 -7.72646299e-03 4.50143658e+01] [ 2.95387200e-01 -9.55374225e-01 -2.54791430e-03 -1.59159070e+02] [-8.13431276e-03 1.51833809e-04 -9.99966904e-01 2.23968954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.3 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.02, Y:-159.17, Z:2.24 [[ 9.29609211e-01 3.68472337e-01 -7.40615418e-03 4.50154267e+01] [ 3.68459292e-01 -9.29638700e-01 -3.10449692e-03 -1.59168837e+02] [-8.02896878e-03 1.57102608e-04 -9.99967755e-01 2.23982248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.33 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.02, Y:-159.18, Z:2.24 [[ 8.99028885e-01 4.37832121e-01 -7.07801895e-03 4.50178227e+01] [ 4.37817004e-01 -8.99056729e-01 -3.64260831e-03 -1.59180282e+02] [-7.95839149e-03 1.75933034e-04 -9.99968316e-01 2.23975322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.36 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.02, Y:-159.19, Z:2.24 [[ 8.62701028e-01 5.05669509e-01 -6.72932129e-03 4.50194339e+01] [ 5.05652434e-01 -8.62727253e-01 -4.15977408e-03 -1.59189711e+02] [-7.90903979e-03 1.85943689e-04 -9.99968706e-01 2.23969356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.39 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.02, Y:-159.20, Z:2.24 [[ 8.21353766e-01 5.70384644e-01 -6.27284031e-03 4.50202374e+01] [ 5.70366180e-01 -8.21377696e-01 -4.59359953e-03 -1.59198092e+02] [-7.77248976e-03 1.95154308e-04 -9.99969775e-01 2.23942408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.42 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.02, Y:-159.21, Z:2.24 [[ 7.75119140e-01 6.31792007e-01 -5.40171998e-03 4.50238226e+01] [ 6.31774946e-01 -7.75137939e-01 -4.64690854e-03 -1.59207242e+02] [-7.12295776e-03 1.89236406e-04 -9.99974614e-01 2.23865851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.45 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.03, Y:-159.22, Z:2.24 [[ 7.25249464e-01 6.88470710e-01 -4.61480232e-03 4.50291015e+01] [ 6.88455059e-01 -7.25264120e-01 -4.64626398e-03 -1.59216599e+02] [-6.54576721e-03 1.92616460e-04 -9.99978558e-01 2.23762963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.47999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.04, Y:-159.23, Z:2.24 [[ 6.69920627e-01 7.42422812e-01 -3.83684706e-03 4.50350015e+01] [ 7.42409062e-01 -6.69931590e-01 -4.52209830e-03 -1.59226279e+02] [-5.92773399e-03 1.80936903e-04 -9.99982414e-01 2.23739212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.51 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.04, Y:-159.24, Z:2.24 [[ 6.10563902e-01 7.91960197e-01 -3.28157317e-03 4.50399661e+01] [ 7.91947167e-01 -6.10572695e-01 -4.54634649e-03 -1.59235296e+02] [-5.60416443e-03 1.77002475e-04 -9.99984281e-01 2.23708964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.53999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.05, Y:-159.25, Z:2.24 [[ 5.48349850e-01 8.36244823e-01 -2.65298683e-03 4.50497122e+01] [ 8.36233485e-01 -5.48356241e-01 -4.35785572e-03 -1.59245956e+02] [-5.09901617e-03 1.71113108e-04 -9.99986985e-01 2.23712141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.06, Y:-159.25, Z:2.24 [[ 4.81773227e-01 8.76293204e-01 -2.18605718e-03 4.50558491e+01] [ 8.76282572e-01 -4.81778158e-01 -4.31976470e-03 -1.59254439e+02] [-4.83857505e-03 1.65543166e-04 -9.99988280e-01 2.23748563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.59999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.07, Y:-159.26, Z:2.24 [[ 4.12023044e-01 9.11171539e-01 -1.85392179e-03 4.50659294e+01] [ 9.11160397e-01 -4.12027180e-01 -4.50930965e-03 -1.59262944e+02] [-4.87262079e-03 1.68719379e-04 -9.99988115e-01 2.23720293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.63 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.08, Y:-159.27, Z:2.24 [[ 3.40165103e-01 9.40364764e-01 -1.34643937e-03 4.50763994e+01] [ 9.40355488e-01 -3.40167732e-01 -4.17969061e-03 -1.59270107e+02] [-4.38844900e-03 1.55653232e-04 -9.99990359e-01 2.23670628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.65999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.09, Y:-159.28, Z:2.24 [[ 2.66195435e-01 9.63918567e-01 -9.93636181e-04 4.50889507e+01] [ 9.63909506e-01 -2.66197244e-01 -4.18235739e-03 -1.59276487e+02] [-4.29595515e-03 1.55549083e-04 -9.99990760e-01 2.23632450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.69 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.10, Y:-159.28, Z:2.24 [[ 1.91085040e-01 9.81573247e-01 -6.84066689e-04 4.50979081e+01] [ 9.81563478e-01 -1.91086192e-01 -4.38235559e-03 -1.59282366e+02] [-4.43231870e-03 1.65947714e-04 -9.99990163e-01 2.23670990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.71999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.11, Y:-159.29, Z:2.24 [[ 1.15064944e-01 9.93357905e-01 -3.61257020e-04 4.51072877e+01] [ 9.93346721e-01 -1.15065364e-01 -4.71749933e-03 -1.59286585e+02] [-4.72773342e-03 1.83965320e-04 -9.99988807e-01 2.23670230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.12, Y:-159.29, Z:2.24 [[ 4.09745931e-02 9.99160189e-01 1.01701935e-05 4.51240018e+01] [ 9.99147467e-01 -4.09740200e-02 -5.04674493e-03 -1.59289685e+02] [-5.04208990e-03 2.16949843e-04 -9.99987265e-01 2.23673634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.78 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.14, Y:-159.29, Z:2.24 [[-3.74043267e-02 9.99300131e-01 4.05399395e-04 4.51365671e+01] [ 9.99287493e-01 3.74058945e-02 -5.03041868e-03 -1.59292285e+02] [-5.04206238e-03 2.16951121e-04 -9.99987265e-01 2.23673610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.81 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.15, Y:-159.29, Z:2.24 [[-1.13112126e-01 9.93581913e-01 7.92870970e-04 4.51474784e+01] [ 9.93569614e-01 1.13114675e-01 -4.94889950e-03 -1.59294471e+02] [-5.00682237e-03 2.27991963e-04 -9.99987440e-01 2.23701639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.84 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.16, Y:-159.29, Z:2.24 [[-1.88096875e-01 9.82149786e-01 1.16770208e-03 4.51610494e+01] [ 9.82137943e-01 1.88100348e-01 -4.82909763e-03 -1.59294539e+02] [-4.96254237e-03 2.38506348e-04 -9.99987658e-01 2.23664716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.87 meters Centerline goodness [0,1] 0.9999788000847997 Centerline is valid? [True, True] Translation: X:45.17, Y:-159.30, Z:2.24 [[-2.59486709e-01 9.65745557e-01 1.47194438e-03 4.51710065e+01] [ 9.65735072e-01 2.59490762e-01 -4.50723433e-03 -1.59295911e+02] [-4.73479750e-03 2.51940905e-04 -9.99988759e-01 2.23683057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.9 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.19, Y:-159.29, Z:2.24 [[-3.32335540e-01 9.43159743e-01 1.66992335e-03 4.51851498e+01] [ 9.43151222e-01 3.32339649e-01 -4.01623588e-03 -1.59294024e+02] [-4.34293374e-03 2.40252330e-04 -9.99990541e-01 2.23628786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.93 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.20, Y:-159.29, Z:2.24 [[-4.03158606e-01 9.15128590e-01 1.67419876e-03 4.52004044e+01] [ 9.15122749e-01 4.03162027e-01 -3.27641267e-03 -1.59288889e+02] [-3.67331227e-03 2.11183403e-04 -9.99993231e-01 2.23615553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.96 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.21, Y:-159.29, Z:2.24 [[-4.71984536e-01 8.81605214e-01 1.68691623e-03 4.52124833e+01] [ 8.81600955e-01 4.71987512e-01 -2.74667697e-03 -1.59285555e+02] [-3.21768813e-03 1.90797907e-04 -9.99994805e-01 2.23625065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.99 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.23, Y:-159.28, Z:2.24 [[-5.38250008e-01 8.42782893e-01 1.98093894e-03 4.52258631e+01] [ 8.42778523e-01 5.38253615e-01 -2.72170693e-03 -1.59280232e+02] [-3.36005559e-03 2.04534017e-04 -9.99994334e-01 2.23685543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.02 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.24, Y:-159.27, Z:2.24 [[-6.02707740e-01 7.97958329e-01 2.42589900e-03 4.52423205e+01] [ 7.97953321e-01 6.02712580e-01 -2.83624891e-03 -1.59269123e+02] [-3.72532828e-03 2.26324995e-04 -9.99993035e-01 2.23696727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.05 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.26, Y:-159.26, Z:2.24 [[-6.63594449e-01 7.48087657e-01 2.69542419e-03 4.52572051e+01] [ 7.48082847e-01 6.63599883e-01 -2.69252816e-03 -1.59255596e+02] [-3.80293026e-03 2.29653865e-04 -9.99992742e-01 2.23703760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.08 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.28, Y:-159.23, Z:2.24 [[-7.15594406e-01 6.98509067e-01 3.11906223e-03 4.52767866e+01] [ 6.98503882e-01 7.15601162e-01 -2.70261466e-03 -1.59231057e+02] [-4.11980540e-03 2.44701145e-04 -9.99991484e-01 2.23748191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.11 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.71, Y:-158.74, Z:1.45 [[-7.49244914e-01 -6.62285936e-01 3.06557422e-03 4.57092544e+01] [ 6.62279024e-01 -7.49251145e-01 -3.03566758e-03 -1.58737162e+02] [ 4.30736494e-03 -2.44192989e-04 9.99990693e-01 1.45121796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.14 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.69, Y:-158.76, Z:1.45 [[-7.02353129e-01 -7.11823574e-01 2.69844349e-03 4.56860520e+01] [ 7.11817020e-01 -7.02358275e-01 -3.06330578e-03 -1.58762981e+02] [ 4.07580739e-03 -2.30724395e-04 9.99991667e-01 1.45088803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.17 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.66, Y:-158.75, Z:1.45 [[-7.01307344e-01 -7.12852322e-01 3.09469848e-03 4.56619373e+01] [ 7.12843724e-01 -7.01314125e-01 -3.51050346e-03 -1.58748144e+02] [ 4.67282630e-03 -2.55905468e-04 9.99989050e-01 1.44975504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.2 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.64, Y:-158.73, Z:1.45 [[-7.00882799e-01 -7.13270123e-01 3.00563998e-03 4.56380938e+01] [ 7.13262025e-01 -7.00889201e-01 -3.40760812e-03 -1.58731178e+02] [ 4.53716567e-03 -2.44525057e-04 9.99989677e-01 1.45005190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.22999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.62, Y:-158.71, Z:1.45 [[-7.00492011e-01 -7.13654517e-01 2.85868036e-03 4.56152723e+01] [ 7.13647203e-01 -7.00497807e-01 -3.23920715e-03 -1.58713118e+02] [ 4.31417413e-03 -2.28949488e-04 9.99990668e-01 1.45000471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.26 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.59, Y:-158.69, Z:1.45 [[-7.00093763e-01 -7.14045080e-01 2.88927403e-03 4.55932432e+01] [ 7.14037619e-01 -7.00099688e-01 -3.27208166e-03 -1.58694244e+02] [ 4.35919366e-03 -2.27713614e-04 9.99990473e-01 1.44977245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.28999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.57, Y:-158.68, Z:1.45 [[-6.99260923e-01 -7.14859539e-01 3.16236073e-03 4.55701107e+01] [ 7.14850617e-01 -6.99268032e-01 -3.57985688e-03 -1.58678729e+02] [ 4.77043261e-03 -2.42638508e-04 9.99988592e-01 1.44923432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.32 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.55, Y:-158.66, Z:1.45 [[-6.99464073e-01 -7.14659446e-01 3.44763739e-03 4.55479567e+01] [ 7.14648850e-01 -6.99472520e-01 -3.90058859e-03 -1.58660833e+02] [ 5.19912009e-03 -2.64471485e-04 9.99986450e-01 1.44879290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.34999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.53, Y:-158.64, Z:1.45 [[-6.99839572e-01 -7.14290218e-01 3.74954673e-03 4.55276855e+01] [ 7.14277694e-01 -6.99849557e-01 -4.23963448e-03 -1.58642895e+02] [ 5.65244805e-03 -2.88846393e-04 9.99983983e-01 1.44831320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.38 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.51, Y:-158.62, Z:1.45 [[-7.00613038e-01 -7.13530833e-01 3.88857764e-03 4.55076198e+01] [ 7.13517367e-01 -7.00623763e-01 -4.39423996e-03 -1.58624802e+02] [ 5.85985560e-03 -3.04094124e-04 9.99982785e-01 1.44812800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.40999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.49, Y:-158.61, Z:1.45 [[-7.02589645e-01 -7.11586532e-01 3.52106998e-03 4.54856237e+01] [ 7.11575478e-01 -7.02598409e-01 -3.97674621e-03 -1.58608883e+02] [ 5.30369721e-03 -2.88513653e-04 9.99985894e-01 1.44888457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.44 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.46, Y:-158.59, Z:1.45 [[-7.04043900e-01 -7.10147980e-01 3.46885837e-03 4.54595866e+01] [ 7.10137245e-01 -7.04052385e-01 -3.91564944e-03 -1.58593533e+02] [ 5.22294855e-03 -2.93423576e-04 9.99986317e-01 1.45009746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.46999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.44, Y:-158.58, Z:1.45 [[-7.07370804e-01 -7.06836465e-01 2.95937939e-03 4.54374953e+01] [ 7.06828632e-01 -7.07376943e-01 -3.33858408e-03 -1.58576559e+02] [ 4.45322971e-03 -2.69842822e-04 9.99990048e-01 1.45047735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.42, Y:-158.56, Z:1.45 [[-7.09170843e-01 -7.05029558e-01 3.16833824e-03 4.54171061e+01] [ 7.05020571e-01 -7.09177857e-01 -3.57223244e-03 -1.58557607e+02] [ 4.76544478e-03 -2.99579456e-04 9.99988600e-01 1.45045342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.53 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.40, Y:-158.54, Z:1.45 [[-7.10648293e-01 -7.03540490e-01 3.12770626e-03 4.53959817e+01] [ 7.03531725e-01 -7.10655110e-01 -3.52514052e-03 -1.58539222e+02] [ 4.70279953e-03 -3.04694519e-04 9.99988895e-01 1.45049948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.37, Y:-158.52, Z:1.45 [[-7.13475758e-01 -7.00672748e-01 3.16904089e-03 4.53721363e+01] [ 7.00663728e-01 -7.13482721e-01 -3.57035526e-03 -1.58522662e+02] [ 4.76270655e-03 -3.26929927e-04 9.99988605e-01 1.45029906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.59 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.35, Y:-158.51, Z:1.45 [[-7.14903875e-01 -6.99215063e-01 3.27802412e-03 4.53483222e+01] [ 6.99205406e-01 -7.14911306e-01 -3.69109808e-03 -1.58506048e+02] [ 4.92436788e-03 -3.46768139e-04 9.99987815e-01 1.45054644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.62 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.33, Y:-158.49, Z:1.45 [[-7.16073994e-01 -6.98015973e-01 3.42594078e-03 4.53259924e+01] [ 6.98005422e-01 -7.16082094e-01 -3.85555060e-03 -1.58488100e+02] [ 5.14449075e-03 -3.69534281e-04 9.99986699e-01 1.45065088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.65 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.30, Y:-158.47, Z:1.45 [[-7.17019266e-01 -6.97042787e-01 3.83743059e-03 4.53045107e+01] [ 6.97029549e-01 -7.17029412e-01 -4.31630324e-03 -1.58469393e+02] [ 5.76019864e-03 -4.20070066e-04 9.99983322e-01 1.45080492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.68 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.29, Y:-158.45, Z:1.45 [[-7.17762594e-01 -6.96275666e-01 4.12969786e-03 4.52875049e+01] [ 6.96260339e-01 -7.17774329e-01 -4.64247467e-03 -1.58447776e+02] [ 6.19663325e-03 -4.56849833e-04 9.99980696e-01 1.44998598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.71 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.26, Y:-158.44, Z:1.45 [[-7.18634106e-01 -6.95375059e-01 4.30678766e-03 4.52574998e+01] [ 6.95358391e-01 -7.18646850e-01 -4.83878343e-03 -1.58437136e+02] [ 6.45982870e-03 -4.82553863e-04 9.99979019e-01 1.45022684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.74 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.23, Y:-158.42, Z:1.45 [[-7.19372339e-01 -6.94608964e-01 4.67183242e-03 4.52337505e+01] [ 6.94589354e-01 -7.19387314e-01 -5.24606094e-03 -1.58420175e+02] [ 7.00481793e-03 -5.28866063e-04 9.99975326e-01 1.45027024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.77 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.21, Y:-158.41, Z:1.45 [[-7.20554536e-01 -6.93381150e-01 4.87250527e-03 4.52090126e+01] [ 6.93359815e-01 -7.20570791e-01 -5.46821571e-03 -1.58405167e+02] [ 7.30254268e-03 -5.61748282e-04 9.99973178e-01 1.45016295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.8 meters Centerline goodness [0,1] 0.9999792229378766 Centerline is valid? [True, True] Translation: X:45.19, Y:-158.38, Z:1.45 [[-7.21269805e-01 -6.92638231e-01 4.70630397e-03 4.51941803e+01] [ 6.92618324e-01 -7.21284951e-01 -5.27983193e-03 -1.58381919e+02] [ 7.05159967e-03 -5.48510979e-04 9.99974987e-01 1.44951592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.83 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.17, Y:-158.37, Z:1.45 [[-7.21932587e-01 -6.91947884e-01 4.63310090e-03 4.51690913e+01] [ 6.91928598e-01 -7.21947248e-01 -5.19481898e-03 -1.58366910e+02] [ 6.93939845e-03 -5.44534095e-04 9.99975774e-01 1.45015769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.86 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.14, Y:-158.35, Z:1.45 [[-7.22644403e-01 -6.91204436e-01 4.63623412e-03 4.51445212e+01] [ 6.91185127e-01 -7.22659066e-01 -5.19558776e-03 -1.58350685e+02] [ 6.94162992e-03 -5.50066343e-04 9.99975755e-01 1.45057466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.12, Y:-158.34, Z:1.45 [[-7.23556601e-01 -6.90254015e-01 3.90392888e-03 4.51165239e+01] [ 6.90240324e-01 -7.23566981e-01 -4.37260695e-03 -1.58337073e+02] [ 5.84296354e-03 -4.69179490e-04 9.99982820e-01 1.45200692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.92 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.10, Y:-158.32, Z:1.45 [[-7.23947195e-01 -6.89846443e-01 3.51340854e-03 4.50959852e+01] [ 6.89835360e-01 -7.23955596e-01 -3.93321915e-03 -1.58319129e+02] [ 5.25686902e-03 -4.23769521e-04 9.99986093e-01 1.45213005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.95 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.07, Y:-158.30, Z:1.45 [[-7.24299486e-01 -6.89477471e-01 3.32750101e-03 4.50732269e+01] [ 6.89467535e-01 -7.24307017e-01 -3.72323484e-03 -1.58302147e+02] [ 4.97721887e-03 -4.02533164e-04 9.99987533e-01 1.45231828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.97999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.04, Y:-158.29, Z:1.45 [[-7.25174646e-01 -6.88554434e-01 3.81104797e-03 4.50441759e+01] [ 6.88541400e-01 -7.25184510e-01 -4.26215311e-03 -1.58289896e+02] [ 5.69843738e-03 -4.66741069e-04 9.99983655e-01 1.45194524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.01 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.02, Y:-158.27, Z:1.45 [[-7.25994827e-01 -6.87689909e-01 3.75505398e-03 4.50223922e+01] [ 6.87677257e-01 -7.26004389e-01 -4.19726691e-03 -1.58271306e+02] [ 5.61260377e-03 -4.64928834e-04 9.99984141e-01 1.45156871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.03999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:45.00, Y:-158.25, Z:1.45 [[-7.26691985e-01 -6.86952675e-01 3.84454128e-03 4.49987680e+01] [ 6.86939417e-01 -7.26701996e-01 -4.29497154e-03 -1.58254284e+02] [ 5.74427801e-03 -4.80154456e-04 9.99983386e-01 1.45181054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.98, Y:-158.23, Z:1.45 [[-7.27318290e-01 -6.86290729e-01 3.62482455e-03 4.49809646e+01] [ 6.86278942e-01 -7.27327180e-01 -4.04809442e-03 -1.58233369e+02] [ 5.41460308e-03 -4.56612353e-04 9.99985237e-01 1.45171790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.09999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.95, Y:-158.23, Z:1.45 [[-7.27982871e-01 -6.85586723e-01 3.43288882e-03 4.49457860e+01] [ 6.85576154e-01 -7.27990835e-01 -3.83167943e-03 -1.58226551e+02] [ 5.12606014e-03 -4.35890282e-04 9.99986767e-01 1.45360295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.13 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.92, Y:-158.21, Z:1.45 [[-7.27993864e-01 -6.85575813e-01 3.27688595e-03 4.49220876e+01] [ 6.85566193e-01 -7.28001121e-01 -3.65546530e-03 -1.58209764e+02] [ 4.89167524e-03 -4.14634080e-04 9.99987950e-01 1.45398264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.15999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.90, Y:-158.19, Z:1.45 [[-7.27693361e-01 -6.85894970e-01 3.23468611e-03 4.48980922e+01] [ 6.85885608e-01 -7.27700437e-01 -3.60655523e-03 -1.58192680e+02] [ 4.82760058e-03 -4.05841647e-04 9.99988265e-01 1.45420403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.19 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.87, Y:-158.18, Z:1.45 [[-7.25672445e-01 -6.88033403e-01 3.08856507e-03 4.48659473e+01] [ 6.88024896e-01 -7.25678922e-01 -3.44164080e-03 -1.58184364e+02] [ 4.60927040e-03 -3.72494231e-04 9.99989308e-01 1.45467071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.21999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.85, Y:-158.17, Z:1.45 [[-7.24255554e-01 -6.89524609e-01 3.11554665e-03 4.48466997e+01] [ 6.89515974e-01 -7.24262163e-01 -3.47007236e-03 -1.58165804e+02] [ 4.64917285e-03 -3.64999997e-04 9.99989126e-01 1.45451244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.25 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.82, Y:-158.15, Z:1.45 [[-7.22426620e-01 -6.91440100e-01 3.21968483e-03 4.48229337e+01] [ 6.91430907e-01 -7.22433704e-01 -3.58391392e-03 -1.58150153e+02] [ 4.80407064e-03 -3.62925224e-04 9.99988395e-01 1.45425375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.28 meters Centerline goodness [0,1] 0.9999792457920843 Centerline is valid? [True, True] Translation: X:44.80, Y:-158.13, Z:1.45 [[-7.20449387e-01 -6.93498873e-01 3.46337501e-03 4.48014455e+01] [ 6.93488272e-01 -7.20457614e-01 -3.85260670e-03 -1.58134117e+02] [ 5.16699329e-03 -3.73798183e-04 9.99986581e-01 1.45367432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.31 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.77, Y:-158.13, Z:1.45 [[-7.15923449e-01 -6.98166558e-01 4.13192550e-03 4.47652788e+01] [ 6.98151564e-01 -7.15935258e-01 -4.59347142e-03 -1.58128737e+02] [ 6.16519928e-03 -4.03863656e-04 9.99980913e-01 1.45368244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.34 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.74, Y:-158.11, Z:1.45 [[-7.13646715e-01 -7.00490882e-01 4.57059153e-03 4.47439251e+01] [ 7.00472604e-01 -7.13661227e-01 -5.07785672e-03 -1.58111299e+02] [ 6.81884629e-03 -4.22221616e-04 9.99976662e-01 1.45296529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.37 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.72, Y:-158.10, Z:1.45 [[-7.11564219e-01 -7.02606084e-01 4.58837770e-03 4.47197322e+01] [ 7.02587729e-01 -7.11578900e-01 -5.09444577e-03 -1.58096098e+02] [ 6.84438134e-03 -4.01287457e-04 9.99976496e-01 1.45282998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.4 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.69, Y:-158.09, Z:1.45 [[-7.07813384e-01 -7.06386476e-01 4.28490344e-03 4.46898155e+01] [ 7.06370557e-01 -7.07826272e-01 -4.75448452e-03 -1.58086057e+02] [ 6.39147079e-03 -3.38558150e-04 9.99979517e-01 1.45274196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.43 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.67, Y:-158.07, Z:1.45 [[-7.06465986e-01 -7.07734963e-01 4.12710179e-03 4.46662244e+01] [ 7.07720234e-01 -7.06477972e-01 -4.57660593e-03 -1.58069664e+02] [ 6.15473053e-03 -3.12382982e-04 9.99981011e-01 1.45283969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.46 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.65, Y:-158.05, Z:1.45 [[-7.05494668e-01 -7.08704536e-01 3.89276095e-03 4.46463213e+01] [ 7.08691462e-01 -7.05505350e-01 -4.31433251e-03 -1.58051689e+02] [ 5.80395070e-03 -2.84972133e-04 9.99983116e-01 1.45260774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.49 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.62, Y:-158.04, Z:1.45 [[-7.03969290e-01 -7.10222162e-01 3.42354119e-03 4.46184863e+01] [ 7.10212078e-01 -7.03977574e-01 -3.79212083e-03 -1.58038675e+02] [ 5.10334447e-03 -2.38096309e-04 9.99986950e-01 1.45291832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.52 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.60, Y:-158.02, Z:1.45 [[-7.03523676e-01 -7.10664923e-01 3.13107657e-03 4.45966500e+01] [ 7.10656503e-01 -7.03530611e-01 -3.46614698e-03 -1.58021256e+02] [ 4.66607729e-03 -2.13396537e-04 9.99989091e-01 1.45299099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.55 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.57, Y:-158.00, Z:1.45 [[-7.03237059e-01 -7.10948442e-01 3.15461236e-03 4.45746335e+01] [ 7.10939907e-01 -7.03244102e-01 -3.49016221e-03 -1.58003073e+02] [ 4.69978792e-03 -2.11671589e-04 9.99988934e-01 1.45287902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.58 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.55, Y:-157.99, Z:1.45 [[-7.02457711e-01 -7.11715553e-01 3.75987125e-03 4.45507471e+01] [ 7.11703452e-01 -7.02467731e-01 -4.15737493e-03 -1.57987165e+02] [ 5.60005662e-03 -2.44466730e-04 9.99984290e-01 1.45139104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.61 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.53, Y:-157.97, Z:1.45 [[-7.02195187e-01 -7.11973627e-01 3.93356699e-03 4.45300519e+01] [ 7.11960404e-01 -7.02206160e-01 -4.34657673e-03 -1.57969812e+02] [ 5.85682297e-03 -2.51601320e-04 9.99982817e-01 1.45055252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.64 meters Centerline goodness [0,1] 0.9999377657919303 Centerline is valid? [True, True] Translation: X:44.51, Y:-157.95, Z:1.45 [[-7.01863466e-01 -7.12298552e-01 4.29519317e-03 4.45089505e+01] [ 7.12282810e-01 -7.01876556e-01 -4.74324404e-03 -1.57951575e+02] [ 6.39330125e-03 -2.69717439e-04 9.99979526e-01 1.44975766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.67 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.49, Y:-157.93, Z:1.45 [[-7.01599115e-01 -7.12558849e-01 4.30914432e-03 4.44887514e+01] [ 7.12543030e-01 -7.01612297e-01 -4.75555045e-03 -1.57933791e+02] [ 6.41195820e-03 -2.66039233e-04 9.99979408e-01 1.44913496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.7 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.47, Y:-157.91, Z:1.45 [[-7.01830165e-01 -7.12331270e-01 4.31068638e-03 4.44707614e+01] [ 7.12315455e-01 -7.01843352e-01 -4.75415269e-03 -1.57914100e+02] [ 6.41195820e-03 -2.66039233e-04 9.99979408e-01 1.44913472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.72999999999996 meters Centerline goodness [0,1] 0.9999791688365796 Centerline is valid? [True, True] Translation: X:44.45, Y:-157.90, Z:1.45 [[-7.00595523e-01 -7.13543033e-01 4.71740706e-03 4.44482976e+01] [ 7.13524141e-01 -7.00611350e-01 -5.19969997e-03 -1.57896764e+02] [ 7.01527861e-03 -2.76902700e-04 9.99975354e-01 1.44868420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.76 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.43, Y:-157.88, Z:1.45 [[-7.00329674e-01 -7.13802093e-01 4.99192914e-03 4.44296907e+01] [ 7.13780973e-01 -7.00347406e-01 -5.49855754e-03 -1.57878546e+02] [ 7.42096650e-03 -2.87658975e-04 9.99972423e-01 1.44817512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.78999999999996 meters Centerline goodness [0,1] 0.9997495826377295 Centerline is valid? [True, True] Translation: X:44.41, Y:-157.86, Z:1.45 [[-6.99865276e-01 -7.14256335e-01 5.14622457e-03 4.44095208e+01] [ 7.14233925e-01 -6.99884136e-01 -5.66531292e-03 -1.57858983e+02] [ 7.64824658e-03 -2.89347615e-04 9.99970710e-01 1.44784775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.82 meters Centerline goodness [0,1] 0.9998334651734044 Centerline is valid? [True, True] Translation: X:44.39, Y:-157.84, Z:1.45 [[-6.99306331e-01 -7.14803444e-01 5.16646466e-03 4.43883485e+01] [ 7.14780899e-01 -6.99325359e-01 -5.68410105e-03 -1.57840972e+02] [ 7.67605476e-03 -2.82037597e-04 9.99970499e-01 1.44820659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.84999999999997 meters Centerline goodness [0,1] 0.9997095556200988 Centerline is valid? [True, True] Translation: X:44.37, Y:-157.82, Z:1.45 [[-6.97742058e-01 -7.16333238e-01 4.76586278e-03 4.43670613e+01] [ 7.16314111e-01 -6.97758292e-01 -5.24029576e-03 -1.57822461e+02] [ 7.07921830e-03 -2.42519985e-04 9.99974913e-01 1.44821992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.88 meters Centerline goodness [0,1] 0.999791948403204 Centerline is valid? [True, True] Translation: X:44.35, Y:-157.80, Z:1.45 [[-6.97097610e-01 -7.16960824e-01 4.70092765e-03 4.43487519e+01] [ 7.16942250e-01 -6.97113422e-01 -5.16595246e-03 -1.57802852e+02] [ 6.98086529e-03 -2.30879465e-04 9.99975607e-01 1.44864952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.90999999999997 meters Centerline goodness [0,1] 0.9997499531162093 Centerline is valid? [True, True] Translation: X:44.33, Y:-157.78, Z:1.45 [[-6.96666637e-01 -7.17381694e-01 4.37058993e-03 4.43285409e+01] [ 7.17365664e-01 -6.96680316e-01 -4.80018825e-03 -1.57783721e+02] [ 6.48847115e-03 -2.08819859e-04 9.99978928e-01 1.44915403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.94 meters Centerline goodness [0,1] 0.9997274975894017 Centerline is valid? [True, True] Translation: X:44.31, Y:-157.77, Z:1.45 [[-6.96357152e-01 -7.17685577e-01 3.75888973e-03 4.43063611e+01] [ 7.17673739e-01 -6.96367275e-01 -4.12587454e-03 -1.57766431e+02] [ 5.57864844e-03 -1.75425802e-04 9.99984424e-01 1.45075728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.96999999999997 meters Centerline goodness [0,1] 0.9996882469084485 Centerline is valid? [True, True] Translation: X:44.29, Y:-157.74, Z:1.45 [[-6.96716995e-01 -7.17336836e-01 3.64592423e-03 4.42911616e+01] [ 7.17325707e-01 -6.96726514e-01 -3.99933869e-03 -1.57743629e+02] [ 5.40908504e-03 -1.71092058e-04 9.99985356e-01 1.45035574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.0 meters Centerline goodness [0,1] 0.9998135526506599 Centerline is valid? [True, True] Translation: X:44.27, Y:-157.72, Z:1.45 [[-6.97356128e-01 -7.16715301e-01 3.68888300e-03 4.42710832e+01] [ 7.16703915e-01 -6.97365862e-01 -4.04381420e-03 -1.57724693e+02] [ 5.47076459e-03 -1.76141719e-04 9.99985020e-01 1.45102880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.03 meters Centerline goodness [0,1] 0.9998954936878187 Centerline is valid? [True, True] Translation: X:44.25, Y:-157.70, Z:1.45 [[-6.98581123e-01 -7.15523351e-01 3.27854634e-03 4.42521520e+01] [ 7.15514354e-01 -6.98588798e-01 -3.59187582e-03 -1.57704160e+02] [ 4.86042677e-03 -1.63369683e-04 9.99988175e-01 1.45192386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.06 meters Centerline goodness [0,1] 0.9999373603658155 Centerline is valid? [True, True] Translation: X:44.23, Y:-157.68, Z:1.45 [[-7.01325461e-01 -7.12838486e-01 1.97248485e-03 4.42348783e+01] [ 7.12835223e-01 -7.01328226e-01 -2.15968484e-03 -1.57682321e+02] [ 2.92286577e-03 -1.08585288e-04 9.99995723e-01 1.45324578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.09 meters Centerline goodness [0,1] 0.999875784112788 Centerline is valid? [True, True] Translation: X:44.22, Y:-157.66, Z:1.45 [[-7.03105379e-01 -7.11083517e-01 1.74854911e-03 4.42201601e+01] [ 7.11080950e-01 -7.03107546e-01 -1.91352321e-03 -1.57659751e+02] [ 2.59009289e-03 -1.02048497e-04 9.99996641e-01 1.45367452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.12 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:44.20, Y:-157.64, Z:1.45 [[-7.04859284e-01 -7.09346061e-01 1.24672111e-03 4.42009402e+01] [ 7.09344755e-01 -7.04860383e-01 -1.36353683e-03 -1.57638930e+02] [ 1.84598380e-03 -7.67465171e-05 9.99998293e-01 1.45456161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.15 meters Centerline goodness [0,1] 0.9998126444199263 Centerline is valid? [True, True] Translation: X:44.19, Y:-157.62, Z:1.45 [[-7.07912494e-01 -7.06299438e-01 1.00265655e-03 4.41862357e+01] [ 7.06298590e-01 -7.07913201e-01 -1.09606355e-03 -1.57617041e+02] [ 1.48394287e-03 -6.77421762e-05 9.99998897e-01 1.45425769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.18 meters Centerline goodness [0,1] 0.999874903571503 Centerline is valid? [True, True] Translation: X:44.17, Y:-157.60, Z:1.45 [[-7.09360358e-01 -7.04845577e-01 7.71362474e-04 4.41677710e+01] [ 7.04845075e-01 -7.09360775e-01 -8.42689900e-04 -1.57596699e+02] [ 1.14114053e-03 -5.40797684e-05 9.99999347e-01 1.45417599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.21 meters Centerline goodness [0,1] 0.9998960023295478 Centerline is valid? [True, True] Translation: X:44.15, Y:-157.58, Z:1.45 [[-7.10756116e-01 -7.03437802e-01 1.00085451e-03 4.41514375e+01] [ 7.03436957e-01 -7.10756817e-01 -1.09272261e-03 -1.57575430e+02] [ 1.48002656e-03 -7.26212264e-05 9.99998902e-01 1.45341425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.24 meters Centerline goodness [0,1] 0.9998340489970337 Centerline is valid? [True, True] Translation: X:44.14, Y:-157.55, Z:1.45 [[-7.12119784e-01 -7.02055845e-01 1.73318762e-03 4.41356212e+01] [ 7.02053309e-01 -7.12121881e-01 -1.89133899e-03 -1.57554177e+02] [ 2.56206642e-03 -1.30069810e-04 9.99996709e-01 1.45155724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.27 meters Centerline goodness [0,1] 0.9997492372633426 Centerline is valid? [True, True] Translation: X:44.12, Y:-157.54, Z:1.45 [[-7.12728408e-01 -7.01436352e-01 2.29361900e-03 4.41153825e+01] [ 7.01431913e-01 -7.12732078e-01 -2.50144088e-03 -1.57535031e+02] [ 3.38933740e-03 -1.74030413e-04 9.99994241e-01 1.45077925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.3 meters Centerline goodness [0,1] 0.9998331108144193 Centerline is valid? [True, True] Translation: X:44.10, Y:-157.51, Z:1.45 [[-7.13111587e-01 -7.01045287e-01 2.71477895e-03 4.40992111e+01] [ 7.01039074e-01 -7.13116724e-01 -2.95871687e-03 -1.57514343e+02] [ 4.01014879e-03 -2.06729161e-04 9.99991938e-01 1.44990115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.33 meters Centerline goodness [0,1] 0.9997288559808113 Centerline is valid? [True, True] Translation: X:44.08, Y:-157.50, Z:1.45 [[-7.13626768e-01 -7.00518980e-01 3.16136224e-03 4.40762995e+01] [ 7.00510559e-01 -7.13633729e-01 -3.44337301e-03 -1.57497057e+02] [ 4.66820287e-03 -2.42715526e-04 9.99989074e-01 1.44909982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.36 meters Centerline goodness [0,1] 0.9997694307034459 Centerline is valid? [True, True] Translation: X:44.06, Y:-157.47, Z:1.45 [[-7.14109029e-01 -7.00026437e-01 3.35898811e-03 4.40623203e+01] [ 7.00016932e-01 -7.14116882e-01 -3.65704088e-03 -1.57473305e+02] [ 4.95873541e-03 -2.60177357e-04 9.99987672e-01 1.44847813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.39 meters Centerline goodness [0,1] 0.9997507788161993 Centerline is valid? [True, True] Translation: X:44.04, Y:-157.46, Z:1.45 [[-7.14983736e-01 -6.99132930e-01 3.37685232e-03 4.40408744e+01] [ 6.99123326e-01 -7.14991661e-01 -3.67435970e-03 -1.57455108e+02] [ 4.98328712e-03 -2.66271203e-04 9.99987548e-01 1.44839718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.42 meters Centerline goodness [0,1] 0.9998329051527873 Centerline is valid? [True, True] Translation: X:44.02, Y:-157.44, Z:1.45 [[-7.15907097e-01 -6.98187540e-01 3.34485770e-03 4.40201818e+01] [ 6.98178117e-01 -7.15914860e-01 -3.63739248e-03 -1.57435671e+02] [ 4.93421544e-03 -2.68728639e-04 9.99987791e-01 1.44850489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.45 meters Centerline goodness [0,1] 0.9998745898041511 Centerline is valid? [True, True] Translation: X:44.00, Y:-157.42, Z:1.45 [[-7.19076202e-01 -6.94923628e-01 3.25064676e-03 4.40040869e+01] [ 6.94914707e-01 -7.19083494e-01 -3.53255356e-03 -1.57415162e+02] [ 4.79234137e-03 -2.81252955e-04 9.99988477e-01 1.44840201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.47999999999996 meters Centerline goodness [0,1] 0.9996245071656549 Centerline is valid? [True, True] Translation: X:43.99, Y:-157.39, Z:1.45 [[-7.21450069e-01 -6.92459832e-01 3.02961874e-03 4.39921829e+01] [ 6.92452068e-01 -7.21456377e-01 -3.29089319e-03 -1.57389521e+02] [ 4.46454910e-03 -2.76349358e-04 9.99989996e-01 1.44767296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.51 meters Centerline goodness [0,1] 0.9998116011806326 Centerline is valid? [True, True] Translation: X:43.98, Y:-157.37, Z:1.45 [[-7.24347078e-01 -6.89428205e-01 3.17190004e-03 4.39759339e+01] [ 6.89419675e-01 -7.24353957e-01 -3.44322881e-03 -1.57368398e+02] [ 4.67143741e-03 -3.07322426e-04 9.99989042e-01 1.44785057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.53999999999996 meters Centerline goodness [0,1] 0.99966714514552 Centerline is valid? [True, True] Translation: X:43.96, Y:-157.35, Z:1.45 [[-7.27310625e-01 -6.86299999e-01 3.40091252e-03 4.39585595e+01] [ 6.86290171e-01 -7.27318492e-01 -3.68948144e-03 -1.57348163e+02] [ 5.00563768e-03 -3.49386218e-04 9.99987411e-01 1.44750848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.57 meters Centerline goodness [0,1] 0.9997914407274547 Centerline is valid? [True, True] Translation: X:43.93, Y:-157.33, Z:1.45 [[-7.30340962e-01 -6.83074601e-01 3.34217486e-03 4.39332573e+01] [ 6.83065086e-01 -7.30348518e-01 -3.62347911e-03 -1.57333568e+02] [ 4.91605900e-03 -3.63452260e-04 9.99987850e-01 1.44771271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.59999999999997 meters Centerline goodness [0,1] 0.9998535687390177 Centerline is valid? [True, True] Translation: X:43.92, Y:-157.31, Z:1.45 [[-7.35752402e-01 -6.77242411e-01 3.33459507e-03 4.39180539e+01] [ 6.77232893e-01 -7.35759850e-01 -3.61285956e-03 -1.57311217e+02] [ 4.90024288e-03 -3.99872635e-04 9.99987914e-01 1.44779874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.63 meters Centerline goodness [0,1] 0.9995817124691513 Centerline is valid? [True, True] Translation: X:43.90, Y:-157.29, Z:1.45 [[-7.37990821e-01 -6.74803142e-01 3.20427799e-03 4.39016622e+01] [ 6.74794338e-01 -7.37997670e-01 -3.46994870e-03 -1.57290394e+02] [ 4.70628197e-03 -3.98561644e-04 9.99988846e-01 1.44773189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.65999999999997 meters Centerline goodness [0,1] 0.9997071742313324 Centerline is valid? [True, True] Translation: X:43.88, Y:-157.27, Z:1.45 [[-7.39578435e-01 -6.73064082e-01 2.91202957e-03 4.38842274e+01] [ 6.73056806e-01 -7.39584075e-01 -3.15151982e-03 -1.57270424e+02] [ 4.27486549e-03 -3.70834776e-04 9.99990794e-01 1.44871305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.69 meters Centerline goodness [0,1] 0.999644113213867 Centerline is valid? [True, True] Translation: X:43.86, Y:-157.25, Z:1.45 [[-7.40608228e-01 -6.71934067e-01 2.01542620e-03 4.38627671e+01] [ 6.71930582e-01 -7.40610924e-01 -2.17983619e-03 -1.57252868e+02] [ 2.95735286e-03 -2.60178119e-04 9.99995593e-01 1.45014769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.71999999999997 meters Centerline goodness [0,1] 0.9996462018730489 Centerline is valid? [True, True] Translation: X:43.84, Y:-157.23, Z:1.45 [[-7.40088047e-01 -6.72507281e-01 1.90800191e-03 4.38436853e+01] [ 6.72504163e-01 -7.40090466e-01 -2.06232071e-03 -1.57234230e+02] [ 2.79901972e-03 -2.43159680e-04 9.99996053e-01 1.45056139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.75 meters Centerline goodness [0,1] 0.9993361959881345 Centerline is valid? [True, True] Translation: X:43.83, Y:-157.21, Z:1.45 [[-7.38983451e-01 -6.73721835e-01 1.53258546e-03 4.38289471e+01] [ 6.73719828e-01 -7.38985016e-01 -1.65543023e-03 -1.57211985e+02] [ 2.24785718e-03 -1.90802333e-04 9.99997455e-01 1.45082144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.78 meters Centerline goodness [0,1] 0.9995841736490841 Centerline is valid? [True, True] Translation: X:43.79, Y:-157.21, Z:1.45 [[-7.37183945e-01 -6.75690491e-01 1.48042775e-03 4.37931621e+01] [ 6.75688625e-01 -7.37185410e-01 -1.59806804e-03 -1.57207037e+02] [ 2.17114912e-03 -1.77761915e-04 9.99997627e-01 1.45139603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.81 meters Centerline goodness [0,1] 0.9993932546656624 Centerline is valid? [True, True] Translation: X:43.77, Y:-157.19, Z:1.45 [[-7.31999284e-01 -6.81304106e-01 1.32801679e-03 4.37656138e+01] [ 6.81302615e-01 -7.32000475e-01 -1.43266761e-03 -1.57194584e+02] [ 1.94819125e-03 -1.43930349e-04 9.99998092e-01 1.45125122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.84 meters Centerline goodness [0,1] 0.9988970052652391 Centerline is valid? [True, True] Translation: X:43.74, Y:-157.18, Z:1.45 [[-7.28917270e-01 -6.84600849e-01 1.13658243e-03 4.37419844e+01] [ 6.84599761e-01 -7.28918147e-01 -1.22558140e-03 -1.57178894e+02] [ 1.66750963e-03 -1.15243382e-04 9.99998603e-01 1.45126187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.87 meters Centerline goodness [0,1] 0.9985552763819096 Centerline is valid? [True, True] Translation: X:43.72, Y:-157.16, Z:1.45 [[-7.25785494e-01 -6.87920269e-01 1.05851348e-03 4.37183298e+01] [ 6.87919331e-01 -7.25786259e-01 -1.14065512e-03 -1.57163296e+02] [ 1.55293432e-03 -9.96990581e-05 9.99998789e-01 1.45150057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.9 meters Centerline goodness [0,1] 0.9988508388876121 Centerline is valid? [True, True] Translation: X:43.70, Y:-157.15, Z:1.45 [[-7.22367325e-01 -6.91508937e-01 9.15381865e-04 4.36965389e+01] [ 6.91508239e-01 -7.22367900e-01 -9.85739612e-04 -1.57147986e+02] [ 1.34289023e-03 -7.90719846e-05 9.99999095e-01 1.45166781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.93 meters Centerline goodness [0,1] 0.9984563394384414 Centerline is valid? [True, True] Translation: X:43.67, Y:-157.14, Z:1.45 [[-7.15562303e-01 -6.98548656e-01 6.05823456e-04 4.36660250e+01] [ 6.98548353e-01 -7.15562558e-01 -6.52084176e-04 -1.57138581e+02] [ 8.89017106e-04 -4.34098772e-05 9.99999604e-01 1.45173085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.96 meters Centerline goodness [0,1] 0.9986631853785901 Centerline is valid? [True, True] Translation: X:43.64, Y:-157.12, Z:1.45 [[-7.12773381e-01 -7.01394379e-01 1.78824203e-04 4.36412475e+01] [ 7.01394353e-01 -7.12773404e-01 -1.92392676e-04 -1.57123802e+02] [ 2.62404277e-04 -1.17060918e-05 9.99999966e-01 1.45210622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.99 meters Centerline goodness [0,1] 0.9982264324166423 Centerline is valid? [True, True] Translation: X:43.62, Y:-157.11, Z:1.45 [[-7.10257575e-01 -7.03941861e-01 1.84199086e-04 4.36197620e+01] [ 7.03941833e-01 -7.10257599e-01 -1.98044304e-04 -1.57107143e+02] [ 2.70240477e-04 -1.09970251e-05 9.99999963e-01 1.45177324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.02 meters Centerline goodness [0,1] 0.9974772746226337 Centerline is valid? [True, True] Translation: X:43.60, Y:-157.09, Z:1.45 [[-7.05797750e-01 -7.08413151e-01 -5.86393831e-04 4.35951414e+01] [ 7.08412871e-01 -7.05797993e-01 6.30069699e-04 -1.57094379e+02] [-8.60225250e-04 2.92928387e-05 9.99999630e-01 1.45095098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.05 meters Centerline goodness [0,1] 0.9975514608233732 Centerline is valid? [True, True] Translation: X:43.57, Y:-157.08, Z:1.45 [[-7.04090694e-01 -7.10110018e-01 -2.37966084e-04 4.35731451e+01] [ 7.10109973e-01 -7.04090734e-01 2.55539374e-04 -1.57077027e+02] [-3.49010785e-04 1.09408057e-05 9.99999939e-01 1.45081853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.08 meters Centerline goodness [0,1] 0.9974976540506725 Centerline is valid? [True, True] Translation: X:43.55, Y:-157.06, Z:1.45 [[-7.02750151e-01 -7.11436556e-01 -5.01669150e-04 4.35527787e+01] [ 7.11436352e-01 -7.02750330e-01 5.38373798e-04 -1.57059555e+02] [-7.35566961e-04 2.14365973e-05 9.99999729e-01 1.45095509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.11 meters Centerline goodness [0,1] 0.9975139323375252 Centerline is valid? [True, True] Translation: X:43.53, Y:-157.04, Z:1.45 [[-7.01362234e-01 -7.12804936e-01 -3.73389407e-04 4.35301738e+01] [ 7.12804824e-01 -7.01362334e-01 4.00482444e-04 -1.57042822e+02] [-5.47347129e-04 1.47294908e-05 9.99999850e-01 1.45055895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.14 meters Centerline goodness [0,1] 0.9975645295587011 Centerline is valid? [True, True] Translation: X:43.51, Y:-157.02, Z:1.45 [[-6.99866721e-01 -7.14273403e-01 -2.79880036e-04 4.35082799e+01] [ 7.14273340e-01 -6.99866777e-01 3.00028594e-04 -1.57024414e+02] [-4.10181183e-04 1.00691802e-05 9.99999916e-01 1.45035450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.17 meters Centerline goodness [0,1] 0.9970813875917278 Centerline is valid? [True, True] Translation: X:43.48, Y:-157.01, Z:1.45 [[-6.96377609e-01 -7.17675233e-01 -6.96970971e-04 4.34844678e+01] [ 7.17674845e-01 -6.96377958e-01 7.46695064e-04 -1.57008547e+02] [-1.02123978e-03 1.97831898e-05 9.99999478e-01 1.44978584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.2 meters Centerline goodness [0,1] 0.9967877852404989 Centerline is valid? [True, True] Translation: X:43.46, Y:-156.99, Z:1.45 [[-6.94623227e-01 -7.19373431e-01 -6.63514941e-04 4.34631709e+01] [ 7.19373080e-01 -6.94623543e-01 7.10467432e-04 -1.56989610e+02] [-9.71984493e-04 1.61923938e-05 9.99999528e-01 1.44946895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.22999999999996 meters Centerline goodness [0,1] 0.997202972363697 Centerline is valid? [True, True] Translation: X:43.44, Y:-156.97, Z:1.45 [[-6.92564969e-01 -7.21355391e-01 -4.05248836e-04 4.34426375e+01] [ 7.21355260e-01 -6.92565087e-01 4.33676703e-04 -1.56970971e+02] [-5.93496223e-04 8.02091293e-06 9.99999824e-01 1.44924954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.26 meters Centerline goodness [0,1] 0.9973595026716843 Centerline is valid? [True, True] Translation: X:43.42, Y:-156.95, Z:1.45 [[-6.90172849e-01 -7.23644363e-01 -5.23057450e-04 4.34221814e+01] [ 7.23644147e-01 -6.90173047e-01 5.59426920e-04 -1.56951459e+02] [-7.65826292e-04 7.59380903e-06 9.99999707e-01 1.44878014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.28999999999996 meters Centerline goodness [0,1] 0.9974517503550839 Centerline is valid? [True, True] Translation: X:43.40, Y:-156.93, Z:1.45 [[-6.84998415e-01 -7.28544539e-01 1.60920350e-04 4.34006827e+01] [ 7.28544519e-01 -6.84998434e-01 -1.72003458e-04 -1.56932993e+02] [ 2.35542367e-04 -5.84457083e-07 9.99999972e-01 1.44850675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.32 meters Centerline goodness [0,1] 0.997510512332378 Centerline is valid? [True, True] Translation: X:43.38, Y:-156.91, Z:1.45 [[-6.82409401e-01 -7.30970091e-01 3.68403174e-04 4.33809788e+01] [ 7.30969985e-01 -6.82409501e-01 -3.93551422e-04 -1.56913310e+02] [ 5.39076145e-04 7.28472232e-07 9.99999855e-01 1.44809540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.34999999999997 meters Centerline goodness [0,1] 0.9976804446859197 Centerline is valid? [True, True] Translation: X:43.36, Y:-156.89, Z:1.45 [[-6.80016228e-01 -7.33197029e-01 2.13302426e-04 4.33614710e+01] [ 7.33196994e-01 -6.80016262e-01 -2.27728416e-04 -1.56892849e+02] [ 3.12018917e-04 1.53367911e-06 9.99999951e-01 1.44865208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.38 meters Centerline goodness [0,1] 0.9977270831595629 Centerline is valid? [True, True] Translation: X:43.34, Y:-156.87, Z:1.45 [[-6.77637703e-01 -7.35395909e-01 2.17567268e-05 4.33425395e+01] [ 7.35395909e-01 -6.77637703e-01 -2.32120050e-05 -1.56871676e+02] [ 3.18131920e-05 2.70478094e-07 1.00000000e+00 1.44874940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.40999999999997 meters Centerline goodness [0,1] 0.9982332522707905 Centerline is valid? [True, True] Translation: X:43.33, Y:-156.85, Z:1.45 [[-6.73151110e-01 -7.39504899e-01 -2.93611568e-04 4.33264149e+01] [ 7.39504833e-01 -6.73151174e-01 3.13154434e-04 -1.56850656e+02] [-4.29224210e-04 -6.32691888e-06 9.99999908e-01 1.44953817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.44 meters Centerline goodness [0,1] 0.9986003467797531 Centerline is valid? [True, True] Translation: X:43.31, Y:-156.83, Z:1.45 [[-6.71196287e-01 -7.41279519e-01 -4.68335383e-04 4.33085303e+01] [ 7.41279351e-01 -6.71196450e-01 4.99219593e-04 -1.56828557e+02] [-6.84406306e-04 -1.20930118e-05 9.99999766e-01 1.44953881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.46999999999997 meters Centerline goodness [0,1] 0.9982874566642997 Centerline is valid? [True, True] Translation: X:43.29, Y:-156.81, Z:1.45 [[-6.69491894e-01 -7.42819305e-01 -2.89380825e-04 4.32914931e+01] [ 7.42819241e-01 -6.69491956e-01 3.08288371e-04 -1.56806493e+02] [-4.22740688e-04 -8.56107924e-06 9.99999911e-01 1.44916977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.5 meters Centerline goodness [0,1] 0.9983754061484629 Centerline is valid? [True, True] Translation: X:43.28, Y:-156.78, Z:1.45 [[-6.68081201e-01 -7.44088316e-01 2.95838780e-04 4.32751382e+01] [ 7.44088249e-01 -6.68081266e-01 -3.14970141e-04 -1.56784929e+02] [ 4.32009948e-04 9.70453007e-06 9.99999907e-01 1.44867262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.53 meters Centerline goodness [0,1] 0.9990193214539081 Centerline is valid? [True, True] Translation: X:43.26, Y:-156.76, Z:1.45 [[-6.65052851e-01 -7.46794545e-01 1.61649748e-03 4.32623913e+01] [ 7.46792567e-01 -6.65054813e-01 -1.72005128e-03 -1.56758567e+02] [ 2.35958434e-03 6.32632899e-05 9.99997214e-01 1.44795221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.56 meters Centerline goodness [0,1] 0.9990203843428238 Centerline is valid? [True, True] Translation: X:43.24, Y:-156.74, Z:1.45 [[-6.63683974e-01 -7.48009988e-01 2.15418223e-03 4.32449882e+01] [ 7.48006486e-01 -6.63687463e-01 -2.29079386e-03 -1.56737962e+02] [ 3.14324043e-03 9.09791093e-05 9.99995056e-01 1.44719883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.59 meters Centerline goodness [0,1] 0.9990203843428238 Centerline is valid? [True, True] Translation: X:43.23, Y:-156.72, Z:1.45 [[-6.63912143e-01 -7.47807477e-01 2.15488102e-03 4.32266641e+01] [ 7.47803976e-01 -6.63915634e-01 -2.29013655e-03 -1.56718639e+02] [ 3.14324043e-03 9.09791347e-05 9.99995056e-01 1.44719860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.62 meters Centerline goodness [0,1] 0.999332582488633 Centerline is valid? [True, True] Translation: X:43.21, Y:-156.70, Z:1.45 [[-6.62480802e-01 -7.49073777e-01 2.76832557e-03 4.32111580e+01] [ 7.49068017e-01 -6.62486574e-01 -2.94030052e-03 -1.56696338e+02] [ 4.03648053e-03 1.25771497e-04 9.99991845e-01 1.44686161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.65 meters Centerline goodness [0,1] 0.9997287654655845 Centerline is valid? [True, True] Translation: X:43.20, Y:-156.67, Z:1.45 [[-6.60284162e-01 -7.51008774e-01 3.26301911e-03 4.32006527e+01] [ 7.51000805e-01 -6.60292204e-01 -3.46350743e-03 -1.56669404e+02] [ 4.75567055e-03 1.63630881e-04 9.99988678e-01 1.44758546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.68 meters Centerline goodness [0,1] 0.9998533386410777 Centerline is valid? [True, True] Translation: X:43.19, Y:-156.64, Z:1.45 [[-6.59398184e-01 -7.51787433e-01 3.11293191e-03 4.31896962e+01] [ 7.51780198e-01 -6.59405512e-01 -3.30238458e-03 -1.56640914e+02] [ 4.53537569e-03 1.62654175e-04 9.99989702e-01 1.44912446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.71 meters Centerline goodness [0,1] 0.999854708482949 Centerline is valid? [True, True] Translation: X:43.17, Y:-156.62, Z:1.45 [[-6.58873531e-01 -7.52248087e-01 2.91301763e-03 4.31722276e+01] [ 7.52241763e-01 -6.58879952e-01 -3.08848211e-03 -1.56620512e+02] [ 4.24263368e-03 1.56374402e-04 9.99990988e-01 1.44909816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.74 meters Centerline goodness [0,1] 0.9998546602163486 Centerline is valid? [True, True] Translation: X:43.16, Y:-156.59, Z:1.45 [[-6.58425297e-01 -7.52640351e-01 2.93764260e-03 4.31594843e+01] [ 7.52633932e-01 -6.58431831e-01 -3.11274385e-03 -1.56594497e+02] [ 4.27701402e-03 1.61460201e-04 9.99990841e-01 1.44994103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.77 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.15, Y:-156.56, Z:1.45 [[-6.58096180e-01 -7.52929972e-01 2.42387002e-03 4.31504844e+01] [ 7.52925609e-01 -6.58100630e-01 -2.56682444e-03 -1.56564692e+02] [ 3.52778944e-03 1.35776451e-04 9.99993768e-01 1.45069954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.8 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.14, Y:-156.54, Z:1.45 [[-6.58505994e-01 -7.52570689e-01 2.68602174e-03 4.31373265e+01] [ 7.52565335e-01 -6.58511455e-01 -2.84245537e-03 -1.56541257e+02] [ 3.90792467e-03 1.49632952e-04 9.99992353e-01 1.45058897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.83 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.12, Y:-156.52, Z:1.45 [[-6.59102450e-01 -7.52048156e-01 2.74431177e-03 4.31238480e+01] [ 7.52042571e-01 -6.59108146e-01 -2.90224036e-03 -1.56516048e+02] [ 3.99142275e-03 1.50965547e-04 9.99992023e-01 1.45019099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.86 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.11, Y:-156.49, Z:1.45 [[-6.59759608e-01 -7.51469007e-01 3.40455285e-03 4.31107286e+01] [ 7.51460416e-01 -6.59768366e-01 -3.59813760e-03 -1.56490903e+02] [ 4.95010516e-03 1.84480842e-04 9.99987731e-01 1.44995604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.10, Y:-156.46, Z:1.45 [[-6.62192940e-01 -7.49322185e-01 4.09562616e-03 4.31041917e+01] [ 7.49309726e-01 -6.62205574e-01 -4.32593179e-03 -1.56458372e+02] [ 5.95366313e-03 2.04291030e-04 9.99982256e-01 1.44924766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.92 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.09, Y:-156.43, Z:1.45 [[-6.63647422e-01 -7.48032369e-01 4.43554420e-03 4.30918269e+01] [ 7.48017744e-01 -6.63662211e-01 -4.68230938e-03 -1.56433382e+02] [ 6.44622205e-03 2.10463219e-04 9.99979201e-01 1.44946436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.95 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.09, Y:-156.40, Z:1.45 [[-6.66186571e-01 -7.45774688e-01 3.94543958e-03 4.30856000e+01] [ 7.45763091e-01 -6.66198233e-01 -4.16244971e-03 -1.56400999e+02] [ 5.73269451e-03 1.69395114e-04 9.99983554e-01 1.45065766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.97999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.07, Y:-156.38, Z:1.45 [[-6.67444431e-01 -7.44648623e-01 4.04473946e-03 4.30719183e+01] [ 7.44636429e-01 -6.67456666e-01 -4.26473404e-03 -1.56377268e+02] [ 5.87541664e-03 1.65387368e-04 9.99982726e-01 1.45039249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.01 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.06, Y:-156.35, Z:1.45 [[-6.68589888e-01 -7.43619822e-01 4.13790838e-03 4.30603158e+01] [ 7.43607055e-01 -6.68602673e-01 -4.36041164e-03 -1.56350012e+02] [ 6.00910513e-03 1.61650741e-04 9.99981932e-01 1.45121020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.03999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.05, Y:-156.33, Z:1.45 [[-6.69702244e-01 -7.42616585e-01 4.41728805e-03 4.30467027e+01] [ 7.42602032e-01 -6.69716792e-01 -4.65205712e-03 -1.56325738e+02] [ 6.41302675e-03 1.64793990e-04 9.99979423e-01 1.45117061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.04, Y:-156.29, Z:1.45 [[-6.71789450e-01 -7.40729867e-01 4.26601473e-03 4.30393109e+01] [ 7.40716271e-01 -6.71802979e-01 -4.49021425e-03 -1.56294009e+02] [ 6.19195721e-03 1.43427971e-04 9.99980819e-01 1.45184061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.09999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.03, Y:-156.27, Z:1.45 [[-6.72654836e-01 -7.39944022e-01 4.27959339e-03 4.30255450e+01] [ 7.39930341e-01 -6.72668436e-01 -4.50178219e-03 -1.56270416e+02] [ 6.20981421e-03 1.38455432e-04 9.99980709e-01 1.45169218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.13 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.01, Y:-156.25, Z:1.45 [[-6.73254903e-01 -7.39398559e-01 4.19596492e-03 4.30109652e+01] [ 7.39385412e-01 -6.73267966e-01 -4.41126412e-03 -1.56246091e+02] [ 6.08669110e-03 1.32530053e-04 9.99981467e-01 1.45148617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.15999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:43.00, Y:-156.22, Z:1.45 [[-6.73919762e-01 -7.38792754e-01 4.17373514e-03 4.29962712e+01] [ 7.38779752e-01 -6.73932674e-01 -4.38505237e-03 -1.56221937e+02] [ 6.05246140e-03 1.28297567e-04 9.99981675e-01 1.45145017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.19 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.98, Y:-156.20, Z:1.45 [[-6.74408157e-01 -7.38346862e-01 4.18914852e-03 4.29817401e+01] [ 7.38333770e-01 -6.74421156e-01 -4.39868007e-03 -1.56197083e+02] [ 6.07300202e-03 1.26484100e-04 9.99981551e-01 1.45138785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.21999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.97, Y:-156.17, Z:1.45 [[-6.75110825e-01 -7.37702435e-01 4.52663801e-03 4.29716246e+01] [ 7.37687154e-01 -6.75125988e-01 -4.75014758e-03 -1.56169759e+02] [ 6.56024640e-03 1.32366657e-04 9.99978473e-01 1.45056708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.25 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.96, Y:-156.15, Z:1.45 [[-6.75659245e-01 -7.37198452e-01 4.79867922e-03 4.29571364e+01] [ 7.37181288e-01 -6.75676271e-01 -5.03237730e-03 -1.56146334e+02] [ 6.95221444e-03 1.37324286e-04 9.99975824e-01 1.45003606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.28 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.95, Y:-156.12, Z:1.45 [[-6.76189209e-01 -7.36709877e-01 5.16817370e-03 4.29462185e+01] [ 7.36689980e-01 -6.76208944e-01 -5.41639712e-03 -1.56118727e+02] [ 7.48507854e-03 1.44832495e-04 9.99971976e-01 1.44963019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.31 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.93, Y:-156.09, Z:1.45 [[-6.76732768e-01 -7.36211054e-01 5.10333254e-03 4.29318151e+01] [ 7.36191662e-01 -6.76751996e-01 -5.34531726e-03 -1.56094249e+02] [ 7.38897214e-03 1.39679523e-04 9.99972691e-01 1.44933794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.34 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.92, Y:-156.07, Z:1.45 [[-6.77344039e-01 -7.35645900e-01 5.49206750e-03 4.29164955e+01] [ 7.35623451e-01 -6.77366288e-01 -5.74894378e-03 -1.56071872e+02] [ 7.94932830e-03 1.46080841e-04 9.99968393e-01 1.44885163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.37 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.90, Y:-156.05, Z:1.45 [[-6.78192035e-01 -7.34864656e-01 5.43145592e-03 4.29028176e+01] [ 7.34842704e-01 -6.78213770e-01 -5.68171797e-03 -1.56049369e+02] [ 7.85898193e-03 1.37969882e-04 9.99969108e-01 1.44861918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.4 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.89, Y:-156.02, Z:1.45 [[-6.79912525e-01 -7.33277512e-01 4.80081715e-03 4.28928693e+01] [ 7.33260342e-01 -6.79929466e-01 -5.01924621e-03 -1.56021434e+02] [ 6.94471741e-03 1.07600463e-04 9.99975879e-01 1.44855684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.43 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.88, Y:-156.00, Z:1.45 [[-6.81237593e-01 -7.32048198e-01 4.55828886e-03 4.28784021e+01] [ 7.32032710e-01 -6.81252837e-01 -4.76275625e-03 -1.55997611e+02] [ 6.59191435e-03 9.22479405e-05 9.99978269e-01 1.44864596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.46 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.86, Y:-155.97, Z:1.45 [[-6.82444624e-01 -7.30924112e-01 4.39077241e-03 4.28641051e+01] [ 7.30909736e-01 -6.82458744e-01 -4.58491207e-03 -1.55973818e+02] [ 6.34774380e-03 8.03097125e-05 9.99979850e-01 1.44851061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.49 meters Centerline goodness [0,1] 0.999979075120318 Centerline is valid? [True, True] Translation: X:42.85, Y:-155.95, Z:1.45 [[-6.83625001e-01 -7.29819207e-01 4.55873527e-03 4.28494533e+01] [ 7.29803705e-01 -6.83640197e-01 -4.75739908e-03 -1.55949873e+02] [ 6.58857591e-03 7.47049423e-05 9.99978292e-01 1.44805126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.52 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.84, Y:-155.92, Z:1.45 [[-6.85290446e-01 -7.28251456e-01 5.17885141e-03 4.28393650e+01] [ 7.28231429e-01 -6.85310011e-01 -5.40135822e-03 -1.55920302e+02] [ 7.48266571e-03 6.99031768e-05 9.99972002e-01 1.44820209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.55 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.82, Y:-155.90, Z:1.45 [[-6.85723687e-01 -7.27840712e-01 5.56078252e-03 4.28236167e+01] [ 7.27817636e-01 -6.85746230e-01 -5.79628457e-03 -1.55896539e+02] [ 8.03205754e-03 7.25859556e-05 9.99967740e-01 1.44758038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.58 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.81, Y:-155.87, Z:1.45 [[-6.86136331e-01 -7.27453909e-01 5.26747946e-03 4.28078943e+01] [ 7.27433217e-01 -6.86156546e-01 -5.48715303e-03 -1.55873678e+02] [ 7.60596644e-03 6.68044849e-05 9.99971072e-01 1.44727264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.61 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.79, Y:-155.85, Z:1.45 [[-6.85633173e-01 -7.27931651e-01 4.76074091e-03 4.27948420e+01] [ 7.27914780e-01 -6.85649697e-01 -4.95643709e-03 -1.55846725e+02] [ 6.87214800e-03 6.71159839e-05 9.99976384e-01 1.44818212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.64 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.78, Y:-155.82, Z:1.45 [[-6.85008296e-01 -7.28521059e-01 4.54985637e-03 4.27788294e+01] [ 7.28505681e-01 -6.85023403e-01 -4.73408177e-03 -1.55823350e+02] [ 6.56563636e-03 7.17109250e-05 9.99978443e-01 1.44934787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.67 meters Centerline goodness [0,1] 0.999979235449241 Centerline is valid? [True, True] Translation: X:42.76, Y:-155.80, Z:1.45 [[-6.84257672e-01 -7.29228078e-01 4.22482344e-03 4.27626216e+01] [ 7.29214844e-01 -6.84270710e-01 -4.39399340e-03 -1.55801635e+02] [ 6.09514630e-03 7.41802728e-05 9.99981422e-01 1.44959703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.7 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.75, Y:-155.78, Z:1.45 [[-6.83392419e-01 -7.30039974e-01 4.05433927e-03 4.27463484e+01] [ 7.30027815e-01 -6.83404441e-01 -4.21417823e-03 -1.55778848e+02] [ 5.84727203e-03 7.98429855e-05 9.99982901e-01 1.45034212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.72999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.73, Y:-155.75, Z:1.45 [[-6.81802226e-01 -7.31525317e-01 4.05418150e-03 4.27319187e+01] [ 7.31513198e-01 -6.81814273e-01 -4.21175725e-03 -1.55754298e+02] [ 5.84520586e-03 9.41018062e-05 9.99982912e-01 1.45016614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.76 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.72, Y:-155.73, Z:1.45 [[-6.81491191e-01 -7.31814593e-01 4.14211715e-03 4.27153026e+01] [ 7.31801964e-01 -6.81503772e-01 -4.30044613e-03 -1.55732630e+02] [ 5.96999770e-03 1.00493316e-04 9.99982174e-01 1.45005417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.78999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.70, Y:-155.71, Z:1.45 [[-6.81296434e-01 -7.31997221e-01 3.90348536e-03 4.26984918e+01] [ 7.31986022e-01 -6.81307609e-01 -4.05033259e-03 -1.55709397e+02] [ 5.62430648e-03 9.78195720e-05 9.99984179e-01 1.44988814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.82 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.69, Y:-155.68, Z:1.45 [[-6.81746826e-01 -7.31579692e-01 3.52419214e-03 4.26856629e+01] [ 7.31570569e-01 -6.81755929e-01 -3.65453205e-03 -1.55684153e+02] [ 5.07622032e-03 8.67296238e-05 9.99987112e-01 1.44957950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.84999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.67, Y:-155.66, Z:1.45 [[-6.82249043e-01 -7.31110984e-01 3.60165400e-03 4.26698852e+01] [ 7.31101461e-01 -6.82258545e-01 -3.73261538e-03 -1.55661704e+02] [ 5.18621531e-03 8.66012294e-05 9.99986548e-01 1.44938538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.88 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.65, Y:-155.64, Z:1.45 [[-6.83209225e-01 -7.30214520e-01 3.45099093e-03 4.26547950e+01] [ 7.30205776e-01 -6.83217936e-01 -3.57439827e-03 -1.55637151e+02] [ 4.96785642e-03 7.78716311e-05 9.99987657e-01 1.44980820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.90999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.64, Y:-155.61, Z:1.45 [[-6.84354424e-01 -7.29140896e-01 3.54627276e-03 4.26385699e+01] [ 7.29131658e-01 -6.84363609e-01 -3.67097154e-03 -1.55613423e+02] [ 5.10359550e-03 7.34541234e-05 9.99986974e-01 1.44967523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.94 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.62, Y:-155.59, Z:1.45 [[-6.85562408e-01 -7.28006350e-01 3.30742563e-03 4.26230214e+01] [ 7.27998311e-01 -6.85570383e-01 -3.42176402e-03 -1.55589719e+02] [ 4.75853899e-03 6.19674930e-05 9.99988676e-01 1.44943790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.96999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.61, Y:-155.57, Z:1.45 [[-6.87101669e-01 -7.26553598e-01 3.34159407e-03 4.26071925e+01] [ 7.26545384e-01 -6.87109793e-01 -3.45513974e-03 -1.55565679e+02] [ 4.80638622e-03 5.37874627e-05 9.99988448e-01 1.44950444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.0 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.60, Y:-155.54, Z:1.45 [[-6.90519826e-01 -7.23308485e-01 2.68441912e-03 4.25961297e+01] [ 7.23303166e-01 -6.90525043e-01 -2.77405642e-03 -1.55537247e+02] [ 3.86015718e-03 2.61078895e-05 9.99992549e-01 1.45045200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.03 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.58, Y:-155.51, Z:1.45 [[-6.92182644e-01 -7.21718441e-01 2.38304513e-03 4.25816128e+01] [ 7.21714245e-01 -6.92186746e-01 -2.46116531e-03 -1.55513903e+02] [ 3.42578064e-03 1.63017035e-05 9.99994132e-01 1.45084841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.06 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.57, Y:-155.49, Z:1.45 [[-6.94073251e-01 -7.19901454e-01 2.05380744e-03 4.25660026e+01] [ 7.19898333e-01 -6.94076290e-01 -2.11993981e-03 -1.55489609e+02] [ 2.95164680e-03 7.13903547e-06 9.99995644e-01 1.45108763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.09 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.55, Y:-155.47, Z:1.45 [[-6.95986844e-01 -7.18051722e-01 2.00944911e-03 4.25506224e+01] [ 7.18048729e-01 -6.95989745e-01 -2.07292294e-03 -1.55465828e+02] [ 2.88702186e-03 1.55285593e-07 9.99995833e-01 1.45146095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.12 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.54, Y:-155.44, Z:1.45 [[-6.99123627e-01 -7.14998588e-01 1.78174268e-03 4.25388323e+01] [ 7.14996228e-01 -6.99125897e-01 -1.83687521e-03 -1.55439709e+02] [ 2.55902563e-03 -1.02635663e-05 9.99996726e-01 1.45044332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.15 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.52, Y:-155.42, Z:1.45 [[-7.00701632e-01 -7.13451508e-01 2.04171837e-03 4.25237668e+01] [ 7.13448407e-01 -7.00704606e-01 -2.10352099e-03 -1.55417407e+02] [ 2.93140169e-03 -1.72798661e-05 9.99995703e-01 1.45008691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.18 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.51, Y:-155.39, Z:1.45 [[-7.02272245e-01 -7.11904917e-01 2.25475562e-03 4.25080866e+01] [ 7.11901132e-01 -7.02275864e-01 -2.32159217e-03 -1.55394789e+02] [ 3.23621333e-03 -2.52266671e-05 9.99994763e-01 1.44983120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.21 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.49, Y:-155.37, Z:1.45 [[-7.05509230e-01 -7.08696686e-01 2.39473031e-03 4.24936439e+01] [ 7.08692402e-01 -7.05513293e-01 -2.46435277e-03 -1.55369454e+02] [ 3.43599271e-03 -4.14964489e-05 9.99994096e-01 1.45031441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.24 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.48, Y:-155.35, Z:1.45 [[-7.07066846e-01 -7.07141409e-01 2.73907895e-03 4.24782403e+01] [ 7.07135799e-01 -7.07072150e-01 -2.81723435e-03 -1.55346785e+02] [ 3.92890951e-03 -5.50722239e-05 9.99992280e-01 1.44985153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.27 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.46, Y:-155.32, Z:1.45 [[-7.08694791e-01 -7.05509156e-01 2.91955113e-03 4.24616228e+01] [ 7.05502776e-01 -7.08700802e-01 -3.00106013e-03 -1.55324424e+02] [ 4.18636363e-03 -6.70842555e-05 9.99991235e-01 1.44959249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.3 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.44, Y:-155.30, Z:1.45 [[-7.10005231e-01 -7.04188169e-01 3.40512419e-03 4.24438450e+01] [ 7.04179485e-01 -7.10013391e-01 -3.49837287e-03 -1.55302759e+02] [ 4.88119656e-03 -8.60444440e-05 9.99988083e-01 1.44929692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.33 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.43, Y:-155.28, Z:1.45 [[-7.12494439e-01 -7.01668195e-01 3.66314882e-03 4.24293084e+01] [ 7.01658122e-01 -7.12503847e-01 -3.76137906e-03 -1.55278365e+02] [ 5.24924768e-03 -1.09683537e-04 9.99986217e-01 1.44896618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.36 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.41, Y:-155.26, Z:1.45 [[-7.14094351e-01 -7.00040324e-01 3.57817499e-03 4.24110733e+01] [ 7.00030702e-01 -7.14103306e-01 -3.67215083e-03 -1.55256139e+02] [ 5.12584025e-03 -1.17429814e-04 9.99986856e-01 1.44922761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.39 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.39, Y:-155.23, Z:1.45 [[-7.15591151e-01 -6.98511373e-01 3.34153141e-03 4.23936615e+01] [ 6.98502975e-01 -7.15598943e-01 -3.42734446e-03 -1.55233660e+02] [ 4.78523543e-03 -1.18507735e-04 9.99988544e-01 1.44986880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.42 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.38, Y:-155.21, Z:1.45 [[-7.18468710e-01 -6.95553148e-01 2.92063324e-03 4.23769990e+01] [ 6.95546715e-01 -7.18474637e-01 -2.99391230e-03 -1.55210894e+02] [ 4.18082603e-03 -1.19595457e-04 9.99991253e-01 1.45092825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.45 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.36, Y:-155.19, Z:1.45 [[-7.19609039e-01 -6.94373585e-01 2.85578376e-03 4.23582578e+01] [ 6.94367432e-01 -7.19614695e-01 -2.92585528e-03 -1.55189237e+02] [ 4.08670058e-03 -1.22508667e-04 9.99991642e-01 1.45109274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.47999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.34, Y:-155.17, Z:1.45 [[-7.20548129e-01 -6.93399542e-01 2.73310412e-03 4.23385363e+01] [ 6.93393905e-01 -7.20553302e-01 -2.79862420e-03 -1.55168660e+02] [ 3.90991194e-03 -1.21425699e-04 9.99992349e-01 1.45118197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.51 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.32, Y:-155.15, Z:1.45 [[-7.20750262e-01 -6.93189430e-01 2.73392006e-03 4.23192171e+01] [ 6.93183794e-01 -7.20755437e-01 -2.79782713e-03 -1.55148956e+02] [ 3.90991194e-03 -1.21425554e-04 9.99992349e-01 1.45118173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.53999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.30, Y:-155.13, Z:1.45 [[-7.21304304e-01 -6.92613388e-01 2.60699202e-03 4.23018305e+01] [ 6.92608266e-01 -7.21309005e-01 -2.66629206e-03 -1.55128656e+02] [ 3.72715639e-03 -1.17583716e-04 9.99993047e-01 1.45118096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.28, Y:-155.11, Z:1.45 [[-7.20865937e-01 -6.93071468e-01 2.05929966e-03 4.22816963e+01] [ 6.93068278e-01 -7.20868873e-01 -2.10491944e-03 -1.55109593e+02] [ 2.94334463e-03 -9.01294537e-05 9.99995664e-01 1.45189789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.59999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.26, Y:-155.09, Z:1.45 [[-7.20288059e-01 -6.93672710e-01 1.81172165e-03 4.22603645e+01] [ 6.93670246e-01 -7.20290334e-01 -1.85080535e-03 -1.55090371e+02] [ 2.58881876e-03 -7.63755928e-05 9.99996646e-01 1.45210865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.63 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.24, Y:-155.07, Z:1.45 [[-7.19351180e-01 -6.94644372e-01 1.75411501e-03 4.22418256e+01] [ 6.94642066e-01 -7.19353315e-01 -1.79124834e-03 -1.55070583e+02] [ 2.50610902e-03 -7.00545322e-05 9.99996857e-01 1.45246377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.65999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.22, Y:-155.05, Z:1.45 [[-7.16951385e-01 -6.97122186e-01 1.17055110e-03 4.22184525e+01] [ 6.97121163e-01 -7.16952339e-01 -1.19463033e-03 -1.55053778e+02] [ 1.67203265e-03 -4.04759221e-05 9.99998601e-01 1.45323419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.69 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.20, Y:-155.03, Z:1.45 [[-7.15607837e-01 -6.98501001e-01 1.33275675e-03 4.21987965e+01] [ 6.98499679e-01 -7.15609076e-01 -1.35965102e-03 -1.55034564e+02] [ 1.90345043e-03 -4.20467586e-05 9.99998188e-01 1.45298420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.71999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.18, Y:-155.02, Z:1.45 [[-7.14266038e-01 -6.99872244e-01 1.69389078e-03 4.21782884e+01] [ 6.99870114e-01 -7.14268045e-01 -1.72735893e-03 -1.55016443e+02] [ 2.41882263e-03 -4.82902838e-05 9.99997074e-01 1.45247343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.15, Y:-155.00, Z:1.45 [[-7.11310225e-01 -7.02873694e-01 2.51677312e-03 4.21541620e+01] [ 7.02869016e-01 -7.11314675e-01 -2.56503859e-03 -1.55000353e+02] [ 3.59311580e-03 -5.55763322e-05 9.99993543e-01 1.45181267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.78 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.13, Y:-154.98, Z:1.45 [[-7.09953405e-01 -7.04243314e-01 2.74184564e-03 4.21331998e+01] [ 7.04237779e-01 -7.09958697e-01 -2.79277876e-03 -1.54982194e+02] [ 3.91339293e-03 -5.18315025e-05 9.99992341e-01 1.45138614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.81 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.11, Y:-154.96, Z:1.45 [[-7.08883108e-01 -7.05319913e-01 2.92559017e-03 4.21136049e+01] [ 7.05313627e-01 -7.08889143e-01 -2.97813140e-03 -1.54963855e+02] [ 4.17445449e-03 -4.76884265e-05 9.99991286e-01 1.45057834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.84 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.09, Y:-154.95, Z:1.45 [[-7.08035562e-01 -7.06168602e-01 3.39823181e-03 4.20927360e+01] [ 7.06160141e-01 -7.08043716e-01 -3.45724980e-03 -1.54945199e+02] [ 4.84749794e-03 -4.81599544e-05 9.99988250e-01 1.45027956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.87 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.07, Y:-154.93, Z:1.45 [[-7.07279567e-01 -7.06921103e-01 4.26254170e-03 4.20729299e+01] [ 7.06907819e-01 -7.07292409e-01 -4.33391068e-03 -1.54926026e+02] [ 6.07859631e-03 -5.20624098e-05 9.99981524e-01 1.45000853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.9 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.05, Y:-154.91, Z:1.45 [[-7.07295396e-01 -7.06907359e-01 3.89988683e-03 4.20530155e+01] [ 7.06896252e-01 -7.07306146e-01 -3.96293511e-03 -1.54906233e+02] [ 5.55984191e-03 -4.61503722e-05 9.99984543e-01 1.45015330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.93 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.03, Y:-154.89, Z:1.45 [[-7.07083052e-01 -7.07119541e-01 3.93850169e-03 4.20337000e+01] [ 7.07108230e-01 -7.07094020e-01 -3.99978211e-03 -1.54887165e+02] [ 5.61321508e-03 -4.32311807e-05 9.99984245e-01 1.45053738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.96 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:42.01, Y:-154.87, Z:1.45 [[-7.06087753e-01 -7.08115073e-01 3.62339760e-03 4.20134380e+01] [ 7.08105524e-01 -7.06097049e-01 -3.67746036e-03 -1.54869087e+02] [ 5.16253547e-03 -3.08618644e-05 9.99986674e-01 1.45074235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.99 meters Centerline goodness [0,1] 0.9998534675849364 Centerline is valid? [True, True] Translation: X:41.99, Y:-154.85, Z:1.45 [[-7.05353171e-01 -7.08845109e-01 3.93905152e-03 4.19923958e+01] [ 7.08833849e-01 -7.05364169e-01 -3.99553649e-03 -1.54849974e+02] [ 5.61068230e-03 -2.61312826e-05 9.99984260e-01 1.45046681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.02 meters Centerline goodness [0,1] 0.9999374322182364 Centerline is valid? [True, True] Translation: X:41.97, Y:-154.83, Z:1.45 [[-7.04538717e-01 -7.09649005e-01 4.84621221e-03 4.19726207e+01] [ 7.09632000e-01 -7.04555384e-01 -4.91274528e-03 -1.54831661e+02] [ 6.90074971e-03 -2.21919946e-05 9.99976189e-01 1.44938428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.05 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.95, Y:-154.81, Z:1.45 [[-7.03842008e-01 -7.10335966e-01 5.40771570e-03 4.19517770e+01] [ 7.10314836e-01 -7.03862782e-01 -5.47885114e-03 -1.54812188e+02] [ 7.69811483e-03 -1.50648978e-05 9.99970369e-01 1.44864726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.08 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.93, Y:-154.79, Z:1.45 [[-7.02597049e-01 -7.11559300e-01 6.38348876e-03 4.19317103e+01] [ 7.11529941e-01 -7.02626047e-01 -6.46379495e-03 -1.54792494e+02] [ 9.08457889e-03 6.00128723e-07 9.99958734e-01 1.44791134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.11 meters Centerline goodness [0,1] 0.9999375884164101 Centerline is valid? [True, True] Translation: X:41.91, Y:-154.77, Z:1.45 [[-7.02585290e-01 -7.11570713e-01 6.40561378e-03 4.19122138e+01] [ 7.11541184e-01 -7.02614490e-01 -6.48242926e-03 -1.54772808e+02] [ 9.11338386e-03 3.39858106e-06 9.99958472e-01 1.44849819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.14 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.89, Y:-154.75, Z:1.45 [[-7.02871141e-01 -7.11291423e-01 6.05567393e-03 4.18924005e+01] [ 7.11265054e-01 -7.02897227e-01 -6.12465321e-03 -1.54752771e+02] [ 8.61292971e-03 2.34725634e-06 9.99962908e-01 1.44902154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.17 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.87, Y:-154.73, Z:1.45 [[-7.03436194e-01 -7.10734973e-01 5.77228593e-03 4.18734575e+01] [ 7.10711026e-01 -7.03459876e-01 -5.83438408e-03 -1.54732839e+02] [ 8.20727236e-03 -1.68966801e-06 9.99966320e-01 1.44900704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.2 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.86, Y:-154.71, Z:1.45 [[-7.05566598e-01 -7.08621515e-01 5.59678825e-03 4.18555509e+01] [ 7.08598961e-01 -7.05588796e-01 -5.65366346e-03 -1.54711529e+02] [ 7.95533865e-03 -2.31577612e-05 9.99968356e-01 1.44940128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.22999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.84, Y:-154.69, Z:1.45 [[-7.07359085e-01 -7.06834185e-01 5.34422406e-03 4.18379125e+01] [ 7.06813595e-01 -7.07379272e-01 -5.39517909e-03 -1.54691117e+02] [ 7.59389034e-03 -3.89587245e-05 9.99971165e-01 1.44904592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.26 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.82, Y:-154.67, Z:1.45 [[-7.09288136e-01 -7.04900591e-01 5.04951086e-03 4.18196703e+01] [ 7.04882181e-01 -7.09306107e-01 -5.09472319e-03 -1.54669721e+02] [ 7.17292228e-03 -5.43164844e-05 9.99974273e-01 1.44915652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.28999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.80, Y:-154.65, Z:1.45 [[-7.11559847e-01 -7.02609043e-01 4.80789119e-03 4.18012944e+01] [ 7.02592319e-01 -7.11576087e-01 -4.84830010e-03 -1.54647732e+02] [ 6.82763989e-03 -7.18682531e-05 9.99976689e-01 1.44956449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.32 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.79, Y:-154.62, Z:1.45 [[-7.16432094e-01 -6.97646432e-01 3.80936257e-03 4.17861017e+01] [ 6.97635875e-01 -7.16442215e-01 -3.83905941e-03 -1.54624689e+02] [ 5.40749426e-03 -9.28773782e-05 9.99985375e-01 1.45054420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.34999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.77, Y:-154.60, Z:1.45 [[-7.18989688e-01 -6.95012674e-01 3.34833789e-03 4.17665745e+01] [ 6.95004498e-01 -7.18997478e-01 -3.37258967e-03 -1.54603691e+02] [ 4.75143906e-03 -9.77473005e-05 9.99988707e-01 1.45140350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.38 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.75, Y:-154.58, Z:1.45 [[-7.21510840e-01 -6.92397580e-01 2.77487017e-03 4.17496415e+01] [ 6.92391951e-01 -7.21516169e-01 -2.79336958e-03 -1.54582064e+02] [ 3.93623603e-03 -9.41486639e-05 9.99992249e-01 1.45124753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.40999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.73, Y:-154.56, Z:1.45 [[-7.25896701e-01 -6.87800716e-01 2.03809785e-03 4.17310275e+01] [ 6.87797665e-01 -7.25899557e-01 -2.05045437e-03 -1.54561261e+02] [ 2.88975831e-03 -8.66191235e-05 9.99995821e-01 1.45206716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.44 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.71, Y:-154.54, Z:1.45 [[-7.27398299e-01 -6.86213282e-01 1.74561659e-03 4.17129761e+01] [ 6.86211041e-01 -7.27400389e-01 -1.75546966e-03 -1.54541226e+02] [ 2.47438878e-03 -7.90642674e-05 9.99996936e-01 1.45231394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.46999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.70, Y:-154.52, Z:1.45 [[-7.28534408e-01 -6.85006569e-01 1.90156708e-03 4.16950355e+01] [ 6.85003908e-01 -7.28536885e-01 -1.91151016e-03 -1.54520928e+02] [ 2.69475877e-03 -9.00200475e-05 9.99996365e-01 1.45238202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.68, Y:-154.50, Z:1.45 [[-7.29277383e-01 -6.84216198e-01 1.64093559e-03 4.16753708e+01] [ 6.84214217e-01 -7.29279225e-01 -1.64852217e-03 -1.54501567e+02] [ 2.32464581e-03 -7.94784718e-05 9.99997295e-01 1.45241373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.53 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.65, Y:-154.48, Z:1.45 [[-7.28865540e-01 -6.84654291e-01 1.87781821e-03 4.16528142e+01] [ 6.84651701e-01 -7.28867953e-01 -1.88543171e-03 -1.54484023e+02] [ 2.65955043e-03 -8.85747696e-05 9.99996459e-01 1.45164861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.63, Y:-154.47, Z:1.45 [[-7.28034374e-01 -6.85536300e-01 2.43576229e-03 4.16302560e+01] [ 6.85531950e-01 -7.28038440e-01 -2.44438612e-03 -1.54465874e+02] [ 3.44904399e-03 -1.09804244e-04 9.99994046e-01 1.45105003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.59 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.61, Y:-154.45, Z:1.45 [[-7.27063256e-01 -6.86564757e-01 2.80283007e-03 4.16082125e+01] [ 6.86559012e-01 -7.27068649e-01 -2.81120990e-03 -1.54448396e+02] [ 3.96792752e-03 -1.19619182e-04 9.99992121e-01 1.45001027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.62 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.59, Y:-154.43, Z:1.45 [[-7.24585898e-01 -6.89175483e-01 3.52562603e-03 4.15851274e+01] [ 6.89166434e-01 -7.24594463e-01 -3.53411132e-03 -1.54432819e+02] [ 4.99027198e-03 -1.31024098e-04 9.99987540e-01 1.44909502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.65 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.56, Y:-154.41, Z:1.45 [[-7.23222107e-01 -6.90605639e-01 3.69256576e-03 4.15634380e+01] [ 6.90595742e-01 -7.23231523e-01 -3.69937303e-03 -1.54414862e+02] [ 5.22538783e-03 -1.25398169e-04 9.99986340e-01 1.44909394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.68 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.54, Y:-154.40, Z:1.45 [[-7.22029981e-01 -6.91851257e-01 3.81366575e-03 4.15415933e+01] [ 6.91840729e-01 -7.22040043e-01 -3.81854351e-03 -1.54397078e+02] [ 5.39548351e-03 -1.18653602e-04 9.99985437e-01 1.44919647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.71 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.52, Y:-154.38, Z:1.45 [[-7.19464290e-01 -6.94518846e-01 3.83504499e-03 4.15175668e+01] [ 6.94508249e-01 -7.19474505e-01 -3.83775224e-03 -1.54381033e+02] [ 5.42460835e-03 -9.76553090e-05 9.99985282e-01 1.44895450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.74 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.50, Y:-154.36, Z:1.45 [[-7.18571159e-01 -6.95442800e-01 3.84721003e-03 4.14971802e+01] [ 6.95432162e-01 -7.18581452e-01 -3.84771133e-03 -1.54363363e+02] [ 5.44039691e-03 -8.93807972e-05 9.99985197e-01 1.44895300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.77 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.48, Y:-154.35, Z:1.45 [[-7.17763520e-01 -6.96277692e-01 3.59237850e-03 4.14762223e+01] [ 6.96268438e-01 -7.17772506e-01 -3.59059925e-03 -1.54345434e+02] [ 5.07856467e-03 -7.59413902e-05 9.99987101e-01 1.44882504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.8 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.06, Y:-154.75, Z:2.24 [[-7.46837703e-01 6.64996035e-01 3.70389093e-03 4.10618656e+01] [ 6.64988280e-01 7.46846885e-01 -3.21211775e-03 -1.54750953e+02] [-4.90228497e-03 6.41134185e-05 -9.99987982e-01 2.24024352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.83 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.08, Y:-154.72, Z:2.24 [[-7.93254064e-01 6.08880401e-01 3.55618726e-03 4.10783095e+01] [ 6.08874560e-01 7.93262034e-01 -2.66754492e-03 -1.54724817e+02] [-4.44520416e-03 4.92311020e-05 -9.99990119e-01 2.23978559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.86 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.09, Y:-154.69, Z:2.24 [[-8.37731894e-01 5.46066107e-01 4.13272650e-03 4.10877184e+01] [ 5.46059608e-01 8.37742088e-01 -2.66429616e-03 -1.54691920e+02] [-4.91704076e-03 2.47491471e-05 -9.99987911e-01 2.24025833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.39, Y:-154.22, Z:1.45 [[-8.02942292e-01 -5.96041261e-01 4.30021101e-03 4.13902671e+01] [ 5.96032723e-01 -8.02953807e-01 -3.19025309e-03 -1.54224819e+02] [ 5.35439327e-03 1.47734369e-06 9.99985665e-01 1.44869234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.92 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.05, Y:-154.66, Z:2.24 [[-8.44151979e-01 5.36084090e-01 4.61367567e-03 4.10497944e+01] [ 5.36075969e-01 8.44164586e-01 -2.95080881e-03 -1.54660801e+02] [-5.47658327e-03 -1.76504422e-05 -9.99985003e-01 2.24130269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.95 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.06, Y:-154.63, Z:2.24 [[-8.84605316e-01 4.66316731e-01 4.70555834e-03 4.10583834e+01] [ 4.66309714e-01 8.84617828e-01 -2.55896729e-03 -1.54627610e+02] [-5.35591006e-03 -6.94285032e-05 -9.99985655e-01 2.24072495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.97999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.06, Y:-154.60, Z:2.24 [[-9.17260818e-01 3.98262558e-01 4.41881939e-03 4.10642015e+01] [ 3.98257488e-01 9.17271458e-01 -2.01139902e-03 -1.54595237e+02] [-4.85432182e-03 -8.51495984e-05 -9.99988214e-01 2.24083737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.01 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.28, Y:-154.11, Z:1.45 [[-8.69880075e-01 -4.93251442e-01 3.41613852e-03 4.12800598e+01] [ 4.93247671e-01 -8.69886783e-01 -1.92872179e-03 -1.54113640e+02] [ 3.92299855e-03 7.24571822e-06 9.99992305e-01 1.44976210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.03999999999996 meters Centerline goodness [0,1] 0.9999791822799567 Centerline is valid? [True, True] Translation: X:41.02, Y:-154.57, Z:2.24 [[-9.22588903e-01 3.85775341e-01 2.66498319e-03 4.10204617e+01] [ 3.85773479e-01 9.22592749e-01 -1.20130898e-03 -1.54574287e+02] [-2.92212954e-03 -8.02345009e-05 -9.99995727e-01 2.23809328e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.23, Y:-154.10, Z:1.45 [[-8.67958951e-01 -4.96630254e-01 2.37707805e-03 4.12343642e+01] [ 4.96628580e-01 -8.67962204e-01 -1.29059407e-03 -1.54096109e+02] [ 2.70416197e-03 6.03422282e-05 9.99996342e-01 1.45122096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.09999999999997 meters Centerline goodness [0,1] 0.9999582637729549 Centerline is valid? [True, True] Translation: X:40.98, Y:-154.56, Z:2.24 [[-9.24904989e-01 3.80193670e-01 1.88020678e-03 4.09790069e+01] [ 3.80192748e-01 9.24906898e-01 -8.39280359e-04 -1.54556916e+02] [-2.05810530e-03 -6.14136077e-05 -9.99997880e-01 2.23810253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.13 meters Centerline goodness [0,1] 0.9999792225061813 Centerline is valid? [True, True] Translation: X:40.98, Y:-154.53, Z:2.24 [[-9.49525476e-01 3.13685111e-01 1.73805396e-03 4.09808182e+01] [ 3.13684479e-01 9.49527066e-01 -6.32244730e-04 -1.54531597e+02] [-1.84865503e-03 -5.51319280e-05 -9.99998290e-01 2.23809971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.15999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.17, Y:-154.03, Z:1.45 [[-9.02492243e-01 -4.30703032e-01 1.62766616e-03 4.11666721e+01] [ 4.30702428e-01 -9.02493710e-01 -7.22671127e-04 -1.54030390e+02] [ 1.78021512e-03 4.88346813e-05 9.99998414e-01 1.45132633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.19 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.94, Y:-154.53, Z:2.24 [[-9.50000007e-01 3.12246056e-01 1.54518126e-03 4.09386078e+01] [ 3.12245565e-01 9.50001262e-01 -5.55542314e-04 -1.54528105e+02] [-1.64139004e-03 -4.52892066e-05 -9.99998652e-01 2.23815274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.21999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.12, Y:-154.01, Z:1.45 [[-9.05214096e-01 -4.24951588e-01 1.89451800e-03 4.11246203e+01] [ 4.24950845e-01 -9.05216074e-01 -7.98625712e-04 -1.54008810e+02] [ 2.05432541e-03 8.21497737e-05 9.99997887e-01 1.45088898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.25 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.90, Y:-154.52, Z:2.24 [[-9.50592256e-01 3.10435436e-01 2.04983034e-03 4.08951765e+01] [ 3.10434587e-01 9.50594465e-01 -7.28508305e-04 -1.54520334e+02] [-2.17471216e-03 -5.61761204e-05 -9.99997634e-01 2.23820741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.28 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.90, Y:-154.50, Z:2.24 [[-9.69921231e-01 2.43402480e-01 2.83520000e-03 4.08979735e+01] [ 2.43401222e-01 9.69925372e-01 -7.86081603e-04 -1.54500509e+02] [-2.94126663e-03 -7.23460917e-05 -9.99995672e-01 2.23852578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.31 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:41.06, Y:-153.94, Z:1.45 [[-9.35228653e-01 -3.54026977e-01 3.50247457e-03 4.10558304e+01] [ 3.54025043e-01 -9.35235201e-01 -1.17821980e-03 -1.53941873e+02] [ 3.69275910e-03 1.38058792e-04 9.99993172e-01 1.45005378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.34 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.85, Y:-154.49, Z:2.24 [[-9.70611464e-01 2.40611750e-01 4.40135341e-03 4.08539782e+01] [ 2.40608770e-01 9.70621437e-01 -1.20235634e-03 -1.54494878e+02] [-4.56134904e-03 -1.08016615e-04 -9.99989591e-01 2.23986759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.37 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.86, Y:-154.47, Z:2.24 [[-9.85139634e-01 1.71671400e-01 5.36957327e-03 4.08550262e+01] [ 1.71668149e-01 9.85154259e-01 -1.06401379e-03 -1.54471431e+02] [-5.47251871e-03 -1.26417448e-04 -9.99985018e-01 2.24041344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.4 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.86, Y:-154.44, Z:2.24 [[-9.94835096e-01 1.01358920e-01 5.43150225e-03 4.08552265e+01] [ 1.01356715e-01 9.94849915e-01 -6.80448991e-04 -1.54444040e+02] [-5.47249912e-03 -1.26415313e-04 -9.99985018e-01 2.24041322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.43 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.85, Y:-154.42, Z:2.24 [[-9.99494790e-01 3.11130674e-02 6.49171452e-03 4.08542709e+01] [ 3.11114646e-02 9.99515861e-01 -3.47768975e-04 -1.54422624e+02] [-6.49939178e-03 -1.45626533e-04 -9.99978868e-01 2.24055422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.46 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.85, Y:-154.40, Z:2.24 [[-9.99277693e-01 -3.73726121e-02 6.88339842e-03 4.08539440e+01] [-3.73726785e-02 9.99301390e-01 1.19026036e-04 -1.54404392e+02] [-6.88303793e-03 -1.38310974e-04 -9.99976302e-01 2.24088203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.49 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.85, Y:-153.77, Z:1.45 [[-9.97630211e-01 -6.84916966e-02 6.54592367e-03 4.08472844e+01] [ 6.84909484e-02 -9.97651680e-01 -3.38669680e-04 -1.53772826e+02] [ 6.55374781e-03 1.10469416e-04 9.99978518e-01 1.44832021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.52 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.78, Y:-154.41, Z:2.24 [[-9.99224518e-01 -3.88579173e-02 6.35808707e-03 4.07834264e+01] [-3.88578103e-02 9.99244740e-01 1.40399441e-04 -1.54414827e+02] [-6.35874069e-03 -1.06770778e-04 -9.99979777e-01 2.24119180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.55 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.78, Y:-154.39, Z:2.24 [[-9.94106722e-01 -1.08244757e-01 5.90741787e-03 4.07808070e+01] [-1.08243382e-01 9.94124270e-01 5.52855253e-04 -1.54393258e+02] [-5.93255116e-03 -8.98417676e-05 -9.99982398e-01 2.24081492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.58 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.77, Y:-154.38, Z:2.24 [[-9.84345761e-01 -1.76198838e-01 4.17043697e-03 4.07745989e+01] [-1.76197483e-01 9.84354594e-01 6.93141392e-04 -1.54376112e+02] [-4.22731949e-03 -5.25297044e-05 -9.99991063e-01 2.23955488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.61 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.76, Y:-154.36, Z:2.24 [[-9.69388023e-01 -2.45509084e-01 3.48581564e-03 4.07557296e+01] [-2.45507649e-01 9.69394289e-01 8.40257022e-04 -1.54357119e+02] [-3.58542051e-03 -4.12593104e-05 -9.99993572e-01 2.23874978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.64 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.72, Y:-154.34, Z:2.24 [[-9.49176877e-01 -3.14730652e-01 2.80582771e-03 4.07227080e+01] [-3.14729380e-01 9.49181024e-01 8.95254761e-04 -1.54341120e+02] [-2.94500253e-03 -3.33212970e-05 -9.99995663e-01 2.23849682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.67 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.67, Y:-154.34, Z:2.24 [[-9.23467088e-01 -3.83670947e-01 2.26745212e-03 4.06662611e+01] [-3.83669864e-01 9.23469872e-01 9.11724626e-04 -1.54339281e+02] [-2.44372597e-03 -2.80053614e-05 -9.99997014e-01 2.23812787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.7 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.60, Y:-154.34, Z:2.24 [[-8.92396177e-01 -4.51247129e-01 2.25657494e-03 4.06018646e+01] [-4.51245771e-01 8.92399029e-01 1.10742944e-03 -1.54340485e+02] [-2.51348964e-03 -3.00040990e-05 -9.99996841e-01 2.23796500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.72999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.53, Y:-154.35, Z:2.24 [[-8.56172541e-01 -5.16687160e-01 1.72028250e-03 4.05295399e+01] [-5.16686174e-01 8.56174269e-01 1.00946190e-03 -1.54351255e+02] [-1.99443761e-03 -2.45726275e-05 -9.99998011e-01 2.23810493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.76 meters Centerline goodness [0,1] 0.9999784862957704 Centerline is valid? [True, True] Translation: X:40.45, Y:-154.37, Z:2.24 [[-8.14853334e-01 -5.79664168e-01 1.86983874e-03 4.04530103e+01] [-5.79662723e-01 8.14855479e-01 1.29478733e-03 -1.54370873e+02] [-2.27419016e-03 -2.88140480e-05 -9.99997414e-01 2.23843276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.78999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.37, Y:-154.40, Z:2.24 [[-7.68321136e-01 -6.40060789e-01 2.19509315e-03 4.03716326e+01] [-6.40058319e-01 7.68324270e-01 1.77877389e-03 -1.54404430e+02] [-2.82506676e-03 -3.83180585e-05 -9.99996009e-01 2.23894250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.82 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.29, Y:-154.45, Z:2.24 [[-7.17526261e-01 -6.96527244e-01 2.42143639e-03 4.02873179e+01] [-6.96523493e-01 7.17530345e-01 2.28634258e-03 -1.54445088e+02] [-3.32995398e-03 -4.60764882e-05 -9.99994455e-01 2.23946174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.84999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.20, Y:-154.50, Z:2.24 [[-6.62100214e-01 -7.49410770e-01 2.60864620e-03 4.02021808e+01] [-7.49405283e-01 6.62105351e-01 2.86824155e-03 -1.54496461e+02] [-3.87668971e-03 -5.58699038e-05 -9.99992484e-01 2.24001642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.88 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.12, Y:-154.56, Z:2.24 [[-6.02576628e-01 -7.98055392e-01 2.99980084e-03 4.01192143e+01] [-7.98046104e-01 6.02584090e-01 3.85111804e-03 -1.54556373e+02] [-4.88103778e-03 -7.33856571e-05 -9.99988085e-01 2.24072462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.90999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.04, Y:-154.63, Z:2.24 [[-5.39265432e-01 -8.42130082e-01 3.11749638e-03 4.00371431e+01] [-8.42116949e-01 5.39274436e-01 4.70401863e-03 -1.54626419e+02] [-5.64258169e-03 -8.85819049e-05 -9.99984077e-01 2.24197677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.94 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.96, Y:-154.71, Z:2.24 [[-4.71874953e-01 -8.81660333e-01 3.01426602e-03 3.99610878e+01] [-8.81643762e-01 4.71884568e-01 5.40652362e-03 -1.54708560e+02] [-6.18910304e-03 -1.06305755e-04 -9.99980842e-01 2.24270205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.96999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.89, Y:-154.79, Z:2.24 [[-4.02151763e-01 -9.15569038e-01 2.70099957e-03 3.98918331e+01] [-9.15550272e-01 4.02160817e-01 5.86312410e-03 -1.54791198e+02] [-6.45433109e-03 -1.15035193e-04 -9.99979164e-01 2.24261692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.0 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.83, Y:-154.88, Z:2.24 [[-3.29726368e-01 -9.44073701e-01 2.31724136e-03 3.98263113e+01] [-9.44052974e-01 3.29734487e-01 6.25706512e-03 -1.54884950e+02] [-6.67120501e-03 -1.24479245e-04 -9.99977740e-01 2.24222658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.03 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.77, Y:-154.99, Z:2.24 [[-2.54317680e-01 -9.67119080e-01 1.78993052e-03 3.97689568e+01] [-9.67098673e-01 2.54323944e-01 6.28399066e-03 -1.54987905e+02] [-6.53258945e-03 -1.32909513e-04 -9.99978654e-01 2.24115440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.06 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.72, Y:-155.10, Z:2.24 [[-1.78164262e-01 -9.84000092e-01 1.14697088e-03 3.97170988e+01] [-9.83983871e-01 1.78167913e-01 5.65126185e-03 -1.55096702e+02] [-5.76519559e-03 -1.21747948e-04 -9.99983374e-01 2.24036935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.09 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.68, Y:-155.21, Z:2.24 [[-1.00775067e-01 -9.94909034e-01 6.31776275e-04 3.96756787e+01] [-9.94895876e-01 1.00776984e-01 5.11818206e-03 -1.55206401e+02] [-5.15579407e-03 -1.12766470e-04 -9.99986702e-01 2.23919342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.12 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.64, Y:-155.34, Z:2.24 [[-2.21351626e-02 -9.99754967e-01 1.99933276e-04 3.96402755e+01] [-9.99745311e-01 2.21358278e-02 4.39517407e-03 -1.55337385e+02] [-4.39852280e-03 -1.02594463e-04 -9.99990321e-01 2.23864677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.15 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.62, Y:-155.43, Z:2.24 [[ 5.63521320e-02 -9.98410944e-01 -1.57970982e-04 3.96164582e+01] [-9.98398897e-01 -5.63522283e-02 4.90596885e-03 -1.55434528e+02] [-4.90707501e-03 -1.18743750e-04 -9.99987953e-01 2.23847205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.18 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.60, Y:-155.56, Z:2.24 [[ 1.34691377e-01 -9.90887438e-01 -5.64214230e-04 3.95999236e+01] [-9.90874220e-01 -1.34692495e-01 5.11981502e-03 -1.55558015e+02] [-5.14915581e-03 -1.30529600e-04 -9.99986735e-01 2.23921162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.21 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.59, Y:-155.67, Z:2.24 [[ 2.12252617e-01 -9.77214115e-01 -1.18302745e-03 3.95903598e+01] [-9.77194182e-01 -2.12255846e-01 6.24389560e-03 -1.55674994e+02] [-6.35272741e-03 -1.69235642e-04 -9.99979807e-01 2.24044803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.24 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.59, Y:-155.80, Z:2.24 [[ 2.88606131e-01 -9.57445738e-01 -2.03952472e-03 3.95921998e+01] [-9.57416223e-01 -2.88613255e-01 7.52092031e-03 -1.55797474e+02] [-7.78950697e-03 -2.17909652e-04 -9.99969638e-01 2.24181332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.27 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.60, Y:-155.92, Z:2.24 [[ 3.63393715e-01 -9.31630387e-01 -3.13537760e-03 3.96034903e+01] [-9.31588883e-01 -3.63407136e-01 8.79816912e-03 -1.55921487e+02] [-9.33606029e-03 -2.76316439e-04 -9.99956380e-01 2.24332535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.3 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.62, Y:-156.04, Z:2.25 [[ 4.37164950e-01 -8.99369879e-01 -4.54168015e-03 3.96249359e+01] [-8.99312382e-01 -4.37188389e-01 1.01760632e-02 -1.56042121e+02] [-1.11376146e-02 -3.64228977e-04 -9.99937909e-01 2.24500482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.33 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.65, Y:-156.15, Z:2.25 [[ 5.05437948e-01 -8.62843957e-01 -5.72605216e-03 3.96458817e+01] [-8.62779531e-01 -5.05470229e-01 1.05512203e-02 -1.56151148e+02] [-1.19984055e-02 -3.92666511e-04 -9.99927939e-01 2.24694711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.36 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.69, Y:-156.27, Z:2.25 [[ 5.70659295e-01 -8.21158762e-01 -6.80120739e-03 3.96887136e+01] [-8.21091662e-01 -5.70699675e-01 1.05053911e-02 -1.56268010e+02] [-1.25080408e-02 -4.10584386e-04 -9.99921687e-01 2.24611967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.39 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.72, Y:-156.36, Z:2.25 [[ 6.32460358e-01 -7.74554911e-01 -7.65415174e-03 3.97223200e+01] [-7.74490061e-01 -6.32506535e-01 1.00314127e-02 -1.56362374e+02] [-1.26111810e-02 -4.16406407e-04 -9.99920389e-01 2.24617924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.42 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.77, Y:-156.46, Z:2.25 [[ 6.89979640e-01 -7.23782970e-01 -8.14308753e-03 3.97671221e+01] [-7.23725600e-01 -6.90027574e-01 9.12155564e-03 -1.56464983e+02] [-1.22209816e-02 -4.00326764e-04 -9.99925241e-01 2.24742034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.45 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.82, Y:-156.56, Z:2.25 [[ 7.43331948e-01 -6.68873303e-01 -8.13137714e-03 3.98218243e+01] [-6.68827816e-01 -7.43376332e-01 7.80907337e-03 -1.56560769e+02] [-1.12679540e-02 -3.66242502e-04 -9.99936448e-01 2.24694711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.47999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.82, Y:-156.56, Z:2.25 [[ 7.93063283e-01 -6.09089451e-01 -7.78910972e-03 3.98208994e+01] [-6.09056030e-01 -7.93101467e-01 6.38866436e-03 -1.56560311e+02] [-1.00688224e-02 -3.22610889e-04 -9.99949256e-01 2.24560092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.51 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.82, Y:-156.56, Z:2.25 [[ 8.37535255e-01 -5.46320849e-01 -8.25992154e-03 3.98184958e+01] [-5.46290596e-01 -8.37575927e-01 5.75773343e-03 -1.56562952e+02] [-1.00638813e-02 -3.09987282e-04 -9.99949310e-01 2.24567856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.53999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.81, Y:-156.56, Z:2.25 [[ 8.77028187e-01 -4.80359326e-01 -8.74516217e-03 3.98142358e+01] [-4.80332023e-01 -8.77071735e-01 5.13019542e-03 -1.56564956e+02] [-1.01344718e-02 -2.98744551e-04 -9.99948600e-01 2.24649067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.81, Y:-156.57, Z:2.25 [[ 9.11427494e-01 -4.11356898e-01 -9.24262917e-03 3.98117441e+01] [-4.11332490e-01 -9.11474310e-01 4.49054918e-03 -1.56565559e+02] [-1.02716374e-02 -2.91016320e-04 -9.99947203e-01 2.24678701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.59999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.81, Y:-156.57, Z:2.25 [[ 9.40526320e-01 -3.39577838e-01 -9.85566064e-03 3.98082772e+01] [-3.39555935e-01 -9.40577911e-01 3.86781173e-03 -1.56565932e+02] [-1.05834398e-02 -2.91230674e-04 -9.99943951e-01 2.24719729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.63 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.80, Y:-156.57, Z:2.25 [[ 9.63942414e-01 -2.65911434e-01 -1.03020347e-02 3.98048595e+01] [-2.65893069e-01 -9.63997421e-01 3.13823372e-03 -1.56568067e+02] [-1.07656271e-02 -2.85836958e-04 -9.99942008e-01 2.24602018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.65999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.80, Y:-156.58, Z:2.25 [[ 9.81731645e-01 -1.89970461e-01 -1.06864645e-02 3.97997274e+01] [-1.89956009e-01 -9.81789764e-01 2.36079766e-03 -1.56575405e+02] [-1.09403432e-02 -2.87711630e-04 -9.99940111e-01 2.24660902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.69 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.79, Y:-156.58, Z:2.25 [[ 9.93591755e-01 -1.12490634e-01 -1.10127691e-02 3.97929858e+01] [-1.12480453e-01 -9.93652742e-01 1.54148470e-03 -1.56582047e+02] [-1.11162708e-02 -2.92885235e-04 -9.99938169e-01 2.24661837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.71999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.79, Y:-156.59, Z:2.25 [[ 9.99336418e-01 -3.46946620e-02 -1.10907155e-02 3.97852417e+01] [-3.46893217e-02 -9.99397917e-01 6.73574043e-04 -1.56589744e+02] [-1.11074074e-02 -2.88397673e-04 -9.99938269e-01 2.24720161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.78, Y:-156.60, Z:2.25 [[ 9.99031758e-01 4.27606715e-02 -1.03475592e-02 3.97790792e+01] [ 4.27610609e-02 -9.99085311e-01 -1.83706738e-04 -1.56595730e+02] [-1.03459498e-02 -2.58943743e-04 -9.99946446e-01 2.24736884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.78 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.77, Y:-156.60, Z:2.25 [[ 9.92694002e-01 1.20206442e-01 -1.04417001e-02 3.97734869e+01] [ 1.20202498e-01 -9.92748884e-01 -1.00672473e-03 -1.56602226e+02] [-1.04870009e-02 -2.55748833e-04 -9.99944977e-01 2.24778631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.81 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.77, Y:-156.61, Z:2.25 [[ 9.80430961e-01 1.96596092e-01 -1.02522278e-02 3.97675757e+01] [ 1.96587938e-01 -9.80484532e-01 -1.80705979e-03 -1.56608339e+02] [-1.04074117e-02 -2.43766965e-04 -9.99945812e-01 2.24804807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.84 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.76, Y:-156.62, Z:2.25 [[ 9.62409873e-01 2.71428928e-01 -9.67338674e-03 3.97625113e+01] [ 2.71417512e-01 -9.62458461e-01 -2.49916021e-03 -1.56615677e+02] [-9.98857729e-03 -2.20310100e-04 -9.99950089e-01 2.24833375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.87 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.76, Y:-156.62, Z:2.25 [[ 9.38819923e-01 3.44297329e-01 -8.74653377e-03 3.97567689e+01] [ 3.44284243e-01 -9.38860647e-01 -3.00763205e-03 -1.56623455e+02] [-9.24729603e-03 -1.87668873e-04 -9.99957225e-01 2.24871933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.9 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.75, Y:-156.63, Z:2.25 [[ 9.10598868e-01 4.13219384e-01 -7.70982691e-03 3.97509813e+01] [ 4.13205851e-01 -9.10631496e-01 -3.34707810e-03 -1.56626427e+02] [-8.40388876e-03 -1.37900063e-04 -9.99964677e-01 2.24821775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.93 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.75, Y:-156.63, Z:2.25 [[ 8.76338752e-01 4.81642115e-01 -7.15994242e-03 3.97464814e+01] [ 4.81627137e-01 -8.76367993e-01 -3.80020587e-03 -1.56632528e+02] [-8.10508356e-03 -1.18154898e-04 -9.99967146e-01 2.24847359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.96 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.74, Y:-156.64, Z:2.25 [[ 8.36745731e-01 5.47550324e-01 -6.72483211e-03 3.97433428e+01] [ 5.47533644e-01 -8.36772748e-01 -4.27524621e-03 -1.56642051e+02] [-7.96806869e-03 -1.04777816e-04 -9.99968249e-01 2.24794629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.99 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.74, Y:-156.65, Z:2.25 [[ 7.92258537e-01 6.10147112e-01 -6.84928671e-03 3.97419417e+01] [ 6.10125392e-01 -7.92288137e-01 -5.14915543e-03 -1.56652325e+02] [-8.56835092e-03 -9.94613886e-05 -9.99963286e-01 2.24820843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.02 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.74, Y:-156.66, Z:2.25 [[ 7.42143881e-01 6.70205188e-01 -6.88952596e-03 3.97402725e+01] [ 6.70177621e-01 -7.42175852e-01 -6.07965468e-03 -1.56664408e+02] [-9.18785590e-03 -1.05227589e-04 -9.99957785e-01 2.24883386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.05 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.74, Y:-156.67, Z:2.25 [[ 6.87216603e-01 7.26420819e-01 -6.79223166e-03 3.97398083e+01] [ 7.26386968e-01 -6.87250159e-01 -7.01367489e-03 -1.56674598e+02] [-9.76284174e-03 -1.13874727e-04 -9.99952336e-01 2.24897741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.08 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.74, Y:-156.69, Z:2.25 [[ 6.27838889e-01 7.78314797e-01 -6.66383354e-03 3.97395317e+01] [ 7.78273095e-01 -6.27874240e-01 -8.05781091e-03 -1.56686667e+02] [-1.04555629e-02 -1.27275299e-04 -9.99945331e-01 2.24979816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.11 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.74, Y:-156.70, Z:2.25 [[ 5.64031843e-01 8.25729031e-01 -6.29669230e-03 3.97403892e+01] [ 8.25680438e-01 -5.64066970e-01 -8.95924027e-03 -1.56696730e+02] [-1.09496609e-02 -1.45758852e-04 -9.99940040e-01 2.24964688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.14 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.74, Y:-156.71, Z:2.25 [[ 4.97356112e-01 8.67528452e-01 -5.59315497e-03 3.97419667e+01] [ 8.67476945e-01 -4.97387538e-01 -9.45444110e-03 -1.56707393e+02] [-1.09839622e-02 -1.49708923e-04 -9.99939663e-01 2.24951681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.17 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.74, Y:-156.72, Z:2.25 [[ 4.28131061e-01 9.03704097e-01 -4.76436000e-03 3.97433844e+01] [ 9.03651858e-01 -4.28157545e-01 -9.71786319e-03 -1.56717385e+02] [-1.08219695e-02 -1.44803687e-04 -9.99941430e-01 2.24953449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.2 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.74, Y:-156.73, Z:2.25 [[ 3.56404816e-01 9.34323322e-01 -3.94164542e-03 3.97446206e+01] [ 9.34270432e-01 -3.56426584e-01 -9.94233853e-03 -1.56726968e+02] [-1.06942660e-02 -1.39065438e-04 -9.99942805e-01 2.24963128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.22999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.75, Y:-156.74, Z:2.25 [[ 2.83837870e-01 9.58867852e-01 -2.91660917e-03 3.97454518e+01] [ 9.58821186e-01 -2.83852833e-01 -9.46058975e-03 -1.56736851e+02] [-9.89934314e-03 -1.11233016e-04 -9.99950994e-01 2.24878423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.26 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.75, Y:-156.75, Z:2.25 [[ 2.08890691e-01 9.77936808e-01 -2.06857581e-03 3.97453457e+01] [ 9.77893340e-01 -2.08900910e-01 -9.22090415e-03 -1.56746779e+02] [-9.44958894e-03 -9.66854711e-05 -9.99955347e-01 2.24835515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.28999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.75, Y:-156.76, Z:2.25 [[ 1.32650494e-01 9.91162045e-01 -1.28300705e-03 3.97473068e+01] [ 9.91121585e-01 -1.32656672e-01 -8.95611341e-03 -1.56755581e+02] [-9.04715913e-03 -8.35831157e-05 -9.99959070e-01 2.24767579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.32 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.75, Y:-156.77, Z:2.25 [[ 5.46228240e-02 9.98506892e-01 -5.77660764e-04 3.97506211e+01] [ 9.98466072e-01 -5.46258145e-02 -9.02906725e-03 -1.56765283e+02] [-9.04714107e-03 -8.35815224e-05 -9.99959070e-01 2.24767563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.34999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.75, Y:-156.78, Z:2.25 [[-2.31936147e-02 9.99730984e-01 1.29069086e-04 3.97537499e+01] [ 9.99691442e-01 2.31938454e-02 -8.89187367e-03 -1.56775261e+02] [-8.89247522e-03 -7.72054316e-05 -9.99960458e-01 2.24756625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.38 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.76, Y:-156.78, Z:2.25 [[-1.00814798e-01 9.94904859e-01 8.35479517e-04 3.97555111e+01] [ 9.94864475e-01 1.00818234e-01 -8.96437416e-03 -1.56783898e+02] [-9.00293097e-03 -7.25526813e-05 -9.99959470e-01 2.24788057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.40999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.76, Y:-156.79, Z:2.25 [[-1.77786899e-01 9.84067539e-01 1.70217173e-03 3.97634604e+01] [ 9.84018388e-01 1.77795032e-01 -9.83557185e-03 -1.56791309e+02] [-9.98150466e-03 -7.36675314e-05 -9.99950181e-01 2.24702491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.44 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.77, Y:-156.80, Z:2.25 [[-2.54139060e-01 9.67164445e-01 2.50471160e-03 3.97743328e+01] [ 9.67114613e-01 2.54151392e-01 -9.81813881e-03 -1.56798287e+02] [-1.01323307e-02 -7.28293836e-05 -9.99948664e-01 2.24701766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.46999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.79, Y:-156.81, Z:2.25 [[-3.29022013e-01 9.44316722e-01 3.23172627e-03 3.97855092e+01] [ 9.44269043e-01 3.29037877e-01 -9.48948227e-03 -1.56805204e+02] [-1.00244371e-02 -7.06294926e-05 -9.99949752e-01 2.24749483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.80, Y:-156.81, Z:2.25 [[-4.01711468e-01 9.15757478e-01 4.01729529e-03 3.97953487e+01] [ 9.15709975e-01 4.01731549e-01 -9.32757953e-03 -1.56811452e+02] [-1.01556750e-02 -6.83182951e-05 -9.99948427e-01 2.24742794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.53 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.81, Y:-156.82, Z:2.25 [[-4.72608017e-01 8.81261095e-01 4.53255764e-03 3.98065221e+01] [ 8.81219156e-01 4.72629746e-01 -8.59784859e-03 -1.56816046e+02] [-9.71917104e-03 -6.92355568e-05 -9.99952765e-01 2.24748736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.82, Y:-156.82, Z:2.25 [[-5.40902574e-01 8.41070038e-01 5.05938233e-03 3.98180618e+01] [ 8.41031933e-01 5.40926230e-01 -8.00633050e-03 -1.56819915e+02] [-9.47063731e-03 -7.55426755e-05 -9.99955150e-01 2.24725088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.59 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.83, Y:-156.82, Z:2.25 [[-6.05893457e-01 7.95525884e-01 5.62910709e-03 3.98295323e+01] [ 7.95490258e-01 6.05919599e-01 -7.52924688e-03 -1.56823113e+02] [-9.40049709e-03 -8.40215694e-05 -9.99955811e-01 2.24714780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.62 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.84, Y:-156.82, Z:2.25 [[-6.67750686e-01 7.44359758e-01 6.12966475e-03 3.98416022e+01] [ 7.44327007e-01 6.67778811e-01 -6.98326151e-03 -1.56824214e+02] [-9.29131908e-03 -1.00602642e-04 -9.99956830e-01 2.24714794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.65 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.85, Y:-156.83, Z:2.25 [[-7.24596000e-01 6.89137864e-01 7.04570516e-03 3.98532927e+01] [ 6.89103736e-01 7.24630245e-01 -6.85928285e-03 -1.56825356e+02] [-9.83252258e-03 -1.14987163e-04 -9.99951653e-01 2.24814799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.68 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.88, Y:-156.81, Z:2.25 [[-7.71992580e-01 6.35580137e-01 8.08371883e-03 3.98789104e+01] [ 6.35543491e-01 7.72034891e-01 -6.82633475e-03 -1.56811394e+02] [-1.05795958e-02 -1.32324888e-04 -9.99944026e-01 2.24847186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.71 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.45, Y:-156.17, Z:1.44 [[-7.09734983e-01 -7.04420897e-01 8.21305380e-03 4.04466411e+01] [ 7.04376799e-01 -7.09782477e-01 -7.88419557e-03 -1.56166090e+02] [ 1.13832738e-02 1.89395136e-04 9.99935191e-01 1.44075050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.74 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.85, Y:-156.79, Z:2.25 [[-7.75244627e-01 6.31600462e-01 8.75354171e-03 3.98544661e+01] [ 6.31557840e-01 7.75294029e-01 -7.33916717e-03 -1.56789733e+02] [-1.14219900e-02 -1.61282017e-04 -9.99934754e-01 2.24987124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.77 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.87, Y:-156.77, Z:2.25 [[-8.19057386e-01 5.73616260e-01 1.04587343e-02 3.98727075e+01] [ 5.73566247e-01 8.19124132e-01 -7.57744856e-03 -1.56767424e+02] [-1.29135493e-02 -2.07588256e-04 -9.99916595e-01 2.25097290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.8 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.90, Y:-156.75, Z:2.25 [[-8.58010019e-01 5.13504454e-01 1.14883798e-02 3.98994514e+01] [ 5.13454843e-01 8.58086897e-01 -7.14152067e-03 -1.56753976e+02] [-1.35252308e-02 -2.28732042e-04 -9.99908504e-01 2.25012867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.83 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.92, Y:-156.73, Z:2.25 [[-8.92344877e-01 4.51202910e-01 1.16856577e-02 3.99214221e+01] [ 4.51160870e-01 8.92421359e-01 -6.16340909e-03 -1.56734657e+02] [-1.32094787e-02 -2.27775016e-04 -9.99912725e-01 2.25002157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.86 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.93, Y:-156.71, Z:2.25 [[-9.22014569e-01 3.86973094e-01 1.18726553e-02 3.99335543e+01] [ 3.86937896e-01 9.22090980e-01 -5.22388929e-03 -1.56710914e+02] [-1.29691730e-02 -2.22521758e-04 -9.99915872e-01 2.24927431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.29, Y:-155.93, Z:1.44 [[-8.78612447e-01 -4.77424758e-01 1.02843964e-02 4.02940157e+01] [ 4.77393656e-01 -8.78672627e-01 -5.45080179e-03 -1.55934408e+02] [ 1.16389653e-02 1.20563294e-04 9.99932258e-01 1.44134578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.92 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.90, Y:-156.70, Z:2.25 [[-9.22461114e-01 3.85962228e-01 9.93237364e-03 3.98964936e+01] [ 3.85938013e-01 9.22514571e-01 -4.32626270e-03 -1.56697468e+02] [-1.08325334e-02 -1.57528562e-04 -9.99941314e-01 2.24738602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.95 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.25, Y:-155.92, Z:1.44 [[-8.81690707e-01 -4.71736835e-01 9.26582157e-03 4.02538063e+01] [ 4.71712314e-01 -8.81739384e-01 -4.81151995e-03 -1.55915122e+02] [ 1.04398110e-02 1.28529710e-04 9.99945495e-01 1.44280022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.97999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.85, Y:-156.68, Z:2.25 [[-9.22677234e-01 3.85471645e-01 8.85057586e-03 3.98537802e+01] [ 3.85452771e-01 9.22719675e-01 -3.81606704e-03 -1.56682038e+02] [-9.63758612e-03 -1.09519192e-04 -9.99953551e-01 2.24680808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.01 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.88, Y:-156.67, Z:2.25 [[-9.46067432e-01 3.23841819e-01 9.10447155e-03 3.98818645e+01] [ 3.23826194e-01 9.46111237e-01 -3.18176786e-03 -1.56668693e+02] [-9.64423233e-03 -6.19005778e-05 -9.99953491e-01 2.24640977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.03999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.87, Y:-156.64, Z:2.25 [[-9.65883527e-01 2.58812930e-01 9.21300262e-03 3.98701250e+01] [ 2.58800823e-01 9.65927464e-01 -2.50355084e-03 -1.56638826e+02] [-9.54704358e-03 -3.38058524e-05 -9.99954425e-01 2.24717697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.14, Y:-155.80, Z:1.44 [[-9.45029601e-01 -3.26847523e-01 9.47361628e-03 4.01418101e+01] [ 3.26831766e-01 -9.45077083e-01 -3.20999014e-03 -1.55803379e+02] [ 1.00024750e-02 6.27430318e-05 9.99949972e-01 1.44185183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.09999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.85, Y:-156.64, Z:2.25 [[-9.64212361e-01 2.64934470e-01 1.02102213e-02 3.98527656e+01] [ 2.64920401e-01 9.64266416e-01 -2.73120730e-03 -1.56643365e+02] [-1.05689645e-02 7.14320886e-05 -9.99944144e-01 2.24686493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.13 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.87, Y:-156.62, Z:2.25 [[-9.79845096e-01 1.99480215e-01 1.05466023e-02 3.98705363e+01] [ 1.99469864e-01 9.79901848e-01 -2.03512131e-03 -1.56621573e+02] [-1.07406015e-02 1.09625686e-04 -9.99942312e-01 2.24735258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.15999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.05, Y:-155.74, Z:1.44 [[-9.70242050e-01 -2.41907076e-01 1.05513535e-02 4.00548769e+01] [ 2.41891632e-01 -9.70299416e-01 -2.73537138e-03 -1.55744297e+02] [ 1.08996778e-02 -1.01688221e-04 9.99940592e-01 1.44171798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.19 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.82, Y:-156.61, Z:2.25 [[-9.79482120e-01 2.01233723e-01 1.09437821e-02 3.98167927e+01] [ 2.01223243e-01 9.79543238e-01 -2.06181940e-03 -1.56614488e+02] [-1.11348154e-02 1.82628087e-04 -9.99937989e-01 2.24790793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.21999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:40.00, Y:-155.73, Z:1.44 [[-9.73000352e-01 -2.30510121e-01 1.16360901e-02 3.99956050e+01] [ 2.30491843e-01 -9.73069917e-01 -2.90646428e-03 -1.55731454e+02] [ 1.19926986e-02 -1.45966924e-04 9.99928074e-01 1.44129850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.25 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.76, Y:-156.60, Z:2.25 [[-9.79208580e-01 2.02498969e-01 1.20301702e-02 3.97562144e+01] [ 2.02487077e-01 9.79282438e-01 -2.21118224e-03 -1.56604593e+02] [-1.22286965e-02 2.70745383e-04 -9.99925190e-01 2.24774220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.28 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.77, Y:-156.58, Z:2.25 [[-9.90955779e-01 1.33630951e-01 1.22234779e-02 3.97669109e+01] [ 1.33624331e-01 9.91031123e-01 -1.36033149e-03 -1.56577513e+02] [-1.22956295e-02 2.85325709e-04 -9.99924365e-01 2.24742508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.31 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.78, Y:-156.55, Z:2.25 [[-9.97911767e-01 6.33076552e-02 1.28158653e-02 3.97798130e+01] [ 6.33063318e-02 9.97994013e-01 -5.09329137e-04 -1.56551315e+02] [-1.28224013e-02 3.03059884e-04 -9.99917744e-01 2.24797042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.34 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.78, Y:-156.52, Z:2.25 [[-9.99872259e-01 -9.25748585e-03 1.30294083e-02 3.97815913e+01] [-9.25293163e-03 9.99957107e-01 4.09774314e-04 -1.56521660e+02] [-1.30326429e-02 2.89161745e-04 -9.99915030e-01 2.24806817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.37 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.76, Y:-155.63, Z:1.44 [[-9.99798690e-01 -1.53524774e-02 1.29182108e-02 3.97628013e+01] [ 1.53473945e-02 -9.99882101e-01 -4.92519505e-04 -1.55626829e+02] [ 1.29242491e-02 -2.94159480e-04 9.99916435e-01 1.44195078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.4 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.67, Y:-156.52, Z:2.25 [[-9.99727970e-01 -1.96741003e-02 1.25266168e-02 3.96716988e+01] [-1.96696799e-02 9.99806420e-01 4.75996432e-04 -1.56517114e+02] [-1.25335567e-02 2.29472405e-04 -9.99921426e-01 2.24662104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.43 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.67, Y:-156.49, Z:2.25 [[-9.95517563e-01 -9.38077662e-02 1.20368079e-02 3.96709381e+01] [-9.37986427e-02 9.95590311e-01 1.32152522e-03 -1.56486656e+02] [-1.21076986e-02 1.86565323e-04 -9.99926682e-01 2.24634034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.46 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.65, Y:-156.46, Z:2.25 [[-9.85735839e-01 -1.67920354e-01 1.12965187e-02 3.96548590e+01] [-1.67907686e-01 9.85800555e-01 2.06742308e-03 -1.56457938e+02] [-1.14832769e-02 1.41160708e-04 -9.99934055e-01 2.24601213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.49 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.62, Y:-156.43, Z:2.24 [[-9.69412753e-01 -2.45200604e-01 1.07506835e-02 3.96233570e+01] [-2.45184810e-01 9.69472362e-01 2.78375386e-03 -1.56429865e+02] [-1.11050686e-02 6.27022020e-05 -9.99938335e-01 2.24497255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.52 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.57, Y:-156.41, Z:2.25 [[-9.47707837e-01 -3.18946699e-01 1.10841332e-02 3.95671880e+01] [-3.18924539e-01 9.47772653e-01 3.75979582e-03 -1.56414985e+02] [-1.17044128e-02 2.81858844e-05 -9.99931501e-01 2.24594005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.55 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.50, Y:-156.41, Z:2.25 [[-9.20226852e-01 -3.91222731e-01 1.12834063e-02 3.95020316e+01] [-3.91193471e-01 9.20296025e-01 4.78479256e-03 -1.56407088e+02] [-1.22559936e-02 -1.09002667e-05 -9.99924892e-01 2.24611829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.58 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.43, Y:-156.41, Z:2.25 [[-8.86938226e-01 -4.61748299e-01 1.13619034e-02 3.94274098e+01] [-4.61711202e-01 8.87010995e-01 5.85325563e-03 -1.56407948e+02] [-1.27808641e-02 -5.44419062e-05 -9.99918320e-01 2.24712886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.61 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.33, Y:-156.42, Z:2.25 [[-8.46699561e-01 -5.31955118e-01 1.11178446e-02 3.93330844e+01] [-5.31911381e-01 8.46772540e-01 6.82266337e-03 -1.56422697e+02] [-1.30436362e-02 -1.36962018e-04 -9.99914919e-01 2.24805417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.64 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.25, Y:-156.44, Z:2.25 [[-8.02547251e-01 -5.96500175e-01 1.02689648e-02 3.92528681e+01] [-5.96453983e-01 8.02612929e-01 7.42511168e-03 -1.56441018e+02] [-1.26710843e-02 -1.65961987e-04 -9.99919705e-01 2.24741224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.67 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.17, Y:-156.47, Z:2.25 [[-7.53486037e-01 -6.57398695e-01 9.25996642e-03 3.91684592e+01] [-6.57352089e-01 7.53542912e-01 7.83012444e-03 -1.56470463e+02] [-1.21252957e-02 -1.87168827e-04 -9.99926468e-01 2.24641617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.7 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.07, Y:-156.52, Z:2.25 [[-6.99075407e-01 -7.15004956e-01 7.84139530e-03 3.90725541e+01] [-7.14963251e-01 6.99119353e-01 7.72522798e-03 -1.56515894e+02] [-1.10056475e-02 -2.05792587e-04 -9.99939415e-01 2.24633936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.72999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.99, Y:-156.56, Z:2.25 [[-6.41697641e-01 -7.66927352e-01 6.82455364e-03 3.89885570e+01] [-7.66887334e-01 6.41733898e-01 7.83717540e-03 -1.56564119e+02] [-1.03900916e-02 -2.04566779e-04 -9.99946001e-01 2.24596153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.76 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.90, Y:-156.62, Z:2.24 [[-5.80992105e-01 -8.13889841e-01 5.61252218e-03 3.89049648e+01] [-8.13854932e-01 5.81019184e-01 7.54042824e-03 -1.56624549e+02] [-9.39806099e-03 -1.86849576e-04 -9.99955820e-01 2.24496842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.78999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.82, Y:-156.70, Z:2.24 [[-5.16880253e-01 -8.56046008e-01 4.47628532e-03 3.88227899e+01] [-8.56016658e-01 5.16899608e-01 7.09053048e-03 -1.56695741e+02] [-8.38361043e-03 -1.66819613e-04 -9.99964843e-01 2.24470793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.82 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.73, Y:-156.80, Z:2.24 [[-4.50432661e-01 -8.92804793e-01 3.16531252e-03 3.87324326e+01] [-8.92784734e-01 4.50443764e-01 5.98614411e-03 -1.56798081e+02] [-6.77025344e-03 -1.29587878e-04 -9.99977073e-01 2.24451233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.84999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.67, Y:-156.86, Z:2.24 [[-3.80845172e-01 -9.24634648e-01 2.77892953e-03 3.86731261e+01] [-9.24612445e-01 3.80855288e-01 6.40899763e-03 -1.56860895e+02] [-6.98435128e-03 -1.28597029e-04 -9.99975601e-01 2.24442063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.88 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.61, Y:-156.96, Z:2.24 [[-3.09207634e-01 -9.50991691e-01 2.33304655e-03 3.86080476e+01] [-9.50967612e-01 3.09216410e-01 6.76846464e-03 -1.56956803e+02] [-7.15816991e-03 -1.25790765e-04 -9.99974372e-01 2.24471346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.90999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.55, Y:-157.06, Z:2.25 [[-2.35426677e-01 -9.71890143e-01 1.95697698e-03 3.85480924e+01] [-9.71861063e-01 2.35434774e-01 7.51938227e-03 -1.57061635e+02] [-7.76875394e-03 -1.31646548e-04 -9.99969814e-01 2.24579699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.94 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.50, Y:-157.17, Z:2.25 [[-1.59895772e-01 -9.87132542e-01 1.63927238e-03 3.84979916e+01] [-9.87090059e-01 1.59904101e-01 9.15938804e-03 -1.57168562e+02] [-9.30365638e-03 -1.53562049e-04 -9.99956708e-01 2.24698985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.96999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.46, Y:-157.29, Z:2.25 [[-8.35424240e-02 -9.96503563e-01 1.14564671e-03 3.84552157e+01] [-9.96437552e-01 8.35500780e-02 1.14712429e-02 -1.57290018e+02] [-1.15268533e-02 -1.83229966e-04 -9.99933547e-01 2.24885661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.0 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.42, Y:-157.40, Z:2.25 [[-5.99559045e-03 -9.99981990e-01 2.69785679e-04 3.84214799e+01] [-9.99906898e-01 5.99844682e-03 1.22561455e-02 -1.57401601e+02] [-1.22575431e-02 -1.96277732e-04 -9.99924854e-01 2.25006904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.03 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.40, Y:-157.51, Z:2.25 [[ 7.09965683e-02 -9.97476300e-01 -7.19392646e-04 3.83970446e+01] [-9.97392510e-01 -7.09999299e-02 1.29302651e-02 -1.57508005e+02] [-1.29487098e-02 -2.00487613e-04 -9.99916142e-01 2.25079880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.06 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.38, Y:-157.63, Z:2.25 [[ 1.47663570e-01 -9.89036012e-01 -1.79906747e-03 3.83829916e+01] [-9.88944940e-01 -1.47674390e-01 1.34231574e-02 -1.57632325e+02] [-1.35416622e-02 -2.02932664e-04 -9.99908287e-01 2.25082031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.09 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.38, Y:-157.75, Z:2.25 [[ 2.22759448e-01 -9.74869626e-01 -2.72787235e-03 3.83781641e+01] [-9.74786318e-01 -2.22776077e-01 1.27457632e-02 -1.57745107e+02] [-1.30331621e-02 -1.80146538e-04 -9.99915049e-01 2.24996700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.12 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.38, Y:-157.88, Z:2.25 [[ 2.96453499e-01 -9.55041302e-01 -3.38151510e-03 3.83847816e+01] [-9.54973308e-01 -2.96472747e-01 1.13970122e-02 -1.57875817e+02] [-1.18871444e-02 -1.49427489e-04 -9.99929334e-01 2.24934339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.15 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.40, Y:-157.99, Z:2.25 [[ 3.68338325e-01 -9.29683845e-01 -3.85053771e-03 3.83957744e+01] [-9.29629561e-01 -3.68358431e-01 1.00471952e-02 -1.57985881e+02] [-1.07590931e-02 -1.21193386e-04 -9.99942112e-01 2.24813000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.18 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.42, Y:-158.10, Z:2.25 [[ 4.36610289e-01 -8.99643475e-01 -3.61565304e-03 3.84187452e+01] [-8.99611281e-01 -4.36625254e-01 7.61120769e-03 -1.58098275e+02] [-8.42605877e-03 -7.04493206e-05 -9.99964498e-01 2.24618282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.21 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.45, Y:-158.21, Z:2.25 [[ 5.04882108e-01 -8.63178123e-01 -4.19348776e-03 3.84475646e+01] [-8.63147183e-01 -5.04899518e-01 7.30871846e-03 -1.58212440e+02] [-8.42601583e-03 -7.04440319e-05 -9.99964498e-01 2.24618067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.24 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.49, Y:-158.33, Z:2.25 [[ 5.68673903e-01 -8.22552874e-01 -4.09409056e-03 3.84905499e+01] [-8.22530937e-01 -5.68688638e-01 6.00747610e-03 -1.58328419e+02] [-7.26972952e-03 -4.87787356e-05 -9.99973574e-01 2.24516356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.27 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.53, Y:-158.43, Z:2.24 [[ 6.29252114e-01 -7.77191931e-01 -3.80503065e-03 3.85334455e+01] [-7.77177415e-01 -6.29263618e-01 4.75022730e-03 -1.58428859e+02] [-6.08620569e-03 -3.19066906e-05 -9.99981478e-01 2.24456388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.3 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.58, Y:-158.52, Z:2.24 [[ 6.86177316e-01 -7.27422872e-01 -4.08121510e-03 3.85807122e+01] [-7.27409807e-01 -6.86189452e-01 4.35989170e-03 -1.58522035e+02] [-5.97197170e-03 -2.29428990e-05 -9.99982167e-01 2.24416847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.33 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.64, Y:-158.61, Z:2.24 [[ 7.38729236e-01 -6.73990854e-01 -3.92995946e-03 3.86358027e+01] [-6.73981242e-01 -7.38739690e-01 3.59946509e-03 -1.58612646e+02] [-5.32922358e-03 -1.03111453e-05 -9.99985800e-01 2.24366601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.36 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.63, Y:-158.62, Z:2.24 [[ 7.87632617e-01 -6.16132169e-01 -4.00129559e-03 3.86330959e+01] [-6.16124232e-01 -7.87642781e-01 3.12736831e-03 -1.58615790e+02] [-5.07846381e-03 2.07789179e-06 -9.99987105e-01 2.24332970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.39 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.63, Y:-158.62, Z:2.24 [[ 8.32830943e-01 -5.53509936e-01 -4.40136150e-03 3.86271503e+01] [-5.53502252e-01 -8.32842573e-01 2.91663522e-03 -1.58621314e+02] [-5.28002781e-03 7.09944292e-06 -9.99986061e-01 2.24347263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.42 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.62, Y:-158.63, Z:2.24 [[ 8.73189659e-01 -4.87353887e-01 -5.09990333e-03 3.86192278e+01] [-4.87345656e-01 -8.73204552e-01 2.83239713e-03 -1.58625145e+02] [-5.83363855e-03 1.21958532e-05 -9.99982984e-01 2.24436682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.45 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.61, Y:-158.63, Z:2.24 [[ 9.08641494e-01 -4.17527712e-01 -6.42226216e-03 3.86121799e+01] [-4.17517395e-01 -9.08664189e-01 2.93526075e-03 -1.58630971e+02] [-7.06123235e-03 1.43064541e-05 -9.99975069e-01 2.24471843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.47999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.61, Y:-158.64, Z:2.25 [[ 9.38565335e-01 -3.45027761e-01 -7.13833515e-03 3.86052718e+01] [-3.45017896e-01 -9.38592480e-01 2.60915474e-03 -1.58638732e+02] [-7.60021851e-03 1.39911737e-05 -9.99971118e-01 2.24519052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.51 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.60, Y:-158.65, Z:2.25 [[ 9.62884354e-01 -2.69770837e-01 -8.79865612e-03 3.85976047e+01] [-2.69759661e-01 -9.62924553e-01 2.45563680e-03 -1.58646032e+02] [-9.13490120e-03 9.02823694e-06 -9.99958276e-01 2.24623064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.53999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.59, Y:-158.65, Z:2.25 [[ 9.81162683e-01 -1.92943230e-01 -9.62808924e-03 3.85882788e+01] [-1.92933973e-01 -9.81209921e-01 1.89001530e-03 -1.58653469e+02] [-9.81184235e-03 3.17302863e-06 -9.99951863e-01 2.24686344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.58, Y:-158.66, Z:2.25 [[ 9.93296947e-01 -1.15124602e-01 -1.03682453e-02 3.85799238e+01] [-1.15118322e-01 -9.93351059e-01 1.20238331e-03 -1.58661145e+02] [-1.04377313e-02 -7.48663881e-07 -9.99945525e-01 2.24698091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.59999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.57, Y:-158.67, Z:2.25 [[ 9.99276558e-01 -3.65324194e-02 -1.05708275e-02 3.85713102e+01] [-3.65303142e-02 -9.99332468e-01 3.92236409e-04 -1.58668750e+02] [-1.05781005e-02 -5.79699768e-06 -9.99944050e-01 2.24844607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.63 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.56, Y:-158.68, Z:2.25 [[ 9.99058400e-01 4.22130227e-02 -1.00186935e-02 3.85643258e+01] [ 4.22109933e-02 -9.99108633e-01 -4.14025802e-04 -1.58676275e+02] [-1.00272405e-02 -9.26305002e-06 -9.99949726e-01 2.24697412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.65999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.56, Y:-158.68, Z:2.25 [[ 9.92769966e-01 1.19674325e-01 -9.26557205e-03 3.85577102e+01] [ 1.19669137e-01 -9.92813203e-01 -1.11431938e-03 -1.58684277e+02] [-9.33233768e-03 -2.54019998e-06 -9.99956453e-01 2.24625473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.69 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.55, Y:-158.69, Z:2.25 [[ 9.80487625e-01 1.96398084e-01 -8.47405099e-03 3.85518611e+01] [ 1.96390719e-01 -9.80524244e-01 -1.70085913e-03 -1.58691987e+02] [-8.64305791e-03 3.44635859e-06 -9.99962648e-01 2.24512794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.71999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.54, Y:-158.70, Z:2.24 [[ 9.62710422e-01 2.70452109e-01 -6.65581170e-03 3.85443965e+01] [ 2.70445521e-01 -9.62733430e-01 -1.88785357e-03 -1.58698848e+02] [-6.91834641e-03 1.74218393e-05 -9.99976068e-01 2.24343015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.54, Y:-158.71, Z:2.24 [[ 9.38841112e-01 3.44297454e-01 -6.05218076e-03 3.85401674e+01] [ 3.44290155e-01 -9.38860619e-01 -2.24203552e-03 -1.58709745e+02] [-6.45408130e-03 2.12088700e-05 -9.99979172e-01 2.24261159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.78 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.54, Y:-158.72, Z:2.24 [[ 9.09217818e-01 4.16276354e-01 -6.07923531e-03 3.85350793e+01] [ 4.16266860e-01 -9.09238141e-01 -2.81145917e-03 -1.58720588e+02] [-6.69781658e-03 2.56445793e-05 -9.99977569e-01 2.24290699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.81 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.53, Y:-158.73, Z:2.24 [[ 8.74056289e-01 4.85793040e-01 -5.54314877e-03 3.85319310e+01] [ 4.85783074e-01 -8.74073865e-01 -3.11182155e-03 -1.58731261e+02] [-6.35682273e-03 2.71393489e-05 -9.99979795e-01 2.24345641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.84 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.53, Y:-158.75, Z:2.24 [[ 8.33468389e-01 5.52544748e-01 -4.97457043e-03 3.85313648e+01] [ 5.52534713e-01 -8.33483234e-01 -3.33017916e-03 -1.58745539e+02] [-5.98629405e-03 2.69762114e-05 -9.99982082e-01 2.24425171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.87 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.53, Y:-158.76, Z:2.25 [[ 7.87853896e-01 6.15842996e-01 -4.86235489e-03 3.85300046e+01] [ 6.15831034e-01 -7.87868900e-01 -3.83853785e-03 -1.58758481e+02] [-6.19483485e-03 2.98179620e-05 -9.99980811e-01 2.24506824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.9 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.53, Y:-158.77, Z:2.25 [[ 7.37444095e-01 6.75390745e-01 -4.85263285e-03 3.85290458e+01] [ 6.75375818e-01 -7.37460060e-01 -4.49047476e-03 -1.58770426e+02] [-6.61144801e-03 3.41232151e-05 -9.99978144e-01 2.24503218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.93 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.53, Y:-158.78, Z:2.25 [[ 6.82542913e-01 7.30831062e-01 -4.59680978e-03 3.85294589e+01] [ 7.30814119e-01 -6.82558391e-01 -4.97665054e-03 -1.58782803e+02] [-6.77468189e-03 3.73640633e-05 -9.99977051e-01 2.24501853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.96 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.53, Y:-158.79, Z:2.25 [[ 6.24861105e-01 7.80725115e-01 -4.11026045e-03 3.85318276e+01] [ 7.80707692e-01 -6.24874621e-01 -5.21605210e-03 -1.58794946e+02] [-6.64070032e-03 5.03961300e-05 -9.99977949e-01 2.24508245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.99 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.53, Y:-158.81, Z:2.25 [[ 5.62965419e-01 8.26471956e-01 -3.74732040e-03 3.85331714e+01] [ 8.26452923e-01 -5.62977888e-01 -5.60922472e-03 -1.58807050e+02] [-6.74552545e-03 6.08156426e-05 -9.99977247e-01 2.24528934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.02 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.53, Y:-158.82, Z:2.25 [[ 4.98333015e-01 8.66980006e-01 -3.14239298e-03 3.85345033e+01] [ 8.66961856e-01 -4.98342918e-01 -5.61045884e-03 -1.58818522e+02] [-6.43014493e-03 7.15420207e-05 -9.99979324e-01 2.24591972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.05 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.54, Y:-158.83, Z:2.25 [[ 4.30588547e-01 9.02543740e-01 -2.88101915e-03 3.85377833e+01] [ 9.02522129e-01 -4.30598176e-01 -6.24641751e-03 -1.58830260e+02] [-6.87822662e-03 8.94523032e-05 -9.99976341e-01 2.24623753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.08 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.54, Y:-158.84, Z:2.25 [[ 3.62754467e-01 9.31881701e-01 -2.38588596e-03 3.85422942e+01] [ 9.31859315e-01 -3.62762293e-01 -6.46039040e-03 -1.58841551e+02] [-6.88582906e-03 1.20225421e-04 -9.99976285e-01 2.24674885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.11 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.55, Y:-158.85, Z:2.25 [[ 2.90274814e-01 9.56941324e-01 -1.95801669e-03 3.85464218e+01] [ 9.56916236e-01 -2.90281385e-01 -6.93076112e-03 -1.58853915e+02] [-7.20070752e-03 1.38167436e-04 -9.99974065e-01 2.24663145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.14 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.55, Y:-158.87, Z:2.25 [[ 2.16019556e-01 9.76388219e-01 -1.26406066e-03 3.85510447e+01] [ 9.76367676e-01 -2.16023212e-01 -6.33504420e-03 -1.58865754e+02] [-6.45852896e-03 1.34305462e-04 -9.99979134e-01 2.24663331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.17 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.56, Y:-158.88, Z:2.25 [[ 1.39849820e-01 9.90172423e-01 -7.74742140e-04 3.85606992e+01] [ 9.90151051e-01 -1.39851893e-01 -6.50721736e-03 -1.58876800e+02] [-6.55161634e-03 1.42921431e-04 -9.99978528e-01 2.24589512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.2 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.57, Y:-158.89, Z:2.25 [[ 6.22011439e-02 9.98063599e-01 -2.65469740e-04 3.85720600e+01] [ 9.98041629e-01 -6.22015366e-02 -6.62380946e-03 -1.58887003e+02] [-6.62749573e-03 1.47058674e-04 -9.99978027e-01 2.24558042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.22999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.58, Y:-158.90, Z:2.25 [[-1.73414566e-02 9.99849591e-01 2.63324214e-04 3.85840531e+01] [ 9.99826045e-01 1.73428557e-02 -6.86328523e-03 -1.58896954e+02] [-6.86681972e-03 1.44259044e-04 -9.99976413e-01 2.24585231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.26 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.59, Y:-158.91, Z:2.25 [[-9.69284302e-02 9.95291009e-01 8.29199451e-04 3.85942880e+01] [ 9.95265938e-01 9.69318753e-02 -7.06572511e-03 -1.58906154e+02] [-7.11282853e-03 1.40404326e-04 -9.99974694e-01 2.24591185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.28999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.61, Y:-158.91, Z:2.25 [[-1.76371438e-01 9.84322742e-01 1.36248743e-03 3.86085978e+01] [ 9.84298633e-01 1.76376655e-01 -6.89037737e-03 -1.58913159e+02] [-7.02266612e-03 1.25828747e-04 -9.99975333e-01 2.24573820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.32 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.62, Y:-158.92, Z:2.25 [[-2.57055150e-01 9.66394889e-01 1.88918990e-03 3.86242814e+01] [ 9.66371453e-01 2.57062074e-01 -6.73088423e-03 -1.58919620e+02] [-6.99033119e-03 9.54507322e-05 -9.99975563e-01 2.24566819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.34999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.64, Y:-158.92, Z:2.25 [[-3.34400929e-01 9.42427811e-01 2.41676441e-03 3.86373080e+01] [ 9.42404855e-01 3.34409653e-01 -6.57833014e-03 -1.58924642e+02] [-7.00779062e-03 7.77708028e-05 -9.99975442e-01 2.24541769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.38 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.65, Y:-158.93, Z:2.25 [[-4.09794799e-01 9.12172815e-01 2.99629054e-03 3.86503185e+01] [ 9.12149483e-01 4.09805749e-01 -6.52455831e-03 -1.58927868e+02] [-7.17942181e-03 5.93348028e-05 -9.99974226e-01 2.24501092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.40999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.66, Y:-158.93, Z:2.25 [[-4.82367879e-01 8.75961308e-01 3.60787641e-03 3.86646475e+01] [ 8.75937444e-01 4.82381370e-01 -6.46601700e-03 -1.58929004e+02] [-7.40435307e-03 4.12751322e-05 -9.99972587e-01 2.24511882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.44 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.68, Y:-158.93, Z:2.25 [[-5.53998046e-01 8.32504717e-01 4.69689616e-03 3.86809982e+01] [ 8.32474820e-01 5.54017956e-01 -7.05537906e-03 -1.58927247e+02] [-8.47580116e-03 1.38157323e-06 -9.99964080e-01 2.24528749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.46999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.69, Y:-158.93, Z:2.25 [[-6.19497041e-01 7.84981216e-01 5.28266386e-03 3.86943058e+01] [ 7.84952395e-01 6.19519564e-01 -6.72665865e-03 -1.58926009e+02] [-8.55301430e-03 -2.05054823e-05 -9.99963422e-01 2.24540902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.71, Y:-158.92, Z:2.25 [[-6.81134677e-01 7.32134566e-01 5.87612694e-03 3.87072472e+01] [ 7.32106752e-01 6.81160022e-01 -6.38190868e-03 -1.58923561e+02] [-8.67499870e-03 -4.49870988e-05 -9.99962371e-01 2.24570362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.53 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.72, Y:-158.92, Z:2.25 [[-7.39648549e-01 6.72965254e-01 6.14744776e-03 3.87210861e+01] [ 6.72941060e-01 7.39674090e-01 -5.70703442e-03 -1.58918770e+02] [-8.38774370e-03 -8.43297158e-05 -9.99964819e-01 2.24548999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.74, Y:-158.90, Z:2.25 [[-7.86767197e-01 6.17216994e-01 6.36874012e-03 3.87446160e+01] [ 6.17195733e-01 7.86792967e-01 -5.12393917e-03 -1.58900004e+02] [-8.17346226e-03 -1.00588035e-04 -9.99966592e-01 2.24540710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.59 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.77, Y:-158.88, Z:2.25 [[-8.29605164e-01 5.58310518e-01 6.68110813e-03 3.87658166e+01] [ 5.58291276e-01 8.29632058e-01 -4.63679921e-03 -1.58879560e+02] [-8.13163525e-03 -1.16708191e-04 -9.99966931e-01 2.24510859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.62 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.76, Y:-158.84, Z:2.25 [[-8.67849660e-01 4.96779199e-01 6.88442173e-03 3.87647584e+01] [ 4.96762389e-01 8.67876956e-01 -4.08875718e-03 -1.58843077e+02] [-8.00604049e-03 -1.28504739e-04 -9.99967943e-01 2.24619437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.65 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.81, Y:-158.83, Z:2.25 [[-9.02029258e-01 4.31618710e-01 6.96465644e-03 3.88050080e+01] [ 4.31604587e-01 9.02056133e-01 -3.49471271e-03 -1.58832123e+02] [-7.79089445e-03 -1.46355449e-04 -9.99969640e-01 2.24596286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.68 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.82, Y:-158.81, Z:2.25 [[-9.30723308e-01 3.65657906e-01 6.95845642e-03 3.88197708e+01] [ 3.65646478e-01 9.30749307e-01 -2.89482823e-03 -1.58807270e+02] [-7.53509532e-03 -1.49949032e-04 -9.99971600e-01 2.24577983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.71 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:39.13, Y:-158.08, Z:1.44 [[-8.86071302e-01 -4.63502077e-01 6.59341462e-03 3.91309879e+01] [ 4.63490386e-01 -8.86095822e-01 -3.29492394e-03 -1.58083239e+02] [ 7.36960123e-03 1.36446739e-04 9.99972835e-01 1.44401033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.74 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.78, Y:-158.79, Z:2.25 [[-9.32553406e-01 3.60973578e-01 6.49768414e-03 3.87797816e+01] [ 3.60963698e-01 9.32576031e-01 -2.67496323e-03 -1.58791025e+02] [-7.02517554e-03 -1.49117981e-04 -9.99975312e-01 2.24527399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.77 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.79, Y:-158.77, Z:2.25 [[-9.55973323e-01 2.93376976e-01 6.70491151e-03 3.87922559e+01] [ 2.93368623e-01 9.55996823e-01 -2.21910062e-03 -1.58765860e+02] [-7.06090713e-03 -1.54390331e-04 -9.99975060e-01 2.24523514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.8 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.79, Y:-158.74, Z:2.25 [[-9.74523056e-01 2.24173930e-01 7.13180614e-03 3.87881599e+01] [ 2.24166675e-01 9.74549137e-01 -1.81122385e-03 -1.58737066e+02] [-7.35632469e-03 -1.66366131e-04 -9.99972928e-01 2.24537305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.83 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.81, Y:-158.71, Z:2.25 [[-9.88233371e-01 1.52745880e-01 7.96867907e-03 3.88116332e+01] [ 1.52739304e-01 9.88265479e-01 -1.43097751e-03 -1.58712314e+02] [-8.09374635e-03 -1.97009235e-04 -9.99967226e-01 2.24677220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.86 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.95, Y:-157.94, Z:1.44 [[-9.63787867e-01 -2.66518714e-01 8.98462458e-03 3.89473268e+01] [ 2.66510002e-01 -9.63829698e-01 -2.17540670e-03 -1.57942235e+02] [ 9.23943460e-03 2.97861732e-04 9.99957271e-01 1.44144610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.76, Y:-158.70, Z:2.25 [[-9.88990129e-01 1.47618775e-01 1.03547975e-02 3.87596569e+01] [ 1.47607859e-01 9.89044300e-01 -1.81479352e-03 -1.58703879e+02] [-1.05092511e-02 -2.66363378e-04 -9.99944741e-01 2.24844895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.92 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.77, Y:-158.68, Z:2.25 [[-9.96930193e-01 7.73924616e-02 1.18573779e-02 3.87676520e+01] [ 7.73834257e-02 9.97000661e-01 -1.21964926e-03 -1.58679439e+02] [-1.19162052e-02 -2.98340652e-04 -9.99928955e-01 2.25019647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.95 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.77, Y:-158.65, Z:2.25 [[-9.99898441e-01 7.21226764e-03 1.22918775e-02 3.87688987e+01] [ 7.20805770e-03 9.99973947e-01 -3.86765817e-04 -1.58652509e+02] [-1.22943467e-02 -2.98125976e-04 -9.99924377e-01 2.25116601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.97999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.80, Y:-157.86, Z:1.44 [[-9.92541955e-01 -1.21316929e-01 1.19444407e-02 3.88010259e+01] [ 1.21311440e-01 -9.92613786e-01 -1.18567721e-03 -1.57864895e+02] [ 1.20000592e-02 2.72162926e-04 9.99927960e-01 1.43806223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.01 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.69, Y:-158.66, Z:2.25 [[-9.99916059e-01 4.99636207e-03 1.19545603e-02 3.86899004e+01] [ 4.99296621e-03 9.99987486e-01 -3.13892272e-04 -1.58655200e+02] [-1.19559790e-02 -2.54177208e-04 -9.99928492e-01 2.25059017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.03999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.73, Y:-157.86, Z:1.44 [[-9.93593586e-01 -1.12397180e-01 1.17753649e-02 3.87284448e+01] [ 1.12392181e-01 -9.93663331e-01 -1.08753676e-03 -1.57857353e+02] [ 1.18229844e-02 2.42889386e-04 9.99930077e-01 1.43846170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.62, Y:-158.66, Z:2.25 [[-9.99917055e-01 6.48761233e-03 1.11262877e-02 3.86160004e+01] [ 6.48548395e-03 9.99978943e-01 -2.27363970e-04 -1.58662022e+02] [-1.11275285e-02 -1.55185752e-04 -9.99938075e-01 2.25020492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.09999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.64, Y:-157.85, Z:1.44 [[-9.95081659e-01 -9.85294930e-02 1.02191819e-02 3.86427118e+01] [ 9.85252130e-02 -9.95134127e-01 -9.22644322e-04 -1.57845012e+02] [ 1.02603643e-02 8.87406273e-05 9.99947357e-01 1.43910007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.13 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.53, Y:-158.66, Z:2.25 [[-9.99941031e-01 3.47113990e-03 1.02900580e-02 3.85307817e+01] [ 3.46978325e-03 9.99993969e-01 -1.49689671e-04 -1.58663347e+02] [-1.02905155e-02 -1.13976573e-04 -9.99947045e-01 2.24993340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.15999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.55, Y:-157.83, Z:1.44 [[-9.96232282e-01 -8.63414194e-02 8.14860155e-03 3.85509564e+01] [ 8.63382499e-02 -9.96265606e-01 -7.40594460e-04 -1.57834904e+02] [ 8.18211544e-03 -3.42681127e-05 9.99966525e-01 1.44051276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.19 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.44, Y:-158.67, Z:2.25 [[-9.99945342e-01 7.16701248e-03 7.61227070e-03 3.84376807e+01] [ 7.16673882e-03 9.99974317e-01 -6.32273677e-05 -1.58673006e+02] [-7.61252835e-03 -8.66875590e-06 -9.99971024e-01 2.24776475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.21999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.44, Y:-158.65, Z:2.25 [[-9.98166071e-01 -6.01456773e-02 6.85502339e-03 3.84366238e+01] [-6.01441320e-02 9.98189610e-01 4.31547730e-04 -1.58650037e+02] [-6.86856886e-03 1.84668709e-05 -9.99976411e-01 2.24724636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.25 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.44, Y:-158.63, Z:2.25 [[-9.91769069e-01 -1.27873480e-01 6.51820131e-03 3.84380678e+01] [-1.27870452e-01 9.91790488e-01 8.80921355e-04 -1.58626293e+02] [-6.57733653e-03 4.01852081e-05 -9.99978368e-01 2.24627278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.28 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.42, Y:-158.61, Z:2.25 [[-9.81366753e-01 -1.92037214e-01 6.40352470e-03 3.84225836e+01] [-1.92032552e-01 9.81387641e-01 1.34076910e-03 -1.58609676e+02] [-6.54181756e-03 8.61010289e-05 -9.99978598e-01 2.24704093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.31 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.38, Y:-158.59, Z:2.25 [[-9.65350674e-01 -2.60863726e-01 6.94207540e-03 3.83786169e+01] [-2.60856125e-01 9.65375628e-01 1.99467440e-03 -1.58594148e+02] [-7.22204860e-03 1.14677384e-04 -9.99973914e-01 2.24692390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.34 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.32, Y:-158.59, Z:2.25 [[-9.44323696e-01 -3.28934137e-01 7.42228304e-03 3.83174832e+01] [-3.28922751e-01 9.44352854e-01 2.74075635e-03 -1.58587355e+02] [-7.91078249e-03 1.46803408e-04 -9.99968699e-01 2.24794578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.37 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.25, Y:-158.59, Z:2.25 [[-9.17966617e-01 -3.96578668e-01 7.91516109e-03 3.82483368e+01] [-3.96562233e-01 9.18000723e-01 3.61493569e-03 -1.58587991e+02] [-8.69972998e-03 1.79536337e-04 -9.99962141e-01 2.24875992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.4 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.16, Y:-158.60, Z:2.25 [[-8.86346488e-01 -4.62957607e-01 7.75614403e-03 3.81586703e+01] [-4.62937942e-01 8.86380401e-01 4.27148272e-03 -1.58603206e+02] [-8.85240948e-03 1.95400349e-04 -9.99960798e-01 2.24933150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.43 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:38.08, Y:-158.62, Z:2.25 [[-8.49815367e-01 -5.27023174e-01 7.77285584e-03 3.80842551e+01] [-5.26998700e-01 8.49850884e-01 5.08384143e-03 -1.58616255e+02] [-9.28507065e-03 2.24041645e-04 -9.99956868e-01 2.24948846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.46 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.99, Y:-158.65, Z:2.25 [[-8.07639469e-01 -5.89630800e-01 7.34903860e-03 3.79938642e+01] [-5.89603795e-01 8.07672872e-01 5.64776425e-03 -1.58645899e+02] [-9.26571487e-03 2.28336271e-04 -9.99957046e-01 2.24913729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.49 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.90, Y:-158.69, Z:2.25 [[-7.60989541e-01 -6.48728127e-01 6.83631786e-03 3.78971963e+01] [-6.48699144e-01 7.61020211e-01 6.13672953e-03 -1.58690293e+02] [-9.18364512e-03 2.35273446e-04 -9.99957802e-01 2.24925290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.52 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.81, Y:-158.74, Z:2.25 [[-7.10073087e-01 -7.04101652e-01 6.08888768e-03 3.78099458e+01] [-7.04072849e-01 7.10099153e-01 6.37313792e-03 -1.58737038e+02] [-8.81105092e-03 2.38373222e-04 -9.99961154e-01 2.24924441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.55 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.72, Y:-158.80, Z:2.25 [[-6.56875820e-01 -7.53977482e-01 5.66690682e-03 3.77211674e+01] [-7.53945713e-01 6.56900206e-01 6.92688328e-03 -1.58798223e+02] [-8.94530626e-03 2.77562032e-04 -9.99959951e-01 2.24875490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.58 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.63, Y:-158.87, Z:2.25 [[-5.98616563e-01 -8.01019848e-01 5.04106619e-03 3.76337725e+01] [-8.00987235e-01 5.98637717e-01 7.23412371e-03 -1.58867941e+02] [-8.81244903e-03 2.92636608e-04 -9.99961127e-01 2.24866052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.61 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.55, Y:-158.95, Z:2.25 [[-5.36832848e-01 -8.43678025e-01 4.22900878e-03 3.75515196e+01] [-8.43647388e-01 5.36849424e-01 7.19590463e-03 -1.58947153e+02] [-8.34136753e-03 2.95205759e-04 -9.99965167e-01 2.24869586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.64 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.47, Y:-159.03, Z:2.25 [[-4.71552784e-01 -8.81830590e-01 3.57526133e-03 3.74722769e+01] [-8.81800204e-01 4.71566241e-01 7.32676358e-03 -1.59033981e+02] [-8.14693680e-03 3.02289594e-04 -9.99966767e-01 2.24876778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.67 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.40, Y:-159.13, Z:2.25 [[-4.03791117e-01 -9.14845441e-01 3.24862537e-03 3.74004619e+01] [-9.14808613e-01 4.03804037e-01 8.21596182e-03 -1.59130150e+02] [-8.82814325e-03 3.45661934e-04 -9.99960971e-01 2.24976627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.7 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.33, Y:-159.24, Z:2.25 [[-3.31851546e-01 -9.43328009e-01 2.61129761e-03 3.73294233e+01] [-9.43290036e-01 3.31861637e-01 8.47122494e-03 -1.59236977e+02] [-8.85773326e-03 3.47978078e-04 -9.99960709e-01 2.24903334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.72999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.27, Y:-159.34, Z:2.25 [[-2.56692912e-01 -9.66491141e-01 1.90360710e-03 3.72745773e+01] [-9.66454181e-01 2.56699756e-01 8.45874937e-03 -1.59341271e+02] [-8.66396181e-03 3.31551961e-04 -9.99962412e-01 2.24997487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.76 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.22, Y:-159.45, Z:2.25 [[-1.79262898e-01 -9.83800273e-01 1.35541978e-03 3.72203408e+01] [-9.83755740e-01 1.79267689e-01 9.36694912e-03 -1.59453208e+02] [-9.45819007e-03 3.45744454e-04 -9.99955211e-01 2.24969222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.78999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.17, Y:-159.57, Z:2.25 [[-9.80866291e-02 -9.95177687e-01 6.20646718e-04 3.71720423e+01] [-9.95133558e-01 9.80881275e-02 9.37666992e-03 -1.59570423e+02] [-9.39233076e-03 3.02099569e-04 -9.99955845e-01 2.24941898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.82 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.14, Y:-159.69, Z:2.25 [[-1.77304677e-02 -9.99842798e-01 -1.03674503e-04 3.71390832e+01] [-9.99802599e-01 1.77288248e-02 8.96947783e-03 -1.59693152e+02] [-8.96622977e-03 2.62687074e-04 -9.99959768e-01 2.25003751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.84999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.11, Y:-159.82, Z:2.25 [[ 6.30090525e-02 -9.98012693e-01 -7.24381317e-04 3.71124908e+01] [-9.97979829e-01 -6.30128582e-02 8.10193535e-03 -1.59817623e+02] [-8.13147965e-03 2.12422673e-04 -9.99966916e-01 2.24930927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.88 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.10, Y:-159.94, Z:2.25 [[ 1.43742276e-01 -9.89614358e-01 -1.25708169e-03 3.70972031e+01] [-9.89586189e-01 -1.43747671e-01 7.46870970e-03 -1.59942128e+02] [-7.57184493e-03 1.70421350e-04 -9.99971319e-01 2.24959167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.90999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.09, Y:-160.07, Z:2.25 [[ 2.27597611e-01 -9.73754107e-01 -1.50546530e-03 3.70882020e+01] [-9.73735369e-01 -2.27602572e-01 6.04163837e-03 -1.60072438e+02] [-6.22571795e-03 9.08623525e-05 -9.99980616e-01 2.24887174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.94 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.09, Y:-160.20, Z:2.25 [[ 3.05804524e-01 -9.52092736e-01 -1.73655584e-03 3.70924381e+01] [-9.52078475e-01 -3.05809449e-01 5.21134501e-03 -1.60202159e+02] [-5.49273891e-03 5.96845592e-05 -9.99984913e-01 2.24787571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.96999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.10, Y:-160.32, Z:2.25 [[ 3.85312504e-01 -9.22784305e-01 -1.84419598e-03 3.71004753e+01] [-9.22773938e-01 -3.85316917e-01 4.37400154e-03 -1.60322165e+02] [-4.74685988e-03 1.64185050e-05 -9.99988733e-01 2.24734253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.0 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.12, Y:-160.44, Z:2.25 [[ 4.58417380e-01 -8.88734416e-01 -2.15476030e-03 3.71210097e+01] [-8.88724596e-01 -4.58422444e-01 4.17791592e-03 -1.60440105e+02] [-4.70084815e-03 -2.40795044e-07 -9.99988951e-01 2.24742272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.03 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.15, Y:-160.56, Z:2.25 [[ 5.28393885e-01 -8.48995323e-01 -2.61595322e-03 3.71508323e+01] [-8.48984761e-01 -5.28400360e-01 4.23489663e-03 -1.60556467e+02] [-4.97767805e-03 -1.67890634e-05 -9.99987611e-01 2.24764287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.06 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.19, Y:-160.67, Z:2.25 [[ 5.94751496e-01 -8.03903879e-01 -3.03510430e-03 3.71875090e+01] [-8.03893120e-01 -5.94759239e-01 4.15920059e-03 -1.60666489e+02] [-5.14875381e-03 -3.37913022e-05 -9.99986745e-01 2.24790925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.09 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.23, Y:-160.77, Z:2.25 [[ 6.56832188e-01 -7.54027556e-01 -3.73104713e-03 3.72301276e+01] [-7.54014927e-01 -6.56842783e-01 4.36450651e-03 -1.60770166e+02] [-5.74166955e-03 -5.34831365e-05 -9.99983515e-01 2.24864353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.12 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.28, Y:-160.87, Z:2.25 [[ 7.14409956e-01 -6.99712529e-01 -4.55981309e-03 3.72816432e+01] [-6.99697597e-01 -7.14424504e-01 4.57187508e-03 -1.60871011e+02] [-6.45664047e-03 -7.57028187e-05 -9.99979153e-01 2.24968544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.15 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.34, Y:-160.97, Z:2.25 [[ 7.68327288e-01 -6.40017917e-01 -7.08833873e-03 3.73395491e+01] [-6.39988916e-01 -7.68359971e-01 6.09456302e-03 -1.60968226e+02] [-9.34702527e-03 -1.46160859e-04 -9.99956305e-01 2.25116626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.18 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.33, Y:-160.98, Z:2.25 [[ 8.16579631e-01 -5.77172208e-01 -8.36350296e-03 3.73349653e+01] [-5.77139764e-01 -8.16622442e-01 6.12211085e-03 -1.60975795e+02] [-1.03633364e-02 -1.72280898e-04 -9.99946284e-01 2.25185848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.21 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.33, Y:-160.98, Z:2.25 [[ 8.59542120e-01 -5.10971931e-01 -9.74830079e-03 3.73304688e+01] [-5.10936443e-01 -8.59597375e-01 6.02529543e-03 -1.60982778e+02] [-1.14583706e-02 -1.98233072e-04 -9.99934331e-01 2.25273399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.24 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.33, Y:-160.99, Z:2.25 [[ 8.96871489e-01 -4.42158028e-01 -1.08540766e-02 3.73264521e+01] [-4.42122776e-01 -8.96937140e-01 5.58731406e-03 -1.60990828e+02] [-1.22059002e-02 -2.12268182e-04 -9.99925483e-01 2.25251469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.27 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.32, Y:-161.00, Z:2.25 [[ 9.28128284e-01 -3.72073725e-01 -1.17911491e-02 3.73233874e+01] [-3.72040911e-01 -9.28203158e-01 4.94557948e-03 -1.60998964e+02] [-1.27847020e-02 -2.03342330e-04 -9.99918252e-01 2.25264597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.3 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.32, Y:-161.01, Z:2.25 [[ 9.54061324e-01 -2.99383766e-01 -1.16769361e-02 3.73207138e+01] [-2.99358999e-01 -9.54132762e-01 3.85514797e-03 -1.61006527e+02] [-1.22955161e-02 -1.82451658e-04 -9.99924391e-01 2.25263393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.33 meters Centerline goodness [0,1] 0.9999560690594386 Centerline is valid? [True, True] Translation: X:37.32, Y:-161.01, Z:2.25 [[ 9.74187889e-01 -2.25440264e-01 -1.16036342e-02 3.73197422e+01] [-2.25422337e-01 -9.74256980e-01 2.84740942e-03 -1.61011296e+02] [-1.19468423e-02 -1.58193429e-04 -9.99928621e-01 2.25171332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.36 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.32, Y:-161.02, Z:2.25 [[ 9.88641989e-01 -1.49897216e-01 -1.08555123e-02 3.73151547e+01] [-1.49886736e-01 -9.88701577e-01 1.77727637e-03 -1.61017173e+02] [-1.09992709e-02 -1.29992730e-04 -9.99939498e-01 2.25017397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.39 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.31, Y:-161.02, Z:2.25 [[ 9.97133463e-01 -7.49392096e-02 -1.04389397e-02 3.73099429e+01] [-7.49341276e-02 -9.97188100e-01 8.77664516e-04 -1.61021367e+02] [-1.04753579e-02 -9.29158178e-05 -9.99945128e-01 2.24886711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.42 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.31, Y:-161.03, Z:2.25 [[ 9.99943539e-01 2.71525007e-03 -1.02736014e-02 3.73058068e+01] [ 2.71597483e-03 -9.99996310e-01 5.65951086e-05 -1.61029628e+02] [-1.02734098e-02 -8.44947559e-05 -9.99947224e-01 2.24816030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.45 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.30, Y:-161.04, Z:2.25 [[ 9.96676492e-01 8.08769215e-02 -9.74134005e-03 3.73014874e+01] [ 8.08738319e-02 -9.96724093e-01 -7.11316704e-04 -1.61038777e+02] [-9.76695743e-03 -7.88668595e-05 -9.99952299e-01 2.24910292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.47999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.30, Y:-161.05, Z:2.25 [[ 9.87152088e-01 1.59505686e-01 -9.41759019e-03 3.72989437e+01] [ 1.59499252e-01 -9.87197006e-01 -1.43514233e-03 -1.61048222e+02] [-9.52593021e-03 -8.53948445e-05 -9.99954624e-01 2.24796058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.51 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.30, Y:-161.06, Z:2.25 [[ 9.71417628e-01 2.37182513e-01 -9.60453659e-03 3.72969152e+01] [ 2.37171911e-01 -9.71465103e-01 -2.24468837e-03 -1.61058710e+02] [-9.86287295e-03 -9.73964518e-05 -9.99951356e-01 2.24795926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.53999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.30, Y:-161.07, Z:2.25 [[ 9.49523387e-01 3.13548979e-01 -9.61123876e-03 3.72954603e+01] [ 3.13534096e-01 -9.49572022e-01 -3.05699784e-03 -1.61069803e+02] [-1.00850820e-02 -1.10760119e-04 -9.99949138e-01 2.24897613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.29, Y:-161.08, Z:2.25 [[ 9.21511984e-01 3.88223684e-01 -9.90127423e-03 3.72939692e+01] [ 3.88202820e-01 -9.21565165e-01 -4.02701999e-03 -1.61077373e+02] [-1.06880540e-02 -1.32755401e-04 -9.99942872e-01 2.24945049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.59999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.29, Y:-161.09, Z:2.25 [[ 8.87684444e-01 4.60347969e-01 -9.80177734e-03 3.72946676e+01] [ 4.60321772e-01 -8.87738545e-01 -4.91337938e-03 -1.61086698e+02] [-1.09632798e-02 -1.50441073e-04 -9.99939890e-01 2.24930696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.63 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.30, Y:-161.10, Z:2.25 [[ 8.48196700e-01 5.29584009e-01 -1.01555885e-02 3.72970247e+01] [ 5.29548560e-01 -8.48257476e-01 -6.12997924e-03 -1.61097613e+02] [-1.18608929e-02 -1.78449115e-04 -9.99929641e-01 2.24949736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.65999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.30, Y:-161.11, Z:2.25 [[ 8.03242539e-01 5.95569862e-01 -9.89765095e-03 3.72992942e+01] [ 5.95527722e-01 -8.03303491e-01 -7.08760088e-03 -1.61109653e+02] [-1.21719790e-02 -2.01262993e-04 -9.99925898e-01 2.25100145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.69 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.30, Y:-161.12, Z:2.25 [[ 7.54100190e-01 6.56696330e-01 -9.10131189e-03 3.73014532e+01] [ 6.56651647e-01 -7.54155084e-01 -7.66307332e-03 -1.61118518e+02] [-1.18961128e-02 -1.97666397e-04 -9.99929219e-01 2.25098808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.71999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.30, Y:-161.13, Z:2.25 [[ 7.00858021e-01 7.13256295e-01 -7.96819777e-03 3.73025622e+01] [ 7.13213069e-01 -7.00903293e-01 -7.85444396e-03 -1.61125541e+02] [-1.11871676e-02 -1.78172730e-04 -9.99937406e-01 2.25062110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.30, Y:-161.13, Z:2.25 [[ 6.45005526e-01 7.64152062e-01 -6.28469945e-03 3.73030479e+01] [ 7.64117678e-01 -6.45036131e-01 -7.25015050e-03 -1.61131490e+02] [-9.59407567e-03 -1.25862817e-04 -9.99953968e-01 2.24910882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.78 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.30, Y:-161.14, Z:2.25 [[ 5.85140628e-01 8.10913997e-01 -5.37918144e-03 3.73037223e+01] [ 8.10881250e-01 -5.85165345e-01 -7.28817378e-03 -1.61138486e+02] [-9.05779269e-03 -9.72707832e-05 -9.99958973e-01 2.24897632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.81 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.30, Y:-161.15, Z:2.25 [[ 5.21742243e-01 8.53090984e-01 -4.56113849e-03 3.73035593e+01] [ 8.53059605e-01 -5.21762175e-01 -7.31734412e-03 -1.61145840e+02] [-8.62218983e-03 -7.31554604e-05 -9.99962826e-01 2.24885863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.84 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.31, Y:-161.15, Z:2.25 [[ 4.55872695e-01 8.90035662e-01 -4.07515085e-03 3.73051401e+01] [ 8.90001071e-01 -4.55890907e-01 -7.84696119e-03 -1.61153008e+02] [-8.84189951e-03 -4.96732791e-05 -9.99960908e-01 2.24842712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.87 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.31, Y:-161.16, Z:2.25 [[ 3.90084623e-01 9.20772583e-01 -3.44065402e-03 3.73051467e+01] [ 9.20736743e-01 -3.90099796e-01 -8.12403141e-03 -1.61159636e+02] [-8.82258381e-03 1.12314715e-06 -9.99961080e-01 2.24839599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.9 meters Centerline goodness [0,1] 0.9999778481713666 Centerline is valid? [True, True] Translation: X:37.31, Y:-161.17, Z:2.25 [[ 3.19471579e-01 9.47592210e-01 -2.62927007e-03 3.73077513e+01] [ 9.47559486e-01 -3.19482397e-01 -7.87520525e-03 -1.61167540e+02] [-8.30248865e-03 2.45144597e-05 -9.99965533e-01 2.24838229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.93 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.31, Y:-161.18, Z:2.25 [[ 2.46971986e-01 9.69020459e-01 -2.04644063e-03 3.73101522e+01] [ 9.68985546e-01 -2.46980459e-01 -8.22579908e-03 -1.61175942e+02] [-8.47639845e-03 4.85705356e-05 -9.99964074e-01 2.24816154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.96 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.31, Y:-161.18, Z:2.25 [[ 1.72670076e-01 9.84978824e-01 -1.32719113e-03 3.73147563e+01] [ 9.84946745e-01 -1.72675164e-01 -7.94964432e-03 -1.61183670e+02] [-8.05940426e-03 6.54531063e-05 -9.99967520e-01 2.24772726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.99 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.32, Y:-161.19, Z:2.25 [[ 9.90236752e-02 9.95084827e-01 -7.05754105e-04 3.73183625e+01] [ 9.95051942e-01 -9.90261408e-02 -8.09049916e-03 -1.61190997e+02] [-8.12062106e-03 9.88889687e-05 -9.99967022e-01 2.24764559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.02 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.33, Y:-161.20, Z:2.25 [[ 2.07934424e-02 9.99783791e-01 -6.99879198e-05 3.73257830e+01] [ 9.99750813e-01 -2.07933250e-02 -8.12089496e-03 -1.61199045e+02] [-8.12059443e-03 9.88908815e-05 -9.99967023e-01 2.24764536e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.05 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.33, Y:-161.21, Z:2.25 [[-5.63525753e-02 9.98410770e-01 5.67201823e-04 3.73347445e+01] [ 9.98377830e-01 5.63553239e-02 -8.11092299e-03 -1.61205980e+02] [-8.12999771e-03 1.09210327e-04 -9.99966945e-01 2.24719669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.08 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.34, Y:-161.21, Z:2.25 [[-1.33648729e-01 9.91028044e-01 1.19684908e-03 3.73444821e+01] [ 9.90995631e-01 1.33654039e-01 -8.01602810e-03 -1.61211944e+02] [-8.10407236e-03 1.14740238e-04 -9.99967155e-01 2.24702121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.11 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.35, Y:-161.22, Z:2.25 [[-2.10479172e-01 9.77596567e-01 1.86284379e-03 3.73547786e+01] [ 9.77563207e-01 2.10487381e-01 -8.07710412e-03 -1.61218010e+02] [-8.28825437e-03 1.20985360e-04 -9.99965645e-01 2.24717817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.14 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.37, Y:-161.22, Z:2.25 [[-2.86152725e-01 9.58180805e-01 2.48255476e-03 3.73654309e+01] [ 9.58148374e-01 2.86163468e-01 -7.88437155e-03 -1.61223615e+02] [-8.26506996e-03 1.22521405e-04 -9.99965836e-01 2.24781281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.17 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.38, Y:-161.23, Z:2.25 [[-3.60659872e-01 9.32692688e-01 2.96768136e-03 3.73777549e+01] [ 9.32663687e-01 3.60672063e-01 -7.35591022e-03 -1.61226855e+02] [-7.93116343e-03 1.14867002e-04 -9.99968541e-01 2.24732679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.2 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.39, Y:-161.23, Z:2.25 [[-4.33210645e-01 9.01286937e-01 3.22407434e-03 3.73893803e+01] [ 9.01263668e-01 4.33222631e-01 -6.47714337e-03 -1.61231261e+02] [-7.23450668e-03 9.97736091e-05 -9.99973826e-01 2.24741529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.22999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.40, Y:-161.23, Z:2.25 [[-5.03318462e-01 8.64093405e-01 3.62126648e-03 3.74014987e+01] [ 8.64072320e-01 5.03331481e-01 -6.03699294e-03 -1.61232653e+02] [-7.03922320e-03 9.05061288e-05 -9.99975220e-01 2.24667639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.26 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.41, Y:-161.23, Z:2.25 [[-5.71890206e-01 8.20320658e-01 3.95098000e-03 3.74134469e+01] [ 8.20301893e-01 5.71903850e-01 -5.54895018e-03 -1.61233646e+02] [-6.81149913e-03 6.76061121e-05 -9.99976799e-01 2.24634405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.28999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.42, Y:-161.23, Z:2.25 [[-6.35949262e-01 7.71717374e-01 4.56415951e-03 3.74246791e+01] [ 7.71698130e-01 6.35965637e-01 -5.45019738e-03 -1.61233103e+02] [-7.10866062e-03 5.61043549e-05 -9.99974732e-01 2.24643833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.32 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.44, Y:-161.23, Z:2.25 [[-6.96125596e-01 7.17898451e-01 5.56492880e-03 3.74360174e+01] [ 7.17876020e-01 6.96147837e-01 -5.67524427e-03 -1.61231151e+02] [-7.94826222e-03 4.42461419e-05 -9.99968411e-01 2.24676595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.34999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.45, Y:-161.23, Z:2.25 [[-7.51845006e-01 6.59308573e-01 6.42590527e-03 3.74473144e+01] [ 6.59284796e-01 7.51872466e-01 -5.59937140e-03 -1.61228046e+02] [-8.52317481e-03 2.66422250e-05 -9.99963677e-01 2.24753300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.38 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.47, Y:-161.21, Z:2.25 [[-7.98363069e-01 6.02135223e-01 7.04158327e-03 3.74689221e+01] [ 6.02111827e-01 7.98394122e-01 -5.30793387e-03 -1.61207938e+02] [-8.81805263e-03 2.16218962e-06 -9.99961120e-01 2.24823466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.40999999999997 meters Centerline goodness [0,1] 0.9999778917580474 Centerline is valid? [True, True] Translation: X:37.96, Y:-160.57, Z:1.44 [[-7.52807651e-01 -6.58195363e-01 7.71391989e-03 3.79645636e+01] [ 6.58161957e-01 -7.52847167e-01 -6.63192387e-03 -1.60565360e+02] [ 1.01725043e-02 8.44455782e-05 9.99948255e-01 1.43924302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.44 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.43, Y:-161.17, Z:2.25 [[-8.05229393e-01 5.92900687e-01 8.62557242e-03 3.74315511e+01] [ 5.92865566e-01 8.05275586e-01 -6.45377216e-03 -1.61174716e+02] [-1.07724088e-02 -8.29621676e-05 -9.99941973e-01 2.25019999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.46999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.92, Y:-160.53, Z:1.44 [[-7.51967362e-01 -6.59140964e-01 8.84734282e-03 3.79165244e+01] [ 6.59097564e-01 -7.52019394e-01 -7.56515271e-03 -1.60533032e+02] [ 1.16398754e-02 1.42514168e-04 9.99932244e-01 1.43768915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.40, Y:-161.15, Z:2.25 [[-8.10913935e-01 5.85087617e-01 9.54307631e-03 3.73971429e+01] [ 5.85044709e-01 8.10970069e-01 -7.08769479e-03 -1.61147060e+02] [-1.18860717e-02 -1.64384174e-04 -9.99929345e-01 2.25096958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.53 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.42, Y:-161.13, Z:2.25 [[-8.50995495e-01 5.25078037e-01 9.98611223e-03 3.74210249e+01] [ 5.25039395e-01 8.51054065e-01 -6.37274541e-03 -1.61130998e+02] [-1.18449101e-02 -1.80075316e-04 -9.99929830e-01 2.25024242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.44, Y:-161.11, Z:2.25 [[-8.86580070e-01 4.62458223e-01 1.04005698e-02 3.74383169e+01] [ 4.62423832e-01 8.86641052e-01 -5.64312588e-03 -1.61109562e+02] [-1.18312821e-02 -1.93611579e-04 -9.99929989e-01 2.24983273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.59 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.46, Y:-161.09, Z:2.25 [[-9.17794260e-01 3.96914373e-01 1.06149774e-02 3.74555144e+01] [ 3.96885151e-01 9.17855618e-01 -4.82089636e-03 -1.61087931e+02] [-1.16564997e-02 -2.11664117e-04 -9.99932038e-01 2.24946306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.62 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.80, Y:-160.36, Z:1.44 [[-8.71630606e-01 -4.90056492e-01 1.02333291e-02 3.77957886e+01] [ 4.90025521e-01 -8.71690651e-01 -5.51340202e-03 -1.60360924e+02] [ 1.16221758e-02 2.08942490e-04 9.99932438e-01 1.43993681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.65 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.41, Y:-161.07, Z:2.25 [[-9.19695433e-01 3.92484517e-01 1.07802568e-02 3.74078854e+01] [ 3.92454639e-01 9.19758583e-01 -4.84815871e-03 -1.61066643e+02] [-1.18180610e-02 -2.28067626e-04 -9.99930138e-01 2.24934608e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.68 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.42, Y:-161.04, Z:2.25 [[-9.45441003e-01 3.25630923e-01 1.02864643e-02 3.74237902e+01] [ 3.25609112e-01 9.45496935e-01 -3.77522371e-03 -1.61044496e+02] [-1.09551500e-02 -2.19884792e-04 -9.99939966e-01 2.24886787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.71 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.70, Y:-160.29, Z:1.44 [[-9.04864024e-01 -4.25582141e-01 1.00468287e-02 3.76957434e+01] [ 4.25558638e-01 -9.04919771e-01 -4.47821706e-03 -1.60289568e+02] [ 1.09974231e-02 2.23337219e-04 9.99939502e-01 1.43984365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.74 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.39, Y:-161.03, Z:2.25 [[-9.47347111e-01 3.20028601e-01 1.07306318e-02 3.73898779e+01] [ 3.20005038e-01 9.47407848e-01 -3.89169929e-03 -1.61033003e+02] [-1.14117398e-02 -2.52933849e-04 -9.99934852e-01 2.24882572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.77 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.39, Y:-161.01, Z:2.25 [[-9.67739795e-01 2.51694660e-01 1.13792353e-02 3.73903076e+01] [ 2.51674006e-01 9.67806658e-01 -3.23545464e-03 -1.61005924e+02] [-1.18272464e-02 -2.67220479e-04 -9.99930020e-01 2.24867944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.8 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.63, Y:-160.24, Z:1.44 [[-9.33272281e-01 -3.58970171e-01 1.19694053e-02 3.76297768e+01] [ 3.58945316e-01 -9.33348970e-01 -4.23792898e-03 -1.60237148e+02] [ 1.26929222e-02 3.41220316e-04 9.99919383e-01 1.43995529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.83 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.33, Y:-160.99, Z:2.25 [[-9.68721564e-01 2.47853975e-01 1.21217967e-02 3.73270674e+01] [ 2.47830835e-01 9.68797359e-01 -3.39904811e-03 -1.60989697e+02] [-1.25860322e-02 -2.88576202e-04 -9.99920751e-01 2.24956115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.86 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.37, Y:-160.97, Z:2.25 [[-9.83801090e-01 1.78813245e-01 1.26979464e-02 3.73667940e+01] [ 1.78794506e-01 9.83882990e-01 -2.60522437e-03 -1.60972692e+02] [-1.29591421e-02 -2.92699520e-04 -9.99915984e-01 2.24991263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.54, Y:-160.18, Z:1.44 [[-9.57840162e-01 -2.87033581e-01 1.24075309e-02 3.75423811e+01] [ 2.87013342e-01 -9.57920478e-01 -3.42042766e-03 -1.60181312e+02] [ 1.28672056e-02 2.84903930e-04 9.99917174e-01 1.43830808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.92 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.32, Y:-160.97, Z:2.25 [[-9.84180548e-01 1.76694000e-01 1.29568480e-02 3.73182484e+01] [ 1.76675013e-01 9.84265795e-01 -2.60471694e-03 -1.60967957e+02] [-1.32132201e-02 -2.74360469e-04 -9.99912664e-01 2.25040788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.95 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.33, Y:-160.94, Z:2.25 [[-9.94073641e-01 1.07877230e-01 1.34201428e-02 3.73309999e+01] [ 1.07863825e-01 9.94164189e-01 -1.72085511e-03 -1.60944713e+02] [-1.35274665e-02 -2.63108777e-04 -9.99908465e-01 2.25078385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.97999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.34, Y:-160.92, Z:2.25 [[-9.99088911e-01 4.03673476e-02 1.38500874e-02 3.73385623e+01] [ 4.03603659e-02 9.99184881e-01 -7.83344582e-04 -1.60923736e+02] [-1.38704195e-02 -2.23636290e-04 -9.99903776e-01 2.25008138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.01 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.39, Y:-160.09, Z:1.44 [[-9.90409115e-01 -1.37545575e-01 1.30766940e-02 3.73933354e+01] [ 1.37535836e-01 -9.90495425e-01 -1.64544015e-03 -1.60089996e+02] [ 1.31787286e-02 1.68855124e-04 9.99913143e-01 1.43885218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.03999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.26, Y:-160.92, Z:2.25 [[-9.99178745e-01 3.85984811e-02 1.23285129e-02 3.72591555e+01] [ 3.85936503e-02 9.99254789e-01 -6.29597330e-04 -1.60924552e+02] [-1.23436270e-02 -1.53277956e-04 -9.99923803e-01 2.24942150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.27, Y:-160.90, Z:2.25 [[-9.99468083e-01 -3.05828896e-02 1.13242475e-02 3.72665092e+01] [-3.05822676e-02 9.99532227e-01 2.28126396e-04 -1.60900203e+02] [-1.13259271e-02 -1.18316118e-04 -9.99935853e-01 2.24860802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.09999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.26, Y:-160.05, Z:1.44 [[-9.98504789e-01 -5.37602276e-02 9.90071860e-03 3.72613963e+01] [ 5.37577383e-02 -9.98553873e-01 -5.17569499e-04 -1.60045016e+02] [ 9.91422556e-03 1.54446168e-05 9.99950853e-01 1.44162158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.13 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.17, Y:-160.91, Z:2.25 [[-9.99473335e-01 -3.11352667e-02 9.14592033e-03 3.71704673e+01] [-3.11343648e-02 9.99515179e-01 2.41013153e-04 -1.60909754e+02] [-9.14899020e-03 -4.38661998e-05 -9.99958146e-01 2.24740126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.15999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.16, Y:-160.04, Z:1.44 [[-9.98996137e-01 -4.39074741e-02 8.87987432e-03 3.71552848e+01] [ 4.39059689e-02 -9.99035602e-01 -3.64475649e-04 -1.60041094e+02] [ 8.88731378e-03 2.57697206e-05 9.99960507e-01 1.44225480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.19 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.07, Y:-160.92, Z:2.25 [[-9.99367894e-01 -3.44620785e-02 8.72797913e-03 3.70699852e+01] [-3.44608926e-02 9.99406006e-01 2.86266859e-04 -1.60916210e+02] [-8.73266012e-03 -1.46880438e-05 -9.99961870e-01 2.24690218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.21999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.07, Y:-160.89, Z:2.25 [[-9.94503763e-01 -1.04319926e-01 8.92294222e-03 3.70687823e+01] [-1.04315760e-01 9.94543791e-01 9.32284674e-04 -1.60891867e+02] [-8.97151265e-03 -3.64288382e-06 -9.99959755e-01 2.24841501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.25 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.06, Y:-160.87, Z:2.25 [[-9.84453769e-01 -1.75384234e-01 9.54707408e-03 3.70580685e+01] [-1.75376040e-01 9.84500061e-01 1.69531452e-03 -1.60866997e+02] [-9.69642646e-03 -5.36926923e-06 -9.99952989e-01 2.24897025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.28 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:37.03, Y:-160.84, Z:2.25 [[-9.68955238e-01 -2.47057666e-01 9.39453115e-03 3.70308276e+01] [-2.47046176e-01 9.69000779e-01 2.38277850e-03 -1.60844744e+02] [-9.69199169e-03 -1.20772890e-05 -9.99953032e-01 2.24919348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.31 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.98, Y:-160.83, Z:2.25 [[-9.47246565e-01 -3.20368156e-01 9.39091931e-03 3.69780825e+01] [-3.20352835e-01 9.47293113e-01 3.13347495e-03 -1.60830028e+02] [-9.89981879e-03 -4.02342418e-05 -9.99950995e-01 2.24826857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.34 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.91, Y:-160.82, Z:2.25 [[-9.20363289e-01 -3.90955379e-01 9.23625726e-03 3.69094480e+01] [-3.90936313e-01 9.20409631e-01 3.86150371e-03 -1.60824595e+02] [-1.00108158e-02 -5.68021009e-05 -9.99949889e-01 2.24905525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.37 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.84, Y:-160.83, Z:2.25 [[-8.87786361e-01 -4.60169567e-01 8.90767565e-03 3.68415827e+01] [-4.60147236e-01 8.87831045e-01 4.53399814e-03 -1.60825186e+02] [-9.99491894e-03 -7.36206248e-05 -9.99950047e-01 2.24772959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.4 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.76, Y:-160.84, Z:2.25 [[-8.49855621e-01 -5.26941910e-01 8.81176498e-03 3.67583970e+01] [-5.26914715e-01 8.49901297e-01 5.35431481e-03 -1.60837620e+02] [-1.03105434e-02 -9.26540933e-05 -9.99946841e-01 2.24856208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.43 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.67, Y:-160.86, Z:2.25 [[-8.06657131e-01 -5.90956236e-01 8.66022824e-03 3.66706654e+01] [-5.90923686e-01 8.06703610e-01 6.20345908e-03 -1.60861040e+02] [-1.06522102e-02 -1.13469486e-04 -9.99943257e-01 2.24872573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.46 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.58, Y:-160.89, Z:2.25 [[-7.57783319e-01 -6.52449462e-01 8.61046596e-03 3.65821445e+01] [-6.52409557e-01 7.57832222e-01 7.21754691e-03 -1.60891819e+02] [-1.12343732e-02 -1.48213630e-04 -9.99936881e-01 2.24948126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.49 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.49, Y:-160.93, Z:2.25 [[-7.05470959e-01 -7.08692394e-01 8.11281093e-03 3.64934798e+01] [-7.08648059e-01 7.05517588e-01 7.92848994e-03 -1.60933673e+02] [-1.13425913e-02 -1.55808320e-04 -9.99935659e-01 2.24996078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.52 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.40, Y:-160.99, Z:2.25 [[-6.48934739e-01 -7.60808232e-01 7.38503518e-03 3.63987161e+01] [-7.60761728e-01 6.48976740e-01 8.41331855e-03 -1.60992513e+02] [-1.11936381e-02 -1.58557445e-04 -9.99937337e-01 2.25023326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.55 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.32, Y:-161.05, Z:2.25 [[-5.88344567e-01 -8.08583360e-01 6.60456647e-03 3.63174641e+01] [-8.08535429e-01 5.88381615e-01 8.80540690e-03 -1.61048495e+02] [-1.10059110e-02 -1.59412681e-04 -9.99939420e-01 2.24961124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.58 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.23, Y:-161.12, Z:2.25 [[-5.24646407e-01 -8.51300508e-01 5.79600438e-03 3.62316580e+01] [-8.51251771e-01 5.24678399e-01 9.11048810e-03 -1.61122968e+02] [-1.07968014e-02 -1.54074143e-04 -9.99941701e-01 2.24991571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.61 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.15, Y:-161.20, Z:2.25 [[-4.57783081e-01 -8.89049569e-01 5.05121810e-03 3.61542162e+01] [-8.88999014e-01 4.57810923e-01 9.48214552e-03 -1.61199772e+02] [-1.07426002e-02 -1.49762121e-04 -9.99942285e-01 2.24989895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.64 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.08, Y:-161.30, Z:2.25 [[-3.88345649e-01 -9.21504142e-01 4.21592236e-03 3.60770902e+01] [-9.21453731e-01 3.88368507e-01 9.63972017e-03 -1.61296241e+02] [-1.05203735e-02 -1.41234007e-04 -9.99944649e-01 2.24969357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.67 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.01, Y:-161.39, Z:2.25 [[-3.16672429e-01 -9.48529086e-01 3.33857438e-03 3.60108580e+01] [-9.48480565e-01 3.16690001e-01 9.59481927e-03 -1.61390099e+02] [-1.01582583e-02 -1.28158192e-04 -9.99948395e-01 2.24997639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.7 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.95, Y:-161.50, Z:2.25 [[-2.44729283e-01 -9.69588018e-01 2.57935824e-03 3.59502981e+01] [-9.69538489e-01 2.44742854e-01 9.80074839e-03 -1.61498904e+02] [-1.01339677e-02 -1.02256962e-04 -9.99948645e-01 2.24966465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.72999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.90, Y:-161.59, Z:2.25 [[-1.70966169e-01 -9.85275279e-01 1.78714609e-03 3.59040304e+01] [-9.85226152e-01 1.70975491e-01 9.83925243e-03 -1.61590256e+02] [-9.99993036e-03 -7.85637735e-05 -9.99949996e-01 2.24875354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.76 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.86, Y:-161.70, Z:2.25 [[-9.68705064e-02 -9.95296455e-01 1.03566972e-03 3.58617406e+01] [-9.95245081e-01 9.68760291e-02 1.01125592e-02 -1.61704682e+02] [-1.01653259e-02 -5.11364666e-05 -9.99948330e-01 2.24868616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.78999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.83, Y:-161.82, Z:2.25 [[-2.62787506e-02 -9.99654621e-01 2.55890515e-04 3.58313394e+01] [-9.99599218e-01 2.62799882e-02 1.05245183e-02 -1.61818202e+02] [-1.05276082e-02 2.07832330e-05 -9.99944583e-01 2.24892391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.82 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.95, Y:-161.91, Z:1.44 [[-8.60383446e-02 9.96291396e-01 9.26238462e-04 3.49547295e+01] [-9.96236338e-01 -8.60433274e-02 1.04740447e-02 -1.61911000e+02] [ 1.05148972e-02 -2.15829493e-05 9.99944717e-01 1.44001497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.84999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.83, Y:-162.12, Z:2.25 [[-2.33170996e-02 -9.99728109e-01 1.44231336e-04 3.58251383e+01] [-9.99672723e-01 2.33173261e-02 1.05237013e-02 -1.62115454e+02] [-1.05242031e-02 1.01198059e-04 -9.99944614e-01 2.24851099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.88 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.80, Y:-162.24, Z:2.25 [[ 5.08183282e-02 -9.98707683e-01 -6.79137739e-04 3.58031468e+01] [-9.98651513e-01 -5.08226734e-02 1.05929858e-02 -1.62236961e+02] [-1.06138119e-02 1.39904103e-04 -9.99943662e-01 2.24923557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.90999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.79, Y:-162.35, Z:2.25 [[ 1.21181548e-01 -9.92629179e-01 -1.53144239e-03 3.57881600e+01] [-9.92571213e-01 -1.21191025e-01 1.07295649e-02 -1.62353951e+02] [-1.08360762e-02 2.19840351e-04 -9.99941264e-01 2.24826003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.94 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.78, Y:-162.48, Z:2.25 [[ 1.97858670e-01 -9.80227718e-01 -2.35963900e-03 3.57824063e+01] [-9.80170662e-01 -1.97872617e-01 1.05782867e-02 -1.62477053e+02] [-1.08360378e-02 2.19843192e-04 -9.99941264e-01 2.24825803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.96999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.79, Y:-162.60, Z:2.25 [[ 2.70315073e-01 -9.62766674e-01 -3.17701317e-03 3.57909904e+01] [-9.62710826e-01 -2.70333622e-01 1.03729521e-02 -1.62601010e+02] [-1.08455860e-02 2.54579673e-04 -9.99941153e-01 2.24970787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.0 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.80, Y:-162.72, Z:2.25 [[ 3.41661359e-01 -9.39814298e-01 -4.07446969e-03 3.58019833e+01] [-9.39757302e-01 -3.41685529e-01 1.03543349e-02 -1.62716588e+02] [-1.11233393e-02 2.91336503e-04 -9.99938091e-01 2.24884345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.03 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.82, Y:-162.84, Z:2.25 [[ 4.09318391e-01 -9.12376396e-01 -5.26946790e-03 3.58231907e+01] [-9.12312081e-01 -4.09352141e-01 1.08393437e-02 -1.62836634e+02] [-1.20466293e-02 3.70656512e-04 -9.99927368e-01 2.24823595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.06 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.85, Y:-162.95, Z:2.25 [[ 4.76904375e-01 -8.78934072e-01 -6.09218240e-03 3.58516908e+01] [-8.78872639e-01 -4.76943122e-01 1.03991643e-02 -1.62948696e+02] [-1.20458043e-02 3.94845480e-04 -9.99927369e-01 2.24806520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.09 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.89, Y:-163.06, Z:2.25 [[ 5.41911481e-01 -8.40408007e-01 -6.80656952e-03 3.58917441e+01] [-8.40351003e-01 -5.41954070e-01 9.79683103e-03 -1.63063091e+02] [-1.19221833e-02 4.10892313e-04 -9.99928844e-01 2.24777133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.12 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.94, Y:-163.17, Z:2.25 [[ 6.03988589e-01 -7.96962463e-01 -6.97264973e-03 3.59363132e+01] [-7.96916739e-01 -6.04028706e-01 8.54600871e-03 -1.63170845e+02] [-1.10225287e-02 3.94929541e-04 -9.99939172e-01 2.24681904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.15 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.98, Y:-163.27, Z:2.25 [[ 6.62091727e-01 -7.49396595e-01 -6.26810579e-03 3.59798240e+01] [-7.49367790e-01 -6.62121309e-01 6.57941209e-03 -1.63265522e+02] [-9.08083543e-03 3.40942266e-04 -9.99958710e-01 2.24593341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.18 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.03, Y:-163.36, Z:2.25 [[ 7.17153032e-01 -6.96888618e-01 -6.14679748e-03 3.60347754e+01] [-6.96866724e-01 -7.17179304e-01 5.53297599e-03 -1.63358608e+02] [-8.26422393e-03 3.15508117e-04 -9.99965801e-01 2.24599020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.21 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.03, Y:-163.37, Z:2.25 [[ 7.69558075e-01 -6.38543390e-01 -6.53516388e-03 3.60271091e+01] [-6.38523758e-01 -7.69585760e-01 5.01683635e-03 -1.63366309e+02] [-8.23283675e-03 3.12110476e-04 -9.99966061e-01 2.24586003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.24 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.02, Y:-163.38, Z:2.25 [[ 8.17345336e-01 -5.76110179e-01 -6.60778608e-03 3.60177695e+01] [-5.76094234e-01 -8.17371993e-01 4.29638806e-03 -1.63375189e+02] [-7.87621217e-03 2.95074712e-04 -9.99968939e-01 2.24554517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.27 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.01, Y:-163.38, Z:2.25 [[ 8.61308887e-01 -5.08036951e-01 -6.74223607e-03 3.60062487e+01] [-5.08023779e-01 -8.61335234e-01 3.66799102e-03 -1.63384390e+02] [-7.67080046e-03 2.65942986e-04 -9.99970544e-01 2.24596465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.3 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.00, Y:-163.39, Z:2.25 [[ 8.99287989e-01 -4.37297859e-01 -7.18991922e-03 3.59980617e+01] [-4.37286146e-01 -8.99316694e-01 3.21095153e-03 -1.63391349e+02] [-7.87015661e-03 2.56481920e-04 -9.99968997e-01 2.24624270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.33 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.99, Y:-163.40, Z:2.25 [[ 9.31686960e-01 -3.63191420e-01 -7.16948244e-03 3.59909399e+01] [-3.63182536e-01 -9.31714517e-01 2.55043914e-03 -1.63400751e+02] [-7.60620848e-03 2.27619928e-04 -9.99971047e-01 2.24599869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.36 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.98, Y:-163.41, Z:2.25 [[ 9.57851158e-01 -2.87173585e-01 -7.24509309e-03 3.59847623e+01] [-2.87167006e-01 -9.57878536e-01 1.95501471e-03 -1.63410578e+02] [-7.50134774e-03 2.07938583e-04 -9.99971843e-01 2.24580637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.39 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.97, Y:-163.42, Z:2.25 [[ 9.78421718e-01 -2.06504647e-01 -6.83902980e-03 3.59748129e+01] [-2.06500734e-01 -9.78445607e-01 1.28115009e-03 -1.63422076e+02] [-6.95618211e-03 1.58759594e-04 -9.99975793e-01 2.24595469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.42 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.97, Y:-163.43, Z:2.25 [[ 9.91828111e-01 -1.27399560e-01 -6.80804737e-03 3.59679730e+01] [-1.27397549e-01 -9.91851467e-01 7.30039993e-04 -1.63429664e+02] [-6.84557854e-03 1.43254358e-04 -9.99976559e-01 2.24619868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.45 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.96, Y:-163.44, Z:2.25 [[ 9.98857160e-01 -4.73006718e-02 -6.85719532e-03 3.59623999e+01] [-4.73004450e-02 -9.98880688e-01 1.95333980e-04 -1.63437170e+02] [-6.85875941e-03 1.29237646e-04 -9.99976470e-01 2.24652088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.47999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.96, Y:-163.44, Z:2.25 [[ 9.99445616e-01 3.26598724e-02 -6.46476612e-03 3.59565718e+01] [ 3.26584669e-02 -9.99466518e-01 -3.22891016e-04 -1.63444079e+02] [-6.47186286e-03 1.11582660e-04 -9.99979051e-01 2.24659937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.51 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.95, Y:-163.45, Z:2.25 [[ 9.93478117e-01 1.13896540e-01 -5.36748517e-03 3.59529221e+01] [ 1.13894462e-01 -9.93492613e-01 -6.92166474e-04 -1.63453732e+02] [-5.41139224e-03 7.63254088e-05 -9.99985355e-01 2.24651129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.53999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.95, Y:-163.47, Z:2.25 [[ 9.81251174e-01 1.92671263e-01 -4.89069228e-03 3.59509346e+01] [ 1.92668548e-01 -9.81263359e-01 -1.02480464e-03 -1.63467097e+02] [-4.99650754e-03 6.33081782e-05 -9.99987515e-01 2.24564150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.95, Y:-163.48, Z:2.25 [[ 9.62759438e-01 2.70326932e-01 -4.19701071e-03 3.59489798e+01] [ 2.70324142e-01 -9.62768585e-01 -1.22909817e-03 -1.63478007e+02] [-4.37300840e-03 4.87725406e-05 -9.99990437e-01 2.24545052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.59999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.95, Y:-163.49, Z:2.25 [[ 9.38159548e-01 3.46179513e-01 -4.05050753e-03 3.59476227e+01] [ 3.46176091e-01 -9.38168292e-01 -1.53978033e-03 -1.63488054e+02] [-4.33309813e-03 4.23707558e-05 -9.99990611e-01 2.24549985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.63 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.95, Y:-163.50, Z:2.25 [[ 9.06950440e-01 4.21217754e-01 -4.06252775e-03 3.59511200e+01] [ 4.21213376e-01 -9.06959538e-01 -1.92062720e-03 -1.63504329e+02] [-4.49355057e-03 3.07226511e-05 -9.99989904e-01 2.24614143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.65999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.95, Y:-163.52, Z:2.25 [[ 8.70396660e-01 4.92328312e-01 -4.74212905e-03 3.59528183e+01] [ 4.92320823e-01 -8.70409578e-01 -2.71558399e-03 -1.63516500e+02] [-5.46455342e-03 2.89863574e-05 -9.99985069e-01 2.24699188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.69 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.96, Y:-163.53, Z:2.25 [[ 8.28271820e-01 5.60303622e-01 -5.06382254e-03 3.59560886e+01] [ 5.60292982e-01 -8.28287299e-01 -3.45306766e-03 -1.63527826e+02] [-6.12906622e-03 2.28544001e-05 -9.99981217e-01 2.24746362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.71999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.96, Y:-163.54, Z:2.25 [[ 7.80080179e-01 6.25659510e-01 -5.00923927e-03 3.59632219e+01] [ 6.25646565e-01 -7.80096262e-01 -4.02477047e-03 -1.63541978e+02] [-6.42582475e-03 5.63032747e-06 -9.99979354e-01 2.24814402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.97, Y:-163.55, Z:2.25 [[ 7.27871456e-01 6.85696086e-01 -4.90119332e-03 3.59678281e+01] [ 6.85680560e-01 -7.27887957e-01 -4.61426900e-03 -1.63552804e+02] [-6.73150578e-03 -2.05828896e-06 -9.99977343e-01 2.24860435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.78 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.97, Y:-163.56, Z:2.25 [[ 6.71225157e-01 7.41237008e-01 -4.94836890e-03 3.59730279e+01] [ 7.41216965e-01 -6.71243397e-01 -5.45090519e-03 -1.63561879e+02] [-7.36197260e-03 -9.03029092e-06 -9.99972900e-01 2.24885246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.81 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.98, Y:-163.57, Z:2.25 [[ 6.10654978e-01 7.91883246e-01 -4.62841648e-03 3.59796044e+01] [ 7.91860667e-01 -6.10672518e-01 -5.98002229e-03 -1.63570410e+02] [-7.56192621e-03 -1.33305822e-05 -9.99971408e-01 2.24899632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.84 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.99, Y:-163.58, Z:2.25 [[ 5.46640684e-01 8.37355233e-01 -4.49187852e-03 3.59877785e+01] [ 8.37327194e-01 -5.46659139e-01 -6.85243775e-03 -1.63579006e+02] [-8.19345105e-03 -1.53507787e-05 -9.99966433e-01 2.24879812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.87 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.00, Y:-163.59, Z:2.25 [[ 4.79634820e-01 8.77460119e-01 -3.76547745e-03 3.59969470e+01] [ 8.77433281e-01 -4.79649600e-01 -6.86278431e-03 -1.63587368e+02] [-7.82792929e-03 -1.23249146e-05 -9.99969361e-01 2.24833769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.9 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.00, Y:-163.59, Z:2.25 [[ 4.09735340e-01 9.12198650e-01 -3.25184764e-03 3.60049369e+01] [ 9.12170115e-01 -4.09748244e-01 -7.21517755e-03 -1.63594867e+02] [-7.91411408e-03 -9.92500354e-06 -9.99968683e-01 2.24806223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.93 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.01, Y:-163.60, Z:2.25 [[ 3.37445415e-01 9.41341963e-01 -2.42912137e-03 3.60133554e+01] [ 9.41317706e-01 -3.37454158e-01 -6.75779748e-03 -1.63601242e+02] [-7.18111545e-03 -6.18718739e-06 -9.99974215e-01 2.24747855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.96 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.02, Y:-163.61, Z:2.25 [[ 2.63553279e-01 9.64643017e-01 -1.87583357e-03 3.60210115e+01] [ 9.64618569e-01 -2.63559955e-01 -6.86785461e-03 -1.63606934e+02] [-7.11942260e-03 5.81706906e-07 -9.99974657e-01 2.24736447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.99 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.03, Y:-163.61, Z:2.25 [[ 1.87677414e-01 9.82229817e-01 -1.33243762e-03 3.60287650e+01] [ 9.82204914e-01 -1.87682144e-01 -6.99422304e-03 -1.63611642e+02] [-7.12000916e-03 3.93091651e-06 -9.99974652e-01 2.24704263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.02 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.04, Y:-163.62, Z:2.25 [[ 1.10510770e-01 9.93874616e-01 -7.85968150e-04 3.60370038e+01] [ 9.93849074e-01 -1.10513564e-01 -7.12536668e-03 -1.63615514e+02] [-7.16858121e-03 6.29603757e-06 -9.99974305e-01 2.24713547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.05 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.04, Y:-163.62, Z:2.25 [[ 3.26458854e-02 9.99466956e-01 -2.24453655e-04 3.60441549e+01] [ 9.99441523e-01 -3.26466559e-02 -7.13011517e-03 -1.63620245e+02] [-7.13364217e-03 8.44061970e-06 -9.99974555e-01 2.24653082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.08 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.05, Y:-163.62, Z:2.25 [[-4.61260589e-02 9.98935568e-01 3.44551329e-04 3.60521437e+01] [ 9.98908647e-01 4.61273454e-02 -7.33364678e-03 -1.63623823e+02] [-7.34173385e-03 5.90307813e-06 -9.99973049e-01 2.24648971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.11 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.06, Y:-163.63, Z:2.25 [[-1.24841207e-01 9.92176283e-01 9.46560973e-04 3.60637674e+01] [ 9.92147874e-01 1.24844795e-01 -7.50816791e-03 -1.63625700e+02] [-7.56759934e-03 1.79971311e-06 -9.99971365e-01 2.24641609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.14 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.08, Y:-163.63, Z:2.25 [[-2.03195490e-01 9.79136867e-01 1.60889539e-03 3.60751023e+01] [ 9.79105933e-01 2.03201860e-01 -7.78307872e-03 -1.63628230e+02] [-7.94762985e-03 -6.20747502e-06 -9.99968417e-01 2.24724535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.17 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.08, Y:-163.63, Z:2.25 [[-2.80453812e-01 9.59864409e-01 2.44441051e-03 3.60849821e+01] [ 9.59827410e-01 2.80464464e-01 -8.42778967e-03 -1.63630124e+02] [-8.77510564e-03 -1.73935342e-05 -9.99961498e-01 2.24801496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.2 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.10, Y:-163.63, Z:2.25 [[-3.57616191e-01 9.33862582e-01 3.36703630e-03 3.60960433e+01] [ 9.33819938e-01 3.57632038e-01 -8.92456203e-03 -1.63629522e+02] [-9.53847460e-03 -4.73622539e-05 -9.99954507e-01 2.24759460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.22999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.11, Y:-163.63, Z:2.25 [[-4.31150160e-01 9.02270810e-01 4.11415001e-03 3.61061303e+01] [ 9.02228312e-01 4.31169784e-01 -8.75732340e-03 -1.63628075e+02] [-9.67537444e-03 -6.38187676e-05 -9.99953190e-01 2.24754221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.26 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.12, Y:-163.63, Z:2.25 [[-5.01989022e-01 8.64860885e-01 4.76149942e-03 3.61165824e+01] [ 8.64820452e-01 5.02011597e-01 -8.36321956e-03 -1.63625329e+02] [-9.62334940e-03 -8.04023270e-05 -9.99953691e-01 2.24709588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.28999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.13, Y:-163.62, Z:2.25 [[-5.70750764e-01 8.21107782e-01 5.05729556e-03 3.61276387e+01] [ 8.21073931e-01 5.70773160e-01 -7.45655147e-03 -1.63623030e+02] [-9.00920101e-03 -1.03418906e-04 -9.99959411e-01 2.24680543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.32 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.14, Y:-163.62, Z:2.25 [[-6.34436860e-01 7.72957481e-01 5.15781586e-03 3.61370023e+01] [ 7.72930559e-01 6.34457817e-01 -6.45204119e-03 -1.63619814e+02] [-8.25957009e-03 -1.06779254e-04 -9.99965883e-01 2.24608787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.34999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.15, Y:-163.62, Z:2.25 [[-6.93585813e-01 7.20357485e-01 4.87994069e-03 3.61452444e+01] [ 7.20338659e-01 6.93602973e-01 -5.20888791e-03 -1.63616270e+02] [-7.13700277e-03 -9.76008218e-05 -9.99974527e-01 2.24566220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.38 meters Centerline goodness [0,1] 0.9999567305612046 Centerline is valid? [True, True] Translation: X:36.15, Y:-163.61, Z:2.24 [[-7.49086663e-01 6.62460294e-01 3.94085158e-03 3.61525826e+01] [ 6.62450541e-01 7.49097024e-01 -3.59567210e-03 -1.63612869e+02] [-5.33407019e-03 -8.28507514e-05 -9.99985770e-01 2.24444734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.40999999999997 meters Centerline goodness [0,1] 0.9999784040600367 Centerline is valid? [True, True] Translation: X:36.17, Y:-163.60, Z:2.24 [[-7.94594684e-01 6.07124951e-01 4.31074888e-03 3.61728831e+01] [ 6.07115399e-01 7.94606372e-01 -3.40682529e-03 -1.63595501e+02] [-5.49371716e-03 -8.99232404e-05 -9.99984905e-01 2.24442218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.44 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.19, Y:-163.58, Z:2.24 [[-8.36186561e-01 5.48423651e-01 4.85126767e-03 3.61934246e+01] [ 5.48413705e-01 8.36200627e-01 -3.30441779e-03 -1.63577333e+02] [-5.86885394e-03 -1.02608064e-04 -9.99982773e-01 2.24471043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.46999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.60, Y:-162.97, Z:1.44 [[-7.75341524e-01 -6.31518928e-01 5.41898059e-03 3.66031414e+01] [ 6.31505096e-01 -7.75360440e-01 -4.18358203e-03 -1.62972555e+02] [ 6.84367442e-03 1.78408994e-04 9.99976566e-01 1.44295744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.60, Y:-163.00, Z:1.44 [[-7.29887221e-01 -6.83527584e-01 7.39501248e-03 3.65961653e+01] [ 6.83495249e-01 -7.29924655e-01 -6.65154791e-03 -1.63002518e+02] [ 9.94431841e-03 1.99576073e-04 9.99950534e-01 1.44051722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.53 meters Centerline goodness [0,1] 0.9999782665391637 Centerline is valid? [True, True] Translation: X:36.10, Y:-163.54, Z:2.25 [[-8.01529331e-01 5.97890239e-01 8.83140947e-03 3.60968165e+01] [ 5.97850724e-01 8.01577948e-01 -6.87783650e-03 -1.63543530e+02] [-1.11912544e-02 -2.32923143e-04 -9.99937349e-01 2.25038575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.12, Y:-163.53, Z:2.25 [[-8.41749934e-01 5.39769183e-01 1.03091037e-02 3.61227922e+01] [ 5.39724948e-01 8.41813022e-01 -6.91497121e-03 -1.63532066e+02] [-1.24108261e-02 -2.56596086e-04 -9.99922950e-01 2.25046326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.59 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.14, Y:-163.51, Z:2.25 [[-8.77724280e-01 4.79039203e-01 1.10241116e-02 3.61399427e+01] [ 4.78997679e-01 8.77793469e-01 -6.31259957e-03 -1.63512957e+02] [-1.27008759e-02 -2.60198020e-04 -9.99919307e-01 2.25073632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.62 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.15, Y:-163.49, Z:2.25 [[-9.08683633e-01 4.17325727e-01 1.15452268e-02 3.61498056e+01] [ 4.17288690e-01 9.08756942e-01 -5.56497294e-03 -1.63493077e+02] [-1.28142114e-02 -2.39107260e-04 -9.99917866e-01 2.24975271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.65 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.17, Y:-163.48, Z:2.25 [[-9.35373489e-01 3.53475978e-01 1.14529336e-02 3.61712006e+01] [ 3.53446679e-01 9.35443578e-01 -4.55604453e-03 -1.63476049e+02] [-1.23240255e-02 -2.13601911e-04 -9.99924034e-01 2.24894821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.68 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.46, Y:-162.77, Z:1.44 [[-8.95289855e-01 -4.45355042e-01 1.07220453e-02 3.64610813e+01] [ 4.45325503e-01 -8.95354039e-01 -5.13246005e-03 -1.62772902e+02] [ 1.18857935e-02 1.79760812e-04 9.99929345e-01 1.44133240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.71 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.13, Y:-163.47, Z:2.25 [[-9.35056805e-01 3.54372640e-01 9.42354535e-03 3.61258131e+01] [ 3.54353261e-01 9.35104281e-01 -3.70819680e-03 -1.63468207e+02] [-1.01260811e-02 -1.28110621e-04 -9.99948722e-01 2.24582590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.74 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.14, Y:-163.45, Z:2.24 [[-9.57529245e-01 2.88200501e-01 8.84403269e-03 3.61398517e+01] [ 2.88187169e-01 9.57570081e-01 -2.77420524e-03 -1.63447634e+02] [-9.26830844e-03 -1.07645903e-04 -9.99957043e-01 2.24446037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.77 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.16, Y:-163.43, Z:2.24 [[-9.75378627e-01 2.20399365e-01 7.78806490e-03 3.61554021e+01] [ 2.20391628e-01 9.75409715e-01 -1.84877142e-03 -1.63425667e+02] [-8.00402221e-03 -8.68278237e-05 -9.99967964e-01 2.24364160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.8 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.16, Y:-163.40, Z:2.24 [[-9.88430585e-01 1.51506605e-01 7.12235214e-03 3.61640580e+01] [ 1.51502146e-01 9.88456243e-01 -1.16460186e-03 -1.63402414e+02] [-7.21657831e-03 -7.20764602e-05 -9.99973958e-01 2.24313930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.83 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.17, Y:-163.38, Z:2.24 [[-9.96691488e-01 8.09594063e-02 7.18701978e-03 3.61699403e+01] [ 8.09567800e-02 9.96717397e-01 -6.56082835e-04 -1.63375620e+02] [-7.21654373e-03 -7.20741973e-05 -9.99973958e-01 2.24313892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.86 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.17, Y:-163.35, Z:2.24 [[-9.99921328e-01 1.02424666e-02 7.24086384e-03 3.61674479e+01] [ 1.02416880e-02 9.99947542e-01 -1.44596498e-04 -1.63349305e+02] [-7.24196503e-03 -7.04264535e-05 -9.99973774e-01 2.24323395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.17, Y:-163.32, Z:2.24 [[-9.98140866e-01 -6.04763312e-02 7.57796481e-03 3.61731061e+01] [-6.04751244e-02 9.98169629e-01 3.88509699e-04 -1.63323412e+02] [-7.58758996e-03 -7.04909562e-05 -9.99971211e-01 2.24345789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.92 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.17, Y:-163.30, Z:2.24 [[-9.91340361e-01 -1.31078103e-01 7.92589435e-03 3.61698411e+01] [-1.31074486e-01 9.91372042e-01 9.76242567e-04 -1.63297465e+02] [-7.98547409e-03 -7.10938726e-05 -9.99968113e-01 2.24392716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.95 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.07, Y:-162.50, Z:1.44 [[-9.98835345e-01 4.74064417e-02 8.97680681e-03 3.60742552e+01] [-4.74032111e-02 -9.98875672e-01 5.72433884e-04 -1.62503182e+02] [ 8.99385098e-03 1.46237728e-04 9.99959544e-01 1.44413061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.97999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:36.05, Y:-163.32, Z:2.25 [[-9.90677313e-01 -1.35883879e-01 9.69706078e-03 3.60508868e+01] [-1.35878056e-01 9.90724768e-01 1.25984641e-03 -1.63315464e+02] [-9.77831111e-03 -6.95165125e-05 -9.99952189e-01 2.24520426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.01 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.95, Y:-162.51, Z:1.44 [[-9.98387864e-01 5.57731944e-02 1.05367497e-02 3.59457346e+01] [-5.57687521e-02 -9.98443456e-01 7.15174345e-04 -1.62514529e+02] [ 1.05602364e-02 1.26400003e-04 9.99944231e-01 1.44339000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.03999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.93, Y:-163.33, Z:2.25 [[-9.90031262e-01 -1.40429439e-01 1.08477284e-02 3.59306334e+01] [-1.40421603e-01 9.90090688e-01 1.48440902e-03 -1.63333845e+02] [-1.09486896e-02 -5.36440833e-05 -9.99940060e-01 2.24549199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.91, Y:-163.31, Z:2.25 [[-9.77607609e-01 -2.10147974e-01 1.10087567e-02 3.59128758e+01] [-2.10135134e-01 9.77669590e-01 2.32335969e-03 -1.63310908e+02] [-1.12511760e-02 -4.19924477e-05 -9.99936703e-01 2.24611953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.09999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.87, Y:-163.30, Z:2.25 [[-9.60379813e-01 -2.78483250e-01 1.08487304e-02 3.58744865e+01] [-2.78465674e-01 9.60441086e-01 3.12877712e-03 -1.63296210e+02] [-1.12908784e-02 -1.61846174e-05 -9.99936256e-01 2.24636684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.13 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.82, Y:-163.29, Z:2.25 [[-9.37583762e-01 -3.47605602e-01 1.03457702e-02 3.58205653e+01] [-3.47584510e-01 9.37640840e-01 3.82925189e-03 -1.63286936e+02] [-1.10316860e-02 -5.78506371e-06 -9.99939149e-01 2.24604445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.15999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.75, Y:-163.29, Z:2.25 [[-9.09654317e-01 -4.15259161e-01 9.42618654e-03 3.57528808e+01] [-4.15236802e-01 9.09703154e-01 4.30922144e-03 -1.63286975e+02] [-1.03644753e-02 5.80233230e-06 -9.99946287e-01 2.24574098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.19 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.68, Y:-163.29, Z:2.25 [[-8.76391071e-01 -4.81521918e-01 8.67944979e-03 3.56804537e+01] [-4.81498166e-01 8.76434049e-01 4.78268032e-03 -1.63294756e+02] [-9.90993072e-03 1.23591765e-05 -9.99950895e-01 2.24569898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.21999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.59, Y:-163.32, Z:2.24 [[-8.38715538e-01 -5.44515501e-01 7.68866784e-03 3.55930630e+01] [-5.44492333e-01 8.38750779e-01 5.02303043e-03 -1.63319590e+02] [-9.18399407e-03 2.64729871e-05 -9.99957826e-01 2.24435069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.25 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.52, Y:-163.34, Z:2.24 [[-7.95420346e-01 -6.06018767e-01 6.90847055e-03 3.55152299e+01] [-6.05995574e-01 7.95450346e-01 5.30199887e-03 -1.63342638e+02] [-8.70845611e-03 3.08152072e-05 -9.99962080e-01 2.24422702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.28 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.43, Y:-163.38, Z:2.24 [[-7.47047813e-01 -6.64740892e-01 6.25392325e-03 3.54251117e+01] [-6.64717266e-01 7.47073989e-01 5.60452958e-03 -1.63382654e+02] [-8.39770338e-03 2.97607966e-05 -9.99964738e-01 2.24429470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.31 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.34, Y:-163.43, Z:2.24 [[-6.93628665e-01 -7.20301542e-01 6.70549946e-03 3.53368046e+01] [-7.20267498e-01 6.93661076e-01 7.00308456e-03 -1.63431882e+02] [-9.69567657e-03 2.77868772e-05 -9.99952995e-01 2.24473799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.34 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.25, Y:-163.49, Z:2.24 [[-6.35779531e-01 -7.71844233e-01 6.39272574e-03 3.52472066e+01] [-7.71804899e-01 6.35811670e-01 7.79225736e-03 -1.63491888e+02] [-1.00789785e-02 2.02206908e-05 -9.99949206e-01 2.24453853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.37 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.16, Y:-163.56, Z:2.24 [[-5.73507294e-01 -8.19178313e-01 6.02288143e-03 3.51619099e+01] [-8.19133013e-01 5.73538918e-01 8.61489745e-03 -1.63558428e+02] [-1.05114941e-02 7.16551040e-06 -9.99944753e-01 2.24487693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.4 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.08, Y:-163.64, Z:2.24 [[-5.07270722e-01 -8.61769710e-01 5.42051317e-03 3.50773890e+01] [-8.61720761e-01 5.07299682e-01 9.18491166e-03 -1.63637604e+02] [-1.06651033e-02 -1.17319676e-05 -9.99943126e-01 2.24498663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.43 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.00, Y:-163.72, Z:2.25 [[-4.38105048e-01 -8.98910591e-01 4.87001895e-03 3.50028701e+01] [-8.98855826e-01 4.38132114e-01 9.92241649e-03 -1.63716043e+02] [-1.10530770e-02 -3.03841617e-05 -9.99938912e-01 2.24529483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.46 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.93, Y:-163.82, Z:2.25 [[-3.63974776e-01 -9.31399696e-01 4.11931354e-03 3.49261979e+01] [-9.31342281e-01 3.63998078e-01 1.03419155e-02 -1.63815212e+02] [-1.11318791e-02 -7.22945095e-05 -9.99938036e-01 2.24580683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.49 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.86, Y:-163.91, Z:2.24 [[-2.89282373e-01 -9.57238729e-01 3.11832156e-03 3.48635279e+01] [-9.57186262e-01 2.89299167e-01 1.00225468e-02 -1.63910466e+02] [-1.04960978e-02 -8.54684228e-05 -9.99944911e-01 2.24418619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.52 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.81, Y:-164.01, Z:2.24 [[-2.12856578e-01 -9.77080867e-01 2.24847137e-03 3.48061335e+01] [-9.77031111e-01 2.12868431e-01 9.86103538e-03 -1.64013972e+02] [-1.01136576e-02 -9.78402273e-05 -9.99948851e-01 2.24413560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.55 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.75, Y:-164.13, Z:2.24 [[-1.35324689e-01 -9.90800275e-01 1.42958785e-03 3.47545896e+01] [-9.90753058e-01 1.35332197e-01 9.67341416e-03 -1.64133248e+02] [-9.77789068e-03 -1.07316767e-04 -9.99952190e-01 2.24474907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.58 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.72, Y:-164.24, Z:2.24 [[-5.65336361e-02 -9.98400467e-01 6.75127702e-04 3.47167995e+01] [-9.98352828e-01 5.65375343e-02 9.75386305e-03 -1.64239427e+02] [-9.77643147e-03 -1.22594306e-04 -9.99952202e-01 2.24383041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.61 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.69, Y:-164.37, Z:2.24 [[ 2.12932863e-02 -9.99773268e-01 -8.74612922e-05 3.46857710e+01] [-9.99720753e-01 -2.12930643e-02 1.02479958e-02 -1.64365299e+02] [-1.02475346e-02 -1.30776640e-04 -9.99947484e-01 2.24426030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.64 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.66, Y:-164.48, Z:2.25 [[ 9.82296789e-02 -9.95163319e-01 -9.48345302e-04 3.46635887e+01] [-9.95102811e-01 -9.82341648e-02 1.09747145e-02 -1.64476901e+02] [-1.10147932e-02 -1.34341608e-04 -9.99939326e-01 2.24565426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.67 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.65, Y:-164.60, Z:2.25 [[ 1.74567743e-01 -9.84643500e-01 -1.81148606e-03 3.46531236e+01] [-9.84582547e-01 -1.74577094e-01 1.09565593e-02 -1.64604196e+02] [-1.11045489e-02 -1.29104275e-04 -9.99938334e-01 2.24533176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.7 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.65, Y:-164.72, Z:2.24 [[ 2.49838245e-01 -9.68283926e-01 -2.66284595e-03 3.46500468e+01] [-9.68223589e-01 -2.49852405e-01 1.08100770e-02 -1.64715295e+02] [-1.11325423e-02 -1.22540417e-04 -9.99938024e-01 2.24435481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.72999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.66, Y:-164.83, Z:2.25 [[ 3.23210915e-01 -9.46320573e-01 -3.47526356e-03 3.46561837e+01] [-9.46262121e-01 -3.23229579e-01 1.05184887e-02 -1.64834621e+02] [-1.10771703e-02 -1.11180102e-04 -9.99938640e-01 2.24519901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.76 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.68, Y:-164.96, Z:2.24 [[ 3.92994724e-01 -9.19530316e-01 -4.37544732e-03 3.46765195e+01] [-9.19470971e-01 -3.93019072e-01 1.04471151e-02 -1.64959040e+02] [-1.13260733e-02 -8.25643020e-05 -9.99935855e-01 2.24473560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.78999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.70, Y:-165.07, Z:2.24 [[ 4.61441997e-01 -8.87154876e-01 -5.24494930e-03 3.47010482e+01] [-8.87096001e-01 -4.61471800e-01 1.02206951e-02 -1.65073216e+02] [-1.14877357e-02 -6.34844221e-05 -9.99934012e-01 2.24491798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.82 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.73, Y:-165.18, Z:2.25 [[ 5.27077478e-01 -8.49794552e-01 -6.20901278e-03 3.47328112e+01] [-8.49734627e-01 -5.27114047e-01 1.00918864e-02 -1.65182649e+02] [-1.18488879e-02 -4.31928773e-05 -9.99929799e-01 2.24504304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.84999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.77, Y:-165.28, Z:2.25 [[ 5.89372199e-01 -8.07832147e-01 -6.90173152e-03 3.47690655e+01] [-8.07776403e-01 -5.89412608e-01 9.49003561e-03 -1.65283535e+02] [-1.17343234e-02 -1.81072952e-05 -9.99931150e-01 2.24546644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.88 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.82, Y:-165.39, Z:2.24 [[ 6.46602124e-01 -7.62788579e-01 -7.69915798e-03 3.48197043e+01] [-7.62735124e-01 -6.46647958e-01 9.03046047e-03 -1.65386786e+02] [-1.18669769e-02 3.33033023e-05 -9.99929584e-01 2.24499095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.90999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.87, Y:-165.48, Z:2.24 [[ 7.01743797e-01 -7.12383991e-01 -8.04318053e-03 3.48695750e+01] [-7.12338150e-01 -7.01789887e-01 8.08171824e-03 -1.65479342e+02] [-1.14019095e-02 5.81686944e-05 -9.99934994e-01 2.24460921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.94 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.93, Y:-165.57, Z:2.24 [[ 7.52772780e-01 -6.58219294e-01 -8.97233737e-03 3.49258421e+01] [-6.58173927e-01 -7.52826244e-01 7.72846418e-03 -1.65568241e+02] [-1.18416353e-02 8.75810591e-05 -9.99929882e-01 2.24361099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.96999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.92, Y:-165.57, Z:2.24 [[ 8.00454195e-01 -5.99317308e-01 -9.58360566e-03 3.49200877e+01] [-5.99276079e-01 -8.00511556e-01 7.03072663e-03 -1.65573479e+02] [-1.18854232e-02 1.15450998e-04 -9.99929359e-01 2.24361984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.0 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.91, Y:-165.58, Z:2.24 [[ 8.43474777e-01 -5.37072205e-01 -1.01856712e-02 3.49138362e+01] [-5.37035144e-01 -8.43536262e-01 6.31106800e-03 -1.65577896e+02] [-1.19814822e-02 1.46836718e-04 -9.99928209e-01 2.24312055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.03 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.91, Y:-165.58, Z:2.24 [[ 8.80575271e-01 -4.73799837e-01 -1.00452191e-02 3.49074712e+01] [-4.73771507e-01 -8.80632544e-01 5.18480449e-03 -1.65581391e+02] [-1.13027063e-02 1.93527950e-04 -9.99936104e-01 2.24215053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.06 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.90, Y:-165.59, Z:2.24 [[ 9.14025377e-01 -4.05525329e-01 -1.03352464e-02 3.49006050e+01] [-4.05502075e-01 -9.14083782e-01 4.34810824e-03 -1.65585144e+02] [-1.12105491e-02 2.16682575e-04 -9.99937136e-01 2.24206776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.09 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.89, Y:-165.59, Z:2.24 [[ 9.42326800e-01 -3.34539743e-01 -1.01667267e-02 3.48931390e+01] [-3.34522853e-01 -9.42381616e-01 3.36917737e-03 -1.65593761e+02] [-1.07080600e-02 2.26136288e-04 -9.99942642e-01 2.24094479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.12 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.88, Y:-165.60, Z:2.24 [[ 9.65242609e-01 -2.61154389e-01 -1.02514167e-02 3.48832970e+01] [-2.61142283e-01 -9.65297015e-01 2.52588254e-03 -1.65599867e+02] [-1.05553073e-02 2.38988909e-04 -9.99944263e-01 2.24097654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.15 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.87, Y:-165.61, Z:2.24 [[ 9.82489432e-01 -1.86009975e-01 -1.07147710e-02 3.48739730e+01] [-1.86001790e-01 -9.82547822e-01 1.76414856e-03 -1.65609687e+02] [-1.08559241e-02 2.59709262e-04 -9.99941039e-01 2.24046734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.18 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.86, Y:-165.62, Z:2.24 [[ 9.94040678e-01 -1.08429083e-01 -1.12367120e-02 3.48644832e+01] [-1.08425204e-01 -9.94104150e-01 9.55656897e-04 -1.65618773e+02] [-1.12740830e-02 2.68380953e-04 -9.99936410e-01 2.24108496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.21 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.86, Y:-165.63, Z:2.24 [[ 9.99499922e-01 -2.93908873e-02 -1.16654253e-02 3.48552627e+01] [-2.93920051e-02 -9.99567959e-01 7.56458110e-05 -1.65628206e+02] [-1.16626087e-02 2.67262257e-04 -9.99931954e-01 2.24141157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.24 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.85, Y:-165.64, Z:2.24 [[ 9.98561648e-01 5.21291763e-02 -1.25372785e-02 3.48481932e+01] [ 5.21219395e-02 -9.98640319e-01 -9.03497353e-04 -1.65640760e+02] [-1.25673303e-02 2.48730536e-04 -9.99920997e-01 2.24153210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.27 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.84, Y:-165.65, Z:2.24 [[ 9.91133895e-01 1.32240709e-01 -1.28839900e-02 3.48416384e+01] [ 1.32226511e-01 -9.91217606e-01 -1.95140233e-03 -1.65651532e+02] [-1.30288925e-02 2.30495949e-04 -9.99915094e-01 2.24194095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.3 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.84, Y:-165.66, Z:2.24 [[ 9.77212901e-01 2.11864276e-01 -1.29797489e-02 3.48362368e+01] [ 2.11842830e-01 -9.77299078e-01 -3.02128635e-03 -1.65662281e+02] [-1.33251993e-02 2.02773258e-04 -9.99911195e-01 2.24222213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.33 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.83, Y:-165.68, Z:2.24 [[ 9.56879453e-01 2.90199935e-01 -1.28728754e-02 3.48331066e+01] [ 2.90171276e-01 -9.56966023e-01 -4.08191673e-03 -1.65675985e+02] [-1.35034763e-02 1.70563579e-04 -9.99908809e-01 2.24172810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.36 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.83, Y:-165.69, Z:2.24 [[ 9.29209075e-01 3.69337351e-01 -1.26655212e-02 3.48308954e+01] [ 3.69301625e-01 -9.29295384e-01 -5.13795325e-03 -1.65691373e+02] [-1.36676484e-02 9.68352392e-05 -9.99906589e-01 2.24187842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.39 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.83, Y:-165.70, Z:2.24 [[ 8.96246823e-01 4.43397668e-01 -1.18381070e-02 3.48297513e+01] [ 4.43358149e-01 -8.96324999e-01 -5.92003844e-03 -1.65703003e+02] [-1.32357225e-02 5.72944061e-05 -9.99912402e-01 2.24202109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.42 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.83, Y:-165.71, Z:2.24 [[ 8.57505467e-01 5.14348820e-01 -1.13870920e-02 3.48277669e+01] [ 5.14303103e-01 -8.57581069e-01 -6.85769116e-03 -1.65714136e+02] [-1.32925999e-02 2.40908967e-05 -9.99911649e-01 2.24224746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.45 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.83, Y:-165.72, Z:2.24 [[ 8.13401681e-01 5.81609356e-01 -1.04049580e-02 3.48271050e+01] [ 5.81561836e-01 -8.13468228e-01 -7.43458292e-03 -1.65723843e+02] [-1.27881257e-02 -3.82424376e-06 -9.99918229e-01 2.24201563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.47999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.83, Y:-165.74, Z:2.24 [[ 7.62658281e-01 6.46739404e-01 -8.97157344e-03 3.48304876e+01] [ 6.46695477e-01 -7.62711046e-01 -7.53792065e-03 -1.65736996e+02] [-1.17177885e-02 -5.30183572e-05 -9.99931343e-01 2.24070275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.51 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.83, Y:-165.75, Z:2.24 [[ 7.08252431e-01 7.05913606e-01 -8.02959261e-03 3.48332016e+01] [ 7.05869419e-01 -7.08297943e-01 -7.89863250e-03 -1.65748510e+02] [-1.12630961e-02 -7.36181922e-05 -9.99936567e-01 2.24013043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.53999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.84, Y:-165.76, Z:2.24 [[ 6.49216062e-01 7.60571052e-01 -7.08377039e-03 3.48371727e+01] [ 7.60527340e-01 -6.49254701e-01 -8.15466229e-03 -1.65759946e+02] [-1.08013713e-02 -9.32633133e-05 -9.99941659e-01 2.24004023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.84, Y:-165.77, Z:2.24 [[ 5.85688938e-01 8.10512610e-01 -6.14627194e-03 3.48421764e+01] [ 8.10470026e-01 -5.85721175e-01 -8.30908925e-03 -1.65771883e+02] [-1.03346232e-02 -1.14827529e-04 -9.99946590e-01 2.24102183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.59999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.85, Y:-165.78, Z:2.24 [[ 5.16500659e-01 8.56269874e-01 -5.38249134e-03 3.48497057e+01] [ 8.56226555e-01 -5.16528680e-01 -8.61451369e-03 -1.65783749e+02] [-1.01565597e-02 -1.59230018e-04 -9.99948408e-01 2.23987801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.63 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.86, Y:-165.79, Z:2.24 [[ 4.46047166e-01 8.94996440e-01 -4.82677818e-03 3.48566314e+01] [ 8.94948449e-01 -4.46073243e-01 -9.27012508e-03 -1.65793130e+02] [-1.04498255e-02 -1.84804627e-04 -9.99945382e-01 2.24016575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.65999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.86, Y:-165.80, Z:2.24 [[ 3.72898030e-01 9.27862865e-01 -4.19081664e-03 3.48643934e+01] [ 9.27810426e-01 -3.72921520e-01 -9.86673924e-03 -1.65802647e+02] [-1.07178267e-02 -2.08995747e-04 -9.99942541e-01 2.23994978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.69 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.87, Y:-165.81, Z:2.24 [[ 2.97744038e-01 9.54640055e-01 -3.29442557e-03 3.48720021e+01] [ 9.54589428e-01 -2.97762184e-01 -9.83390312e-03 -1.65812057e+02] [-1.03687932e-02 -2.16837803e-04 -9.99946219e-01 2.24054745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.71999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.88, Y:-165.82, Z:2.24 [[ 2.20357185e-01 9.75415318e-01 -2.76936214e-03 3.48804701e+01] [ 9.75352370e-01 -2.20374434e-01 -1.10843875e-02 -1.65819340e+02] [-1.14221779e-02 -2.58579515e-04 -9.99934731e-01 2.24148561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.89, Y:-165.83, Z:2.24 [[ 1.43294314e-01 9.89678310e-01 -1.89275240e-03 3.48856718e+01] [ 9.89614205e-01 -1.43306580e-01 -1.12671706e-02 -1.65825751e+02] [-1.14221182e-02 -2.58573193e-04 -9.99934732e-01 2.24148509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.78 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.89, Y:-165.83, Z:2.24 [[ 6.50326719e-02 9.97882594e-01 -1.03893217e-03 3.48924991e+01] [ 9.97813213e-01 -6.50404046e-02 -1.17702144e-02 -1.65831801e+02] [-1.18128647e-02 -2.71211755e-04 -9.99930189e-01 2.24158933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.81 meters Centerline goodness [0,1] 0.9999779958632223 Centerline is valid? [True, True] Translation: X:34.90, Y:-165.84, Z:2.24 [[-1.33123398e-02 9.99911380e-01 -1.19197907e-04 3.49003634e+01] [ 9.99834536e-01 1.33098386e-02 -1.23995600e-02 -1.65837286e+02] [-1.23968746e-02 -2.84245340e-04 -9.99923115e-01 2.24207326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.84 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.91, Y:-165.84, Z:2.24 [[-9.10143885e-02 9.95849155e-01 9.17660374e-04 3.49094932e+01] [ 9.95760164e-01 9.10185261e-02 -1.33163029e-02 -1.65841692e+02] [-1.33445531e-02 -2.98205520e-04 -9.99910913e-01 2.24173581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.87 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.92, Y:-165.85, Z:2.24 [[-1.67002614e-01 9.85954684e-01 1.86757782e-03 3.49197564e+01] [ 9.85874294e-01 1.67012851e-01 -1.25930396e-02 -1.65845099e+02] [-1.27280759e-02 -2.61873573e-04 -9.99918961e-01 2.24153149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.9 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.93, Y:-165.85, Z:2.24 [[-2.42887054e-01 9.70050572e-01 2.78697916e-03 3.49296459e+01] [ 9.69974628e-01 2.42902919e-01 -1.21405612e-02 -1.65848666e+02] [-1.24539237e-02 -2.45486072e-04 -9.99922417e-01 2.24127282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.93 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.94, Y:-165.85, Z:2.24 [[-3.17088467e-01 9.48389113e-01 3.60468005e-03 3.49390960e+01] [ 9.48319556e-01 3.17108876e-01 -1.14882406e-02 -1.65852259e+02] [-1.20383983e-02 -2.24400007e-04 -9.99927511e-01 2.24095354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.96 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.95, Y:-165.85, Z:2.24 [[-3.89387500e-01 9.21064109e-01 4.27581327e-03 3.49476855e+01] [ 9.21002800e-01 3.89410924e-01 -1.06289914e-02 -1.65854876e+02] [-1.14550309e-02 -2.00760411e-04 -9.99934369e-01 2.24104384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.99 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.96, Y:-165.86, Z:2.24 [[-4.59334636e-01 8.88249420e-01 4.96585775e-03 3.49572596e+01] [ 8.88193140e-01 4.59361442e-01 -1.00006132e-02 -1.65855763e+02] [-1.11641625e-02 -1.82987264e-04 -9.99937662e-01 2.24053499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.02 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.97, Y:-165.86, Z:2.24 [[-5.25606917e-01 8.50709174e-01 5.59199713e-03 3.49661387e+01] [ 8.50657877e-01 5.25636641e-01 -9.34334743e-03 -1.65856779e+02] [-1.08878300e-02 -1.54051636e-04 -9.99940714e-01 2.23962622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.05 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.97, Y:-165.86, Z:2.24 [[-5.89689005e-01 8.07608660e-01 5.92697611e-03 3.49748640e+01] [ 8.07565589e-01 5.89718776e-01 -8.34175436e-03 -1.65856812e+02] [-1.02321222e-02 -1.32618881e-04 -9.99947642e-01 2.23910010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.08 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.98, Y:-165.86, Z:2.24 [[-6.49247331e-01 7.60557552e-01 5.48749790e-03 3.49828393e+01] [ 7.60529208e-01 6.49270515e-01 -6.56675726e-03 -1.65856435e+02] [-8.55726741e-03 -9.00471998e-05 -9.99963382e-01 2.23782495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.11 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.99, Y:-165.86, Z:2.24 [[-7.05768430e-01 7.08419216e-01 5.75651461e-03 3.49914539e+01] [ 7.08394792e-01 7.05791902e-01 -5.88295727e-03 -1.65856724e+02] [-8.23050137e-03 -7.41205494e-05 -9.99966126e-01 2.23741042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.14 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.00, Y:-165.86, Z:2.24 [[-7.58150856e-01 6.52050995e-01 6.06460027e-03 3.49996936e+01] [ 6.52029490e-01 7.58175109e-01 -5.29601710e-03 -1.65857264e+02] [-8.05130219e-03 -6.08816761e-05 -9.99967586e-01 2.23723168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.17 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.02, Y:-165.84, Z:2.24 [[-8.01451220e-01 5.98024325e-01 6.54593676e-03 3.50204366e+01] [ 5.98003876e-01 8.01477950e-01 -4.94562640e-03 -1.65840169e+02] [-8.20402886e-03 -4.91827500e-05 -9.99966345e-01 2.23709556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.2 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.50, Y:-165.22, Z:1.45 [[-7.53465059e-01 -6.57455619e-01 6.52029738e-03 3.55033484e+01] [ 6.57431840e-01 -7.53493267e-01 -5.59210106e-03 -1.65222331e+02] [ 8.58955844e-03 7.31983517e-05 9.99963106e-01 1.45083085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.22999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.99, Y:-165.82, Z:2.24 [[-8.01226351e-01 5.98318687e-01 7.14726721e-03 3.49892431e+01] [ 5.98294678e-01 8.01258229e-01 -5.35993241e-03 -1.65819731e+02] [-8.93375438e-03 -1.83471469e-05 -9.99960093e-01 2.23807803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.26 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.02, Y:-165.80, Z:2.24 [[-8.39029660e-01 5.44029088e-01 7.84732111e-03 3.50152625e+01] [ 5.44004789e-01 8.39066355e-01 -5.14207385e-03 -1.65802635e+02] [-9.38186087e-03 -4.53722162e-05 -9.99955988e-01 2.23857418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.28999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.45, Y:-165.14, Z:1.45 [[-8.00513125e-01 -5.99263625e-01 7.86412650e-03 3.54509123e+01] [ 5.99235547e-01 -8.00551749e-01 -5.80145370e-03 -1.65144836e+02] [ 9.77224040e-03 6.83243058e-05 9.99952248e-01 1.44963598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.32 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.44, Y:-165.18, Z:1.45 [[-7.60058909e-01 -6.49804830e-01 8.00861819e-03 3.54435848e+01] [ 6.49768260e-01 -7.60101100e-01 -6.89394226e-03 -1.65175440e+02] [ 1.05670765e-02 -3.60563206e-05 9.99944166e-01 1.44861969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.34999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.92, Y:-165.78, Z:2.24 [[-7.99518437e-01 6.00574987e-01 8.94167128e-03 3.49244582e+01] [ 6.00538098e-01 7.99568435e-01 -6.65657522e-03 -1.65778184e+02] [-1.11472507e-02 4.77596454e-05 -9.99937866e-01 2.24015313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.38 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.41, Y:-165.15, Z:1.45 [[-7.63705683e-01 -6.45515426e-01 7.96650223e-03 3.54101383e+01] [ 6.45479178e-01 -7.63747228e-01 -6.84125268e-03 -1.65150341e+02] [ 1.05005281e-02 -8.24922438e-05 9.99944865e-01 1.44843462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.40999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.89, Y:-165.76, Z:2.24 [[-8.00643148e-01 5.99091834e-01 7.71519525e-03 3.48911516e+01] [ 5.99064708e-01 8.00680318e-01 -5.70121099e-03 -1.65755791e+02] [-9.59295393e-03 5.72656711e-05 -9.99953985e-01 2.23834811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.44 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.92, Y:-165.74, Z:2.24 [[-8.41046234e-01 5.40909048e-01 7.65728351e-03 3.49168725e+01] [ 5.40887213e-01 8.41081089e-01 -4.86045975e-03 -1.65739843e+02] [-9.06946301e-03 5.38553711e-05 -9.99958870e-01 2.23736184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.46999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.35, Y:-165.07, Z:1.45 [[-8.09490209e-01 -5.87092769e-01 6.90525081e-03 3.53475898e+01] [ 5.87070563e-01 -8.09519657e-01 -5.10684645e-03 -1.65072216e+02] [ 8.58812889e-03 -8.00727208e-05 9.99963118e-01 1.45138958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.33, Y:-165.10, Z:1.45 [[-7.67179996e-01 -6.41395638e-01 6.81835510e-03 3.53314270e+01] [ 6.41369908e-01 -7.67210293e-01 -5.74518867e-03 -1.65098893e+02] [ 8.91605117e-03 -3.45060415e-05 9.99960251e-01 1.45208068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.53 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.83, Y:-165.71, Z:2.24 [[-8.08585847e-01 5.88332360e-01 7.34590759e-03 3.48288312e+01] [ 5.88308042e-01 8.08619215e-01 -5.34913791e-03 -1.65707883e+02] [-9.08711295e-03 -3.58069369e-06 -9.99958711e-01 2.23681002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.84, Y:-165.68, Z:2.24 [[-8.49613181e-01 5.27345317e-01 8.02239343e-03 3.48368883e+01] [ 5.27321480e-01 8.49651055e-01 -5.01404555e-03 -1.65676965e+02] [-9.46036848e-03 -2.96188125e-05 -9.99955249e-01 2.23783987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.59 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.87, Y:-165.66, Z:2.24 [[-8.86226265e-01 4.63181990e-01 8.09023775e-03 3.48668361e+01] [ 4.63162110e-01 8.86263190e-01 -4.29163288e-03 -1.65659339e+02] [-9.15788696e-03 -5.62661855e-05 -9.99958064e-01 2.23786150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.62 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.88, Y:-165.63, Z:2.24 [[-9.18077828e-01 3.96304187e-01 8.72309826e-03 3.48805094e+01] [ 3.96285368e-01 9.18119264e-01 -3.86316090e-03 -1.65632937e+02] [-9.53983139e-03 -8.98461680e-05 -9.99954491e-01 2.23742617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.65 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.89, Y:-165.60, Z:2.24 [[-9.45682432e-01 3.24970262e-01 8.89197198e-03 3.48944252e+01] [ 3.24954477e-01 9.45724224e-01 -3.20617372e-03 -1.65604569e+02] [-9.45126442e-03 -1.42536051e-04 -9.99955326e-01 2.23606415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.68 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.15, Y:-164.89, Z:1.45 [[-9.08573230e-01 -4.17653356e-01 7.76916962e-03 3.51523784e+01] [ 4.17638733e-01 -9.08606444e-01 -3.49561983e-03 -1.64894618e+02] [ 8.51907493e-03 6.86795562e-05 9.99963710e-01 1.45234435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.71 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.85, Y:-165.58, Z:2.24 [[-9.48558208e-01 3.16501599e-01 8.00395756e-03 3.48484059e+01] [ 3.16488799e-01 9.48591961e-01 -2.85162982e-03 -1.65584550e+02] [-8.49503519e-03 -1.71773963e-04 -9.99963902e-01 2.23516088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.74 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.86, Y:-165.55, Z:2.24 [[-9.69505857e-01 2.44939863e-01 7.92823542e-03 3.48591254e+01] [ 2.44930010e-01 9.69538254e-01 -2.20564664e-03 -1.65553553e+02] [-8.22697830e-03 -1.96524554e-04 -9.99966139e-01 2.23602081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.77 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.86, Y:-165.53, Z:2.24 [[-9.84582097e-01 1.74738392e-01 8.03675943e-03 3.48630874e+01] [ 1.74730885e-01 9.84614876e-01 -1.63236676e-03 -1.65526169e+02] [-8.19835002e-03 -2.02928999e-04 -9.99966372e-01 2.23623260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.8 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:35.02, Y:-164.81, Z:1.45 [[-9.57492086e-01 -2.88346449e-01 8.07654162e-03 3.50185248e+01] [ 2.88338105e-01 -9.57526124e-01 -2.20446459e-03 -1.64806145e+02] [ 8.36914913e-03 2.18017305e-04 9.99964954e-01 1.45154297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.83 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.81, Y:-165.51, Z:2.24 [[-9.85216069e-01 1.71090457e-01 8.79509453e-03 3.48108049e+01] [ 1.71081635e-01 9.85255300e-01 -1.75138754e-03 -1.65514114e+02] [-8.96505919e-03 -2.20815988e-04 -9.99959789e-01 2.23759932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.86 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.83, Y:-165.49, Z:2.24 [[-9.94632166e-01 1.03008577e-01 9.80237498e-03 3.48297992e+01] [ 1.03001384e-01 9.94680443e-01 -1.23723071e-03 -1.65492108e+02] [-9.87767607e-03 -2.20931271e-04 -9.99951190e-01 2.23723584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.93, Y:-164.76, Z:1.45 [[-9.77235024e-01 -2.11934179e-01 9.77812880e-03 3.49267755e+01] [ 2.11925895e-01 -9.77283916e-01 -1.88761915e-03 -1.64760486e+02] [ 9.95605902e-03 2.27591155e-04 9.99950411e-01 1.45087840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.92 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.77, Y:-165.49, Z:2.24 [[-9.94768570e-01 1.01684441e-01 9.78609159e-03 3.47744183e+01] [ 1.01677627e-01 9.94816686e-01 -1.19264998e-03 -1.65485348e+02] [-9.85664115e-03 -1.91384149e-04 -9.99951404e-01 2.23747697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.95 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.78, Y:-165.46, Z:2.24 [[-9.99428193e-01 3.23278716e-02 9.90935570e-03 3.47760659e+01] [ 3.23245195e-02 9.99477302e-01 -4.98295352e-04 -1.65459130e+02] [-9.92028493e-03 -1.77695261e-04 -9.99950777e-01 2.23697764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.97999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.78, Y:-165.43, Z:2.24 [[-9.99254185e-01 -3.73822403e-02 9.67685358e-03 3.47781405e+01] [-3.73820296e-02 9.99301027e-01 2.02706970e-04 -1.65432770e+02] [-9.67766736e-03 -1.59184639e-04 -9.99953158e-01 2.23690857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.01 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.77, Y:-164.69, Z:1.45 [[-9.98130620e-01 -6.03912699e-02 9.38936606e-03 3.47670046e+01] [ 6.03898866e-02 -9.98174772e-01 -4.31034096e-04 -1.64689374e+02] [ 9.39825902e-03 1.36794422e-04 9.99955826e-01 1.45233814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.03999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.69, Y:-165.44, Z:2.24 [[-9.99134704e-01 -4.03965598e-02 9.89749896e-03 3.46880241e+01] [-4.03959047e-02 9.99183717e-01 2.66171377e-04 -1.65437323e+02] [-9.90017221e-03 -1.33877365e-04 -9.99950983e-01 2.23557262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.67, Y:-164.69, Z:1.45 [[-9.98525526e-01 -5.33587284e-02 9.98096115e-03 3.46719519e+01] [ 5.33574717e-02 -9.98575398e-01 -3.92338534e-04 -1.64689794e+02] [ 9.98767694e-03 1.40798811e-04 9.99950112e-01 1.45243120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.09999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.60, Y:-165.44, Z:2.24 [[-9.98869914e-01 -4.62744262e-02 1.08430994e-02 3.45958538e+01] [-4.62732817e-02 9.98928754e-01 3.56541157e-04 -1.65438019e+02] [-1.08479825e-02 -1.45607559e-04 -9.99941148e-01 2.23690960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.13 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.58, Y:-164.69, Z:1.45 [[-9.98763181e-01 -4.84032460e-02 1.13681276e-02 3.45766411e+01] [ 4.84022487e-02 -9.98827858e-01 -3.63005731e-04 -1.64693223e+02] [ 1.13723732e-02 1.87686182e-04 9.99935315e-01 1.45083607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.15999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.50, Y:-165.44, Z:2.24 [[-9.98481022e-01 -5.37850897e-02 1.19504744e-02 3.45023996e+01] [-5.37833876e-02 9.98552518e-01 4.63993949e-04 -1.65439510e+02] [-1.19581322e-02 -1.79447843e-04 -9.99928483e-01 2.23794688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.19 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.50, Y:-165.41, Z:2.24 [[-9.92002388e-01 -1.25628495e-01 1.21960012e-02 3.44988169e+01] [-1.25621410e-01 9.92077337e-01 1.34837719e-03 -1.65411969e+02] [-1.22687710e-02 -1.94485467e-04 -9.99924717e-01 2.23817709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.21999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.49, Y:-165.38, Z:2.24 [[-9.80236883e-01 -1.97434045e-01 1.24680002e-02 3.44890235e+01] [-1.97420897e-01 9.80316148e-01 2.28895334e-03 -1.65384677e+02] [-1.26744992e-02 -2.17727283e-04 -9.99919652e-01 2.23859250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.25 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.47, Y:-165.36, Z:2.24 [[-9.62734393e-01 -2.70168460e-01 1.23082276e-02 3.44650067e+01] [-2.70149760e-01 9.62813034e-01 3.18883425e-03 -1.65361160e+02] [-1.27120444e-02 -2.55064337e-04 -9.99919166e-01 2.23815870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.28 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.42, Y:-165.34, Z:2.24 [[-9.39916221e-01 -3.41173734e-01 1.25690395e-02 3.44213433e+01] [-3.41147347e-01 9.40000212e-01 4.25307213e-03 -1.65344033e+02] [-1.32659363e-02 -2.90362993e-04 -9.99911961e-01 2.23830888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.31 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.36, Y:-165.34, Z:2.24 [[-9.11616405e-01 -4.10863428e-01 1.21150567e-02 3.43588839e+01] [-4.10831617e-01 9.11696851e-01 5.12184872e-03 -1.65336560e+02] [-1.31496394e-02 -3.08087033e-04 -9.99913492e-01 2.23883262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.34 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.29, Y:-165.34, Z:2.24 [[-8.77166662e-01 -4.80039905e-01 1.18463819e-02 3.42931990e+01] [-4.80001541e-01 8.77246582e-01 6.07911169e-03 -1.65335744e+02] [-1.33104143e-02 -3.53887482e-04 -9.99911350e-01 2.23840054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.37 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.22, Y:-165.35, Z:2.24 [[-8.38353770e-01 -5.45012326e-01 1.11588834e-02 3.42170001e+01] [-5.44969756e-01 8.38427953e-01 6.82147657e-03 -1.65346419e+02] [-1.30737086e-02 -3.62443362e-04 -9.99914470e-01 2.23807223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.4 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:34.14, Y:-165.37, Z:2.24 [[-7.94697267e-01 -6.06927788e-01 9.74238047e-03 3.41375474e+01] [-6.06887400e-01 7.94756909e-01 7.00999689e-03 -1.65366221e+02] [-1.19973861e-02 -3.41702579e-04 -9.99927970e-01 2.23744379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.43 meters Centerline goodness [0,1] 0.9999566254608545 Centerline is valid? [True, True] Translation: X:34.05, Y:-165.40, Z:2.24 [[-7.46434667e-01 -6.65401018e-01 8.76201624e-03 3.40548481e+01] [-6.65360312e-01 7.46486018e-01 7.36743324e-03 -1.65396057e+02] [-1.14430202e-02 -3.30590286e-04 -9.99934472e-01 2.23690273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.46 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.97, Y:-165.44, Z:2.24 [[-6.94034343e-01 -7.19905392e-01 7.24963552e-03 3.39683600e+01] [-7.19870459e-01 6.94072144e-01 7.09806285e-03 -1.65437425e+02] [-1.01417038e-02 -2.92499058e-04 -9.99948529e-01 2.23607452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.49 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.88, Y:-165.49, Z:2.24 [[-6.37676778e-01 -7.70278688e-01 6.25060322e-03 3.38819310e+01] [-7.70245765e-01 6.37707354e-01 7.12684950e-03 -1.65489530e+02] [-9.47571593e-03 -2.69874236e-04 -9.99955068e-01 2.23599044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.52 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.80, Y:-165.55, Z:2.24 [[-5.77491725e-01 -8.16376563e-01 5.71104955e-03 3.38028439e+01] [-8.16341126e-01 5.77519902e-01 7.61114073e-03 -1.65547235e+02] [-9.51180168e-03 -2.66793832e-04 -9.99954726e-01 2.23505786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.55 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.72, Y:-165.62, Z:2.24 [[-5.13857995e-01 -8.57859778e-01 5.15390052e-03 3.37205850e+01] [-8.57821678e-01 5.13883773e-01 8.08936957e-03 -1.65618339e+02] [-9.58805063e-03 -2.64340361e-04 -9.99953999e-01 2.23552864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.58 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.65, Y:-165.70, Z:2.24 [[-4.47856769e-01 -8.94092687e-01 4.75198027e-03 3.36452940e+01] [-8.94048462e-01 4.47881900e-01 8.89663335e-03 -1.65697193e+02] [-1.00827408e-02 -2.64083195e-04 -9.99949133e-01 2.23602612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.61 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.58, Y:-165.78, Z:2.24 [[-3.78406820e-01 -9.25629417e-01 4.29661108e-03 3.35750160e+01] [-9.25577716e-01 3.78431113e-01 9.78695028e-03 -1.65780515e+02] [-1.06850604e-02 -2.73398742e-04 -9.99942876e-01 2.23692891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.64 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.51, Y:-165.87, Z:2.24 [[-3.06177200e-01 -9.51967986e-01 3.53196881e-03 3.35092142e+01] [-9.51914572e-01 3.06197449e-01 1.00880769e-02 -1.65873376e+02] [-1.06850061e-02 -2.73393431e-04 -9.99942876e-01 2.23692632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.67 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.45, Y:-165.97, Z:2.24 [[-2.32675905e-01 -9.72549995e-01 2.90349731e-03 3.34511911e+01] [-9.72488649e-01 2.32693850e-01 1.09269857e-02 -1.65973907e+02] [-1.13026659e-02 -2.81171886e-04 -9.99936083e-01 2.23738953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.7 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.40, Y:-166.08, Z:2.24 [[-1.58238357e-01 -9.87398249e-01 2.30645668e-03 3.34004337e+01] [-9.87319221e-01 1.58254881e-01 1.24959770e-02 -1.66080973e+02] [-1.27035139e-02 -2.99866142e-04 -9.99919262e-01 2.23881744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.72999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.36, Y:-166.19, Z:2.24 [[-8.20821944e-02 -9.96624654e-01 1.34595167e-03 3.33573158e+01] [-9.96543428e-01 8.20926930e-02 1.27273488e-02 -1.66186803e+02] [-1.27948824e-02 -2.96610566e-04 -9.99918098e-01 2.23937521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.76 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.32, Y:-166.30, Z:2.24 [[-5.31741740e-03 -9.99985798e-01 3.60129201e-04 3.33242623e+01] [-9.99903708e-01 5.32159644e-03 1.28161920e-02 -1.66299277e+02] [-1.28179264e-02 -2.91945482e-04 -9.99917804e-01 2.23854203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.78999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.30, Y:-166.42, Z:2.24 [[ 7.11559612e-02 -9.97465014e-01 -6.11677048e-04 3.32994039e+01] [-9.97387838e-01 -7.11580665e-02 1.24108918e-02 -1.66417370e+02] [-1.24229562e-02 -2.73029690e-04 -9.99922795e-01 2.23806791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.82 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.28, Y:-166.52, Z:2.24 [[ 1.45136259e-01 -9.89410722e-01 -1.37462095e-03 3.32834304e+01] [-9.89350405e-01 -1.45142592e-01 1.09272423e-02 -1.66521903e+02] [-1.10110467e-02 -2.25957278e-04 -9.99939351e-01 2.23608897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.84999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.28, Y:-166.64, Z:2.24 [[ 2.20122292e-01 -9.75470222e-01 -2.00538716e-03 3.32763717e+01] [-9.75421302e-01 -2.20131341e-01 9.77116513e-03 -1.66640335e+02] [-9.97292919e-03 -1.94753908e-04 -9.99950250e-01 2.23557602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.88 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.28, Y:-166.76, Z:2.24 [[ 2.93993755e-01 -9.55803817e-01 -2.59538110e-03 3.32787064e+01] [-9.55761126e-01 -2.94005158e-01 9.03528410e-03 -1.66761384e+02] [-9.39901446e-03 -1.75752734e-04 -9.99955813e-01 2.23512191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.90999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.29, Y:-166.88, Z:2.23 [[ 3.66091865e-01 -9.30573742e-01 -3.04261769e-03 3.32884998e+01] [-9.30538001e-01 -3.66104475e-01 8.15736944e-03 -1.66876349e+02] [-8.70494976e-03 -1.55075201e-04 -9.99962099e-01 2.23484294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.94 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.31, Y:-167.00, Z:2.23 [[ 4.35507894e-01 -9.00178735e-01 -3.33454527e-03 3.33105301e+01] [-9.00150019e-01 -4.35520640e-01 7.19135652e-03 -1.66995671e+02] [-7.92576951e-03 -1.30301546e-04 -9.99968582e-01 2.23461979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.96999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.34, Y:-167.11, Z:2.23 [[ 5.03061859e-01 -8.64242420e-01 -3.71544377e-03 3.33393272e+01] [-8.64217059e-01 -5.03075565e-01 6.62197054e-03 -1.67108796e+02] [-7.59213682e-03 -1.20310930e-04 -9.99971172e-01 2.23413201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.0 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.37, Y:-167.21, Z:2.23 [[ 5.67750373e-01 -8.23189011e-01 -4.40063943e-03 3.33736941e+01] [-8.23162598e-01 -5.67767414e-01 6.59553833e-03 -1.67214918e+02] [-7.92791435e-03 -1.22177568e-04 -9.99968566e-01 2.23399839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.03 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.42, Y:-167.32, Z:2.23 [[ 6.28997692e-01 -7.77389779e-01 -5.19955619e-03 3.34166698e+01] [-7.77361548e-01 -6.29019170e-01 6.62632533e-03 -1.67319237e+02] [-8.42185810e-03 -1.26008295e-04 -9.99964528e-01 2.23444797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.06 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.46, Y:-167.41, Z:2.24 [[ 6.85735031e-01 -7.27816745e-01 -7.08892769e-03 3.34647237e+01] [-7.27775706e-01 -6.85771657e-01 7.73025933e-03 -1.67414696e+02] [-1.04875979e-02 -1.41760271e-04 -9.99944994e-01 2.23601366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.09 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.52, Y:-167.51, Z:2.24 [[ 7.38996358e-01 -6.73660254e-01 -8.13912790e-03 3.35190743e+01] [-6.73617240e-01 -7.39041164e-01 7.61388956e-03 -1.67508516e+02] [-1.11443253e-02 -1.43979777e-04 -9.99937890e-01 2.23763080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.12 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.52, Y:-167.51, Z:2.24 [[ 7.89091902e-01 -6.14204267e-01 -9.33213162e-03 3.35159125e+01] [-6.14159087e-01 -7.89147069e-01 7.45116606e-03 -1.67512788e+02] [-1.19409623e-02 -1.48241360e-04 -9.99928693e-01 2.23802503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.15 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.51, Y:-167.52, Z:2.24 [[ 8.33642558e-01 -5.52219012e-01 -9.70809255e-03 3.35133840e+01] [-5.52179839e-01 -8.33699075e-01 6.57861795e-03 -1.67519390e+02] [-1.17264657e-02 -1.23602914e-04 -9.99931235e-01 2.23643098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.18 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.51, Y:-167.53, Z:2.24 [[ 8.73654884e-01 -4.86443304e-01 -1.00028075e-02 3.35087238e+01] [-4.86410012e-01 -8.73712138e-01 5.69204731e-03 -1.67525870e+02] [-1.15084326e-02 -1.07419216e-04 -9.99933770e-01 2.23611491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.21 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.51, Y:-167.53, Z:2.24 [[ 9.08273528e-01 -4.18249492e-01 -1.03228701e-02 3.35054824e+01] [-4.18221397e-01 -9.08332183e-01 4.84849280e-03 -1.67531960e+02] [-1.14044748e-02 -8.65124938e-05 -9.99934963e-01 2.23512763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.24 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.50, Y:-167.54, Z:2.23 [[ 9.37581553e-01 -3.47596096e-01 -1.08528950e-02 3.35026477e+01] [-3.47571975e-01 -9.37644362e-01 4.09549644e-03 -1.67537816e+02] [-1.15997344e-02 -6.76997505e-05 -9.99932719e-01 2.23471709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.27 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.50, Y:-167.54, Z:2.23 [[ 9.60711491e-01 -2.77306156e-01 -1.16071426e-02 3.35005302e+01] [-2.77285675e-01 -9.60781606e-01 3.37035172e-03 -1.67541685e+02] [-1.20865484e-02 -1.94412593e-05 -9.99926955e-01 2.23455863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.3 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.50, Y:-167.55, Z:2.23 [[ 9.79069810e-01 -2.03179548e-01 -1.18481393e-02 3.34976991e+01] [-2.03164712e-01 -9.79141497e-01 2.45526526e-03 -1.67547403e+02] [-1.20998646e-02 3.24772312e-06 -9.99926794e-01 2.23493016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.33 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.49, Y:-167.55, Z:2.24 [[ 9.91751683e-01 -1.27588992e-01 -1.22330634e-02 3.34913112e+01] [-1.27579590e-01 -9.91827126e-01 1.54916657e-03 -1.67551810e+02] [-1.23307407e-02 2.43006533e-05 -9.99923973e-01 2.23569261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.36 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.49, Y:-167.55, Z:2.24 [[ 9.98520045e-01 -5.28146800e-02 -1.29741455e-02 3.34863785e+01] [-5.28111086e-02 -9.98604329e-01 6.17960936e-04 -1.67554668e+02] [-1.29886753e-02 6.81326269e-05 -9.99915641e-01 2.23550947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.39 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.48, Y:-167.56, Z:2.24 [[ 9.99627328e-01 2.36957384e-02 -1.35542485e-02 3.34817961e+01] [ 2.36922588e-02 -9.99719212e-01 -4.17260511e-04 -1.67558568e+02] [-1.35603300e-02 9.59742462e-05 -9.99908050e-01 2.23578952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.42 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.48, Y:-167.56, Z:2.24 [[ 9.94900870e-01 9.99403871e-02 -1.35712432e-02 3.34771239e+01] [ 9.99293963e-02 -9.94993419e-01 -1.48727104e-03 -1.67562974e+02] [-1.36519361e-02 1.23521115e-04 -9.99906800e-01 2.23580432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.45 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.47, Y:-167.57, Z:2.24 [[ 9.84444726e-01 1.75136141e-01 -1.39969206e-02 3.34728357e+01] [ 1.75116086e-01 -9.84544212e-01 -2.65536126e-03 -1.67566965e+02] [-1.42456369e-02 1.62970444e-04 -9.99898513e-01 2.23575720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.47999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.47, Y:-167.58, Z:2.23 [[ 9.68996349e-01 2.46727757e-01 -1.30954185e-02 3.34699398e+01] [ 2.46702097e-01 -9.69084807e-01 -3.56530451e-03 -1.67575628e+02] [-1.35702307e-02 2.24099844e-04 -9.99907895e-01 2.23359481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.51 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.47, Y:-167.58, Z:2.23 [[ 9.47456638e-01 3.19647115e-01 -1.23142841e-02 3.34652332e+01] [ 3.19616738e-01 -9.47536628e-01 -4.41354323e-03 -1.67582426e+02] [-1.30790116e-02 2.45789510e-04 -9.99914436e-01 2.23480879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.53999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.46, Y:-167.59, Z:2.23 [[ 9.20302461e-01 3.91041222e-01 -1.14079987e-02 3.34631920e+01] [ 3.91007670e-01 -9.20373128e-01 -5.12900429e-03 -1.67592944e+02] [-1.25052676e-02 2.59620281e-04 -9.99921772e-01 2.23256380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.46, Y:-167.60, Z:2.23 [[ 8.87632401e-01 4.60431755e-01 -1.05508283e-02 3.34600426e+01] [ 4.60395605e-01 -8.87695064e-01 -5.77587888e-03 -1.67601729e+02] [-1.20253162e-02 2.69302278e-04 -9.99927657e-01 2.23234521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.59999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.46, Y:-167.61, Z:2.23 [[ 8.49461043e-01 5.27565411e-01 -9.52226807e-03 3.34574892e+01] [ 5.27528714e-01 -8.49514370e-01 -6.22817580e-03 -1.67610313e+02] [-1.13750737e-02 2.67322877e-04 -9.99935266e-01 2.23262559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.63 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.46, Y:-167.62, Z:2.23 [[ 8.05434203e-01 5.92620752e-01 -8.74005169e-03 3.34569156e+01] [ 5.92582369e-01 -8.05481581e-01 -6.74966902e-03 -1.67619723e+02] [-1.10399446e-02 2.57213752e-04 -9.99939025e-01 2.23253220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.65999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.46, Y:-167.63, Z:2.23 [[ 7.55945047e-01 6.54579032e-01 -8.56603593e-03 3.34582059e+01] [ 6.54533102e-01 -7.55993535e-01 -7.75849394e-03 -1.67631383e+02] [-1.15544152e-02 2.58241006e-04 -9.99933212e-01 2.23239923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.69 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.46, Y:-167.64, Z:2.23 [[ 7.01219862e-01 7.12894576e-01 -8.48699097e-03 3.34585595e+01] [ 7.12837887e-01 -7.01271173e-01 -8.99380359e-03 -1.67642144e+02] [-1.23633159e-02 2.56784997e-04 -9.99923538e-01 2.23254119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.71999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.46, Y:-167.65, Z:2.23 [[ 6.40511569e-01 7.67903063e-01 -8.35561531e-03 3.34628922e+01] [ 7.67833004e-01 -6.40566026e-01 -1.03752147e-02 -1.67654704e+02] [-1.33194824e-02 2.29727847e-04 -9.99911265e-01 2.23286963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.47, Y:-167.67, Z:2.23 [[ 5.76816033e-01 8.16836735e-01 -7.81108857e-03 3.34665691e+01] [ 8.16756826e-01 -5.76868879e-01 -1.14272888e-02 -1.67665902e+02] [-1.38402032e-02 2.11683477e-04 -9.99904197e-01 2.23295466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.78 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.47, Y:-167.68, Z:2.23 [[ 5.09440228e-01 8.60477586e-01 -6.99850020e-03 3.34699709e+01] [ 8.60391272e-01 -5.09488262e-01 -1.21889157e-02 -1.67677137e+02] [-1.40539424e-02 1.88075488e-04 -9.99901221e-01 2.23309385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.81 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.47, Y:-167.69, Z:2.23 [[ 4.37851024e-01 8.99027854e-01 -5.94969458e-03 3.34746143e+01] [ 8.98940312e-01 -4.37891421e-01 -1.25466851e-02 -1.67688354e+02] [-1.38851396e-02 1.45158599e-04 -9.99903586e-01 2.23324237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.84 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.48, Y:-167.70, Z:2.23 [[ 3.64814743e-01 9.31067376e-01 -4.87281469e-03 3.34773143e+01] [ 9.30979747e-01 -3.64847264e-01 -1.27743537e-02 -1.67697188e+02] [-1.36716171e-02 1.23780795e-04 -9.99906531e-01 2.23386044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.87 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.48, Y:-167.71, Z:2.23 [[ 2.89557333e-01 9.57152634e-01 -3.92245486e-03 3.34816729e+01] [ 9.57059664e-01 -2.89583879e-01 -1.33407576e-02 -1.67705265e+02] [-1.39050209e-02 1.08890849e-04 -9.99903315e-01 2.23359776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.9 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.48, Y:-167.71, Z:2.23 [[ 2.12462227e-01 9.77165184e-01 -2.82937830e-03 3.34849680e+01] [ 9.77072809e-01 -2.12481047e-01 -1.34361763e-02 -1.67713607e+02] [-1.37305530e-02 9.01713422e-05 -9.99905727e-01 2.23360144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.93 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.49, Y:-167.72, Z:2.23 [[ 1.32752137e-01 9.91147799e-01 -1.70615134e-03 3.34888977e+01] [ 9.91060715e-01 -1.32763090e-01 -1.31385383e-02 -1.67722097e+02] [-1.32487472e-02 5.32694744e-05 -9.99912230e-01 2.23269165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.96 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.49, Y:-167.73, Z:2.23 [[ 5.32078157e-02 9.98583242e-01 -6.60692099e-04 3.34916283e+01] [ 9.98498531e-01 -5.32119077e-02 -1.30068045e-02 -1.67729863e+02] [-1.30235337e-02 3.23635683e-05 -9.99915190e-01 2.23268737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.99 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.50, Y:-167.74, Z:2.23 [[-2.67462086e-02 9.99642192e-01 3.57277205e-04 3.34950860e+01] [ 9.99558832e-01 2.67485921e-02 -1.29094803e-02 -1.67735743e+02] [-1.29144178e-02 1.18399325e-05 -9.99916605e-01 2.23279030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.02 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.50, Y:-167.74, Z:2.23 [[-1.06561181e-01 9.94305145e-01 1.41188854e-03 3.34981105e+01] [ 9.94216786e-01 1.06570533e-01 -1.32553250e-02 -1.67742248e+02] [-1.33303036e-02 -8.77979247e-06 -9.99911148e-01 2.23321975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.05 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.50, Y:-167.75, Z:2.23 [[-1.88094004e-01 9.82147540e-01 2.61832871e-03 3.35025425e+01] [ 9.82047397e-01 1.88112215e-01 -1.40251771e-02 -1.67748854e+02] [-1.42673328e-02 -6.67288213e-05 -9.99898214e-01 2.23385975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.08 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.50, Y:-167.75, Z:2.23 [[-2.66373583e-01 9.63861765e-01 3.95125430e-03 3.35046968e+01] [ 9.63750038e-01 2.66402868e-01 -1.46757058e-02 -1.67754372e+02] [-1.51979772e-02 -1.01198863e-04 -9.99884499e-01 2.23476550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.11 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.52, Y:-167.76, Z:2.23 [[-3.42666918e-01 9.39441852e-01 5.32828437e-03 3.35164772e+01] [ 9.39322153e-01 3.42708316e-01 -1.49967838e-02 -1.67756294e+02] [-1.59146537e-02 -1.33926157e-04 -9.99873345e-01 2.23174314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.14 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.53, Y:-167.76, Z:2.23 [[-4.16930541e-01 9.08913637e-01 6.70253231e-03 3.35292155e+01] [ 9.08789585e-01 4.16984378e-01 -1.50172988e-02 -1.67757435e+02] [-1.64442790e-02 -1.69978981e-04 -9.99864769e-01 2.23256257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.17 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.54, Y:-167.76, Z:2.23 [[-4.87979785e-01 8.72816182e-01 8.22454187e-03 3.35405052e+01] [ 8.72685213e-01 4.88049047e-01 -1.51210633e-02 -1.67757294e+02] [-1.72118885e-02 -2.01337118e-04 -9.99851844e-01 2.23263884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.2 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.55, Y:-167.76, Z:2.23 [[-5.56583851e-01 8.30735337e-01 9.65487861e-03 3.35514020e+01] [ 8.30602691e-01 5.56667531e-01 -1.48468751e-02 -1.67756398e+02] [-1.77083812e-02 -2.44162772e-04 -9.99843165e-01 2.23254735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.22999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.56, Y:-167.76, Z:2.23 [[-6.20424134e-01 7.84193197e-01 1.07202682e-02 3.35613791e+01] [ 7.84069034e-01 6.20516693e-01 -1.39564983e-02 -1.67755093e+02] [-1.75966964e-02 -2.53518074e-04 -9.99845134e-01 2.23199087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.26 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.57, Y:-167.75, Z:2.24 [[-6.80271155e-01 7.32863183e-01 1.19461781e-02 3.35738199e+01] [ 7.32743295e-01 6.80375988e-01 -1.32581927e-02 -1.67751535e+02] [-1.78443340e-02 -2.65684162e-04 -9.99840742e-01 2.23672449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.28999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.58, Y:-167.75, Z:2.23 [[-7.35737490e-01 6.77148899e-01 1.26378260e-02 3.35786991e+01] [ 6.77042835e-01 7.35845975e-01 -1.19875312e-02 -1.67752558e+02] [-1.74168370e-02 -2.63326599e-04 -9.99848281e-01 2.23118499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.32 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.60, Y:-167.74, Z:2.23 [[-7.82201788e-01 6.22891141e-01 1.29224179e-02 3.36006338e+01] [ 6.22800552e-01 7.82308479e-01 -1.06262028e-02 -1.67738532e+02] [-1.67282847e-02 -2.63745817e-04 -9.99860038e-01 2.22842105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.34999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.62, Y:-167.72, Z:2.23 [[-8.24359504e-01 5.65901508e-01 1.36708145e-02 3.36206962e+01] [ 5.65818330e-01 8.24472809e-01 -9.70596316e-03 -1.67719132e+02] [-1.67638340e-02 -2.66005565e-04 -9.99859442e-01 2.22896228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.38 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.64, Y:-167.70, Z:2.23 [[-8.62505158e-01 5.05848386e-01 1.42218900e-02 3.36420631e+01] [ 5.05774457e-01 8.62622361e-01 -8.65223712e-03 -1.67701834e+02] [-1.66448405e-02 -2.69530476e-04 -9.99861429e-01 2.22847309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.40999999999997 meters Centerline goodness [0,1] 0.9999779808433337 Centerline is valid? [True, True] Translation: X:33.66, Y:-167.68, Z:2.23 [[-8.96529535e-01 4.42715057e-01 1.54328310e-02 3.36575233e+01] [ 4.42643769e-01 8.96662306e-01 -7.95003758e-03 -1.67680023e+02] [-1.73576392e-02 -2.96197011e-04 -9.99849301e-01 2.22841162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.44 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.67, Y:-167.66, Z:2.23 [[-9.25944465e-01 3.77303208e-01 1.64053601e-02 3.36692150e+01] [ 3.77237869e-01 9.26089729e-01 -7.02875751e-03 -1.67656543e+02] [-1.78448083e-02 -3.19516021e-04 -9.99840718e-01 2.22772366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.46999999999997 meters Centerline goodness [0,1] 0.9999779078758423 Centerline is valid? [True, True] Translation: X:33.69, Y:-167.63, Z:2.23 [[-9.50562389e-01 3.10036693e-01 1.75611302e-02 3.36862948e+01] [ 3.09977062e-01 9.50724529e-01 -6.09031189e-03 -1.67634634e+02] [-1.85840174e-02 -3.45673886e-04 -9.99827243e-01 2.22744792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.69, Y:-167.61, Z:2.23 [[-9.70475358e-01 2.40514494e-01 1.81757644e-02 3.36873919e+01] [ 2.40465032e-01 9.70645474e-01 -4.89207792e-03 -1.67607367e+02] [-1.88188391e-02 -3.77005291e-04 -9.99822839e-01 2.22676055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.53 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.91, Y:-166.85, Z:1.46 [[-9.38905248e-01 -3.43703888e-01 1.80159226e-02 3.39059234e+01] [ 3.43648680e-01 -9.39077995e-01 -6.17280579e-03 -1.66854178e+02] [ 1.90399739e-02 3.95468290e-04 9.99818645e-01 1.46093692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.65, Y:-167.60, Z:2.23 [[-9.71556364e-01 2.36089496e-01 1.84385697e-02 3.36494348e+01] [ 2.36039263e-01 9.71731236e-01 -4.88592997e-03 -1.67597671e+02] [-1.90708509e-02 -3.94729954e-04 -9.99818057e-01 2.22739212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.59 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.65, Y:-167.57, Z:2.23 [[-9.85934598e-01 1.65982568e-01 1.95641605e-02 3.36528038e+01] [ 1.65941320e-01 9.86128595e-01 -3.72456260e-03 -1.67571120e+02] [-1.99109906e-02 -4.25672501e-04 -9.99801666e-01 2.22743300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.62 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.82, Y:-166.80, Z:1.46 [[-9.61577813e-01 -2.73804106e-01 1.99855450e-02 3.38152712e+01] [ 2.73755498e-01 -9.61785357e-01 -5.18207523e-03 -1.66803343e+02] [ 2.06406780e-02 4.88184260e-04 9.99786839e-01 1.46029216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.65 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.59, Y:-167.56, Z:2.23 [[-9.86660998e-01 1.61401047e-01 2.12079230e-02 3.35876758e+01] [ 1.61353337e-01 9.86888785e-01 -3.95318555e-03 -1.67560445e+02] [-2.15679096e-02 -4.78484854e-04 -9.99767271e-01 2.22961238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.68 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.63, Y:-167.54, Z:2.23 [[-9.95256720e-01 9.47879431e-02 2.18930667e-02 3.36268190e+01] [ 9.47535295e-02 9.95497351e-01 -2.60627030e-03 -1.67538889e+02] [-2.20415329e-02 -5.19462687e-04 -9.99756921e-01 2.22883988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.71 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.63, Y:-167.51, Z:2.23 [[-9.99463256e-01 2.43816360e-02 2.18800323e-02 3.36286332e+01] [ 2.43655410e-02 9.99702614e-01 -1.00192850e-03 -1.67512426e+02] [-2.18979541e-02 -4.68271895e-04 -9.99760101e-01 2.22917298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.74 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.63, Y:-167.49, Z:2.23 [[-9.98708417e-01 -4.58758711e-02 2.18381064e-02 3.36334329e+01] [-4.58746955e-02 9.98947048e-01 5.55065457e-04 -1.67490073e+02] [-2.18405761e-02 -4.47467938e-04 -9.99761366e-01 2.22603247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.77 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.61, Y:-166.69, Z:1.46 [[-9.97860946e-01 -6.18243511e-02 2.12433874e-02 3.36123455e+01] [ 6.18188188e-02 -9.98086966e-01 -9.17648794e-04 -1.66687183e+02] [ 2.12594811e-02 3.97555221e-04 9.99773913e-01 1.46217443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.8 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.53, Y:-167.49, Z:2.23 [[-9.98463445e-01 -5.12475596e-02 2.10816467e-02 3.35348127e+01] [-5.12448630e-02 9.98685895e-01 6.68470317e-04 -1.67493927e+02] [-2.10882007e-02 -4.12882923e-04 -9.99777534e-01 2.22602294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.83 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.52, Y:-166.69, Z:1.46 [[-9.98283804e-01 -5.48200484e-02 2.05963230e-02 3.35183406e+01] [ 5.48160594e-02 -9.98496181e-01 -7.58614241e-04 -1.66685480e+02] [ 2.06069371e-02 3.71696952e-04 9.99787585e-01 1.46256944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.86 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.43, Y:-167.50, Z:2.23 [[-9.98160134e-01 -5.70176874e-02 2.06235234e-02 3.34325646e+01] [-5.70136685e-02 9.98373091e-01 7.83268306e-04 -1.67499072e+02] [-2.06346310e-02 -3.93995532e-04 -9.99787006e-01 2.22577449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.44, Y:-167.47, Z:2.23 [[-9.91542875e-01 -1.28075908e-01 2.09592219e-02 3.34357032e+01] [-1.28055902e-01 9.91764286e-01 2.29938847e-03 -1.67472937e+02] [-2.10811040e-02 -4.04009820e-04 -9.99777687e-01 2.22535544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.92 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.42, Y:-167.45, Z:2.23 [[-9.80104853e-01 -1.97324368e-01 2.13909206e-02 3.34249357e+01] [-1.97285979e-01 9.80338179e-01 3.91132455e-03 -1.67449859e+02] [-2.17421358e-02 -3.86620536e-04 -9.99763537e-01 2.22556695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.95 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.40, Y:-167.43, Z:2.22 [[-9.63615139e-01 -2.66470750e-01 2.09571773e-02 3.34004373e+01] [-2.66415788e-01 9.63842939e-01 5.42366881e-03 -1.67430280e+02] [-2.16446765e-02 -3.56993516e-04 -9.99765663e-01 2.22430773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.97999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.35, Y:-167.42, Z:2.23 [[-9.42061479e-01 -3.34863183e-01 1.96677162e-02 3.33481278e+01] [-3.34797025e-01 9.42266711e-01 6.66319974e-03 -1.67418585e+02] [-2.07634945e-02 -3.07549066e-04 -9.99784368e-01 2.22515482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.01 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.29, Y:-167.42, Z:2.22 [[-9.15391844e-01 -4.02117278e-01 1.89596402e-02 3.32870589e+01] [-4.02037127e-01 9.15588129e-01 8.03279947e-03 -1.67415176e+02] [-2.05893489e-02 -2.69320149e-04 -9.99787981e-01 2.22444076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.03999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.22, Y:-167.42, Z:2.22 [[-8.84933567e-01 -4.65409184e-01 1.69373345e-02 3.32201608e+01] [-4.65327482e-01 8.85095625e-01 8.72179372e-03 -1.67420881e+02] [-1.90503636e-02 -1.63199203e-04 -9.99818512e-01 2.22431456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.14, Y:-167.44, Z:2.22 [[-8.48865602e-01 -5.28383753e-01 1.54207139e-02 3.31412012e+01] [-5.28298918e-01 8.49005652e-01 9.46869709e-03 -1.67436508e+02] [-1.80953790e-02 -1.09095224e-04 -9.99836259e-01 2.22431026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.09999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.06, Y:-167.46, Z:2.22 [[-8.08084960e-01 -5.88901064e-01 1.39368354e-02 3.30561644e+01] [-5.88814721e-01 8.08205131e-01 1.00841594e-02 -1.67463304e+02] [-1.72023941e-02 -5.73563147e-05 -9.99852026e-01 2.22389525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.13 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.97, Y:-167.50, Z:2.22 [[-7.62957511e-01 -6.46324872e-01 1.26489633e-02 3.29707203e+01] [-6.46236187e-01 7.63062356e-01 1.07066048e-02 -1.67498679e+02] [-1.65718928e-02 -5.53325252e-06 -9.99862677e-01 2.22389323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.15999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.89, Y:-167.55, Z:2.22 [[-7.15282154e-01 -6.98746648e-01 1.11607519e-02 3.28865977e+01] [-6.98659807e-01 7.15369216e-01 1.10162605e-02 -1.67545269e+02] [-1.56816334e-02 8.21657638e-05 -9.99877032e-01 2.22318559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.19 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.80, Y:-167.60, Z:2.22 [[-6.61663782e-01 -7.49735546e-01 9.88182517e-03 3.27982737e+01] [-7.49649260e-01 6.61737559e-01 1.13750063e-02 -1.67602467e+02] [-1.50674214e-02 1.18526762e-04 -9.99886473e-01 2.22272905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.21999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.71, Y:-167.67, Z:2.22 [[-6.04132862e-01 -7.96837234e-01 8.59694366e-03 3.27100498e+01] [-7.96753013e-01 6.04194009e-01 1.15860119e-02 -1.67671542e+02] [-1.44263875e-02 1.49849785e-04 -9.99895923e-01 2.22287623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.25 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.63, Y:-167.74, Z:2.22 [[-5.42668376e-01 -8.39910927e-01 7.78899733e-03 3.26291898e+01] [-8.39819568e-01 5.42724241e-01 1.23891882e-02 -1.67743238e+02] [-1.46330922e-02 1.81868268e-04 -9.99892914e-01 2.22261838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.28 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.55, Y:-167.83, Z:2.22 [[-4.78816224e-01 -8.77888883e-01 6.79208769e-03 3.25506735e+01] [-8.77793838e-01 4.78864342e-01 1.29197485e-02 -1.67829003e+02] [-1.45945922e-02 2.24132461e-04 -9.99893468e-01 2.22388488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.31 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.47, Y:-167.93, Z:2.22 [[-4.10588170e-01 -9.11802229e-01 5.83530469e-03 3.24744466e+01] [-9.11701597e-01 4.10629562e-01 1.35484707e-02 -1.67926356e+02] [-1.47496744e-02 2.42785186e-04 -9.99891188e-01 2.22466533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.34 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.41, Y:-168.01, Z:2.22 [[-3.39732528e-01 -9.40510193e-01 4.73142618e-03 3.24102447e+01] [-9.40408217e-01 3.39765377e-01 1.38518689e-02 -1.68013947e+02] [-1.46353987e-02 2.56458389e-04 -9.99892864e-01 2.22378776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.37 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.35, Y:-168.12, Z:2.22 [[-2.66821095e-01 -9.63739489e-01 3.56376490e-03 3.23500010e+01] [-9.63639756e-01 2.66844761e-01 1.38669840e-02 -1.68121010e+02] [-1.43151320e-02 2.65818311e-04 -9.99897498e-01 2.22395441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.4 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.30, Y:-168.22, Z:2.22 [[-1.93156605e-01 -9.81164784e-01 2.48857387e-03 3.23015594e+01] [-9.81062931e-01 1.93172418e-01 1.41400706e-02 -1.68222940e+02] [-1.43544631e-02 2.89800453e-04 -9.99896927e-01 2.22459777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.43 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.26, Y:-168.34, Z:2.22 [[-1.16733490e-01 -9.93162291e-01 1.39871302e-03 3.22580914e+01] [-9.93057118e-01 1.16741488e-01 1.44563512e-02 -1.68336281e+02] [-1.45207908e-02 2.98538412e-04 -9.99894523e-01 2.22421932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.46 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.22, Y:-168.46, Z:2.22 [[-3.91223590e-02 -9.99234391e-01 2.71653784e-04 3.22232162e+01] [-9.99129591e-01 3.91221909e-02 1.44746338e-02 -1.68463221e+02] [-1.44741796e-02 2.94864486e-04 -9.99895200e-01 2.22440972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.49 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.20, Y:-168.57, Z:2.22 [[ 3.90829313e-02 -9.99235604e-01 -8.55655258e-04 3.21966750e+01] [-9.99130432e-01 -3.90912344e-02 1.45001914e-02 -1.68574849e+02] [-1.45225561e-02 2.88201223e-04 -9.99894501e-01 2.22375024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.52 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.18, Y:-168.70, Z:2.22 [[ 1.19227590e-01 -9.92865023e-01 -1.95634322e-03 3.21784724e+01] [-9.92763052e-01 -1.19243387e-01 1.42315595e-02 -1.68699139e+02] [-1.43632987e-02 2.45390711e-04 -9.99896812e-01 2.22354983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.55 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.17, Y:-168.83, Z:2.22 [[ 1.97987705e-01 -9.80199665e-01 -3.07992185e-03 3.21712647e+01] [-9.80097539e-01 -1.98011541e-01 1.41507352e-02 -1.68827897e+02] [-1.44804060e-02 2.16952230e-04 -9.99895130e-01 2.22351878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.58 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.17, Y:-168.95, Z:2.22 [[ 2.75950554e-01 -9.61162459e-01 -4.24480344e-03 3.21719268e+01] [-9.61058655e-01 -2.75983141e-01 1.41268464e-02 -1.68950290e+02] [-1.47496886e-02 1.81193989e-04 -9.99891201e-01 2.22373462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.61 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.18, Y:-169.07, Z:2.22 [[ 3.55261471e-01 -9.34749587e-01 -5.70056889e-03 3.21792560e+01] [-9.34633640e-01 -3.55307190e-01 1.47227345e-02 -1.69072779e+02] [-1.57875231e-02 9.75231338e-05 -9.99875365e-01 2.22448686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.64 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.20, Y:-169.19, Z:2.23 [[ 4.29418835e-01 -9.03076965e-01 -7.17356078e-03 3.21972798e+01] [-9.02952893e-01 -4.29478746e-01 1.49692905e-02 -1.69190635e+02] [-1.65993133e-02 4.92921898e-05 -9.99862221e-01 2.22503660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.67 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.23, Y:-169.31, Z:2.23 [[ 5.00725432e-01 -8.65566315e-01 -8.30636369e-03 3.22278931e+01] [-8.65447106e-01 -5.00794323e-01 1.43649507e-02 -1.69313707e+02] [-1.65935973e-02 -4.17775006e-06 -9.99862317e-01 2.22605825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.7 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.26, Y:-169.43, Z:2.23 [[ 5.68578952e-01 -8.22573138e-01 -9.56076939e-03 3.22639634e+01] [-8.22455174e-01 -5.68659327e-01 1.39304321e-02 -1.69427635e+02] [-1.68956200e-02 -5.72462649e-05 -9.99857257e-01 2.22654411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.72999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.30, Y:-169.53, Z:2.23 [[ 6.34968136e-01 -7.72469283e-01 -1.03283124e-02 3.23012780e+01] [-7.72363113e-01 -6.35052111e-01 1.28077262e-02 -1.69531638e+02] [-1.64525917e-02 -1.55290470e-04 -9.99864635e-01 2.22526549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.76 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.36, Y:-169.65, Z:2.22 [[ 6.94394104e-01 -7.19507481e-01 -1.12166484e-02 3.23623034e+01] [-7.19408970e-01 -6.94484661e-01 1.19075504e-02 -1.69645629e+02] [-1.63573619e-02 -1.99175280e-04 -9.99866190e-01 2.22459864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.78999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.41, Y:-169.73, Z:2.22 [[ 7.49283526e-01 -6.62144653e-01 -1.17752284e-02 3.24068579e+01] [-6.62057924e-01 -7.49376009e-01 1.07192369e-02 -1.69730085e+02] [-1.59217590e-02 -2.35864341e-04 -9.99873213e-01 2.22458090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.82 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.40, Y:-169.74, Z:2.22 [[ 7.99882513e-01 -6.00027104e-01 -1.24675468e-02 3.24016230e+01] [-5.99949028e-01 -7.99979627e-01 9.68299479e-03 -1.69738398e+02] [-1.57838428e-02 -2.65365604e-04 -9.99875392e-01 2.22394400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.84999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.40, Y:-169.75, Z:2.22 [[ 8.46141634e-01 -5.32799961e-01 -1.29821635e-02 3.23960247e+01] [-5.32731529e-01 -8.46241161e-01 8.54491596e-03 -1.69746394e+02] [-1.55387720e-02 -3.14201324e-04 -9.99879217e-01 2.22376144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.88 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.39, Y:-169.75, Z:2.22 [[ 8.85589880e-01 -4.64272534e-01 -1.34750685e-02 3.23899771e+01] [-4.64213198e-01 -8.85692333e-01 7.42954299e-03 -1.69752025e+02] [-1.53840976e-02 -3.24223459e-04 -9.99881605e-01 2.22384052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.90999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.39, Y:-169.76, Z:2.22 [[ 9.19437863e-01 -3.92988154e-01 -1.39401290e-02 3.23850611e+01] [-3.92937473e-01 -9.19543473e-01 6.32002153e-03 -1.69758964e+02] [-1.53022483e-02 -3.33268013e-04 -9.99882858e-01 2.22280036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.94 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.38, Y:-169.77, Z:2.22 [[ 9.47533927e-01 -3.19378790e-01 -1.32907886e-02 3.23790156e+01] [-3.19342683e-01 -9.47627083e-01 4.81273559e-03 -1.69766119e+02] [-1.41317969e-02 -3.15914178e-04 -9.99900091e-01 2.22276118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.96999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.38, Y:-169.77, Z:2.22 [[ 9.69570320e-01 -2.44442929e-01 -1.34554446e-02 3.23756521e+01] [-2.44414936e-01 -9.69663631e-01 3.71226523e-03 -1.69771724e+02] [-1.39546922e-02 -3.10590566e-04 -9.99902580e-01 2.22152118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.0 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.37, Y:-169.78, Z:2.22 [[ 9.85724277e-01 -1.67797367e-01 -1.38453683e-02 3.23702205e+01] [-1.67776341e-01 -9.85821457e-01 2.67471658e-03 -1.69777490e+02] [-1.40978716e-02 -3.13607831e-04 -9.99900571e-01 2.22157561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.03 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.36, Y:-169.78, Z:2.22 [[ 9.95848336e-01 -8.98248298e-02 -1.47510041e-02 3.23636497e+01] [-8.98099987e-02 -9.95957523e-01 1.66614603e-03 -1.69784090e+02] [-1.48410347e-02 -3.34441094e-04 -9.99889810e-01 2.22167102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.06 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.36, Y:-169.79, Z:2.22 [[ 9.99809037e-01 -1.07487452e-02 -1.63203663e-02 3.23566794e+01] [-1.07410893e-02 -9.99942158e-01 5.56688979e-04 -1.69790591e+02] [-1.63254060e-02 -3.81284161e-04 -9.99866659e-01 2.22366119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.09 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.35, Y:-169.80, Z:2.22 [[ 9.97530068e-01 6.81239352e-02 -1.71141404e-02 3.23508083e+01] [ 6.81209490e-02 -9.97676782e-01 -7.58064063e-04 -1.69798178e+02] [-1.71260228e-02 -4.09639789e-04 -9.99853255e-01 2.22436342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.12 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.35, Y:-169.81, Z:2.23 [[ 9.89108820e-01 1.46147324e-01 -1.74557359e-02 3.23450666e+01] [ 1.46132096e-01 -9.89262746e-01 -2.15160881e-03 -1.69805895e+02] [-1.75827611e-02 -4.22668022e-04 -9.99845322e-01 2.22586055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.15 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.34, Y:-169.81, Z:2.22 [[ 9.74679377e-01 2.22935185e-01 -1.73209692e-02 3.23398551e+01] [ 2.22907650e-01 -9.74833178e-01 -3.52899467e-03 -1.69809850e+02] [-1.76717925e-02 -4.21338210e-04 -9.99843753e-01 2.22491843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.18 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.34, Y:-169.82, Z:2.22 [[ 9.54353089e-01 2.98188038e-01 -1.71486106e-02 3.23357168e+01] [ 2.98147755e-01 -9.54507055e-01 -4.91909820e-03 -1.69816927e+02] [-1.78352861e-02 -4.18263184e-04 -9.99840851e-01 2.22465425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.21 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.33, Y:-169.82, Z:2.22 [[ 9.28280791e-01 3.71515266e-01 -1.64675357e-02 3.23315097e+01] [ 3.71464492e-01 -9.28426758e-01 -6.15518256e-03 -1.69823941e+02] [-1.75756450e-02 -4.03367038e-04 -9.99845455e-01 2.22460775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.24 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.33, Y:-169.83, Z:2.22 [[ 8.96762234e-01 4.42248000e-01 -1.53036543e-02 3.23264172e+01] [ 4.42190659e-01 -8.96892729e-01 -7.13114772e-03 -1.69830549e+02] [-1.68794721e-02 -3.72189002e-04 -9.99857462e-01 2.22406109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.27 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.32, Y:-169.84, Z:2.22 [[ 8.60082314e-01 5.09966482e-01 -1.38780786e-02 3.23230203e+01] [ 5.09906271e-01 -8.60194209e-01 -7.84324799e-03 -1.69837659e+02] [-1.59376364e-02 -3.30680436e-04 -9.99872933e-01 2.22297267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.3 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.32, Y:-169.85, Z:2.22 [[ 8.17757340e-01 5.75413863e-01 -1.31080102e-02 3.23209312e+01] [ 5.75346197e-01 -8.17862326e-01 -8.83007245e-03 -1.69847135e+02] [-1.58014938e-02 -3.20787242e-04 -9.99875097e-01 2.22271935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.33 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.32, Y:-169.86, Z:2.22 [[ 7.70061721e-01 6.37851770e-01 -1.22500864e-02 3.23195022e+01] [ 6.37777654e-01 -7.70159085e-01 -9.72872517e-03 -1.69856722e+02] [-1.56399999e-02 -3.21112526e-04 -9.99877636e-01 2.22241695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.36 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.32, Y:-169.87, Z:2.22 [[ 7.18068655e-01 6.95879043e-01 -1.13914324e-02 3.23186851e+01] [ 6.95798325e-01 -7.18158938e-01 -1.06033398e-02 -1.69866041e+02] [-1.55595010e-02 -3.12213659e-04 -9.99878895e-01 2.22279539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.39 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.32, Y:-169.88, Z:2.22 [[ 6.61775172e-01 7.49628140e-01 -1.05486234e-02 3.23165000e+01] [ 7.49540177e-01 -6.61859168e-01 -1.14875576e-02 -1.69876006e+02] [-1.55930995e-02 -3.04436670e-04 -9.99878374e-01 2.22318835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.42 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.32, Y:-169.89, Z:2.22 [[ 6.01751194e-01 7.98624025e-01 -9.75540872e-03 3.23153843e+01] [ 7.98526934e-01 -6.01830192e-01 -1.24561376e-02 -1.69885145e+02] [-1.58188702e-02 -2.94460966e-04 -9.99874831e-01 2.22279228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.45 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.32, Y:-169.90, Z:2.22 [[ 5.37350308e-01 8.43313755e-01 -8.74967353e-03 3.23156499e+01] [ 8.43210775e-01 -5.37421459e-01 -1.31820173e-02 -1.69895359e+02] [-1.58188388e-02 -2.94457921e-04 -9.99874831e-01 2.22279201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.47999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.32, Y:-169.90, Z:2.22 [[ 4.70556754e-01 8.82336120e-01 -7.70141836e-03 3.23156804e+01] [ 8.82227525e-01 -4.70619690e-01 -1.38456054e-02 -1.69904569e+02] [-1.58409168e-02 -2.79260135e-04 -9.99874486e-01 2.22248013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.51 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.32, Y:-169.91, Z:2.22 [[ 4.02682415e-01 9.15317432e-01 -6.39306358e-03 3.23169177e+01] [ 9.15210873e-01 -4.02733097e-01 -1.39681916e-02 -1.69913916e+02] [-1.53600276e-02 -2.26256163e-04 -9.99882002e-01 2.22099451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.53999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.32, Y:-169.93, Z:2.22 [[ 3.31020923e-01 9.43609158e-01 -5.18696282e-03 3.23199860e+01] [ 9.43502737e-01 -3.31061498e-01 -1.41728887e-02 -1.69925355e+02] [-1.50908713e-02 -2.02390912e-04 -9.99886106e-01 2.22083066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.32, Y:-169.94, Z:2.22 [[ 2.56584079e-01 9.66514576e-01 -3.76625527e-03 3.23245439e+01] [ 9.66420551e-01 -2.56611655e-01 -1.34824852e-02 -1.69935327e+02] [-1.39974834e-02 -1.80395448e-04 -9.99902014e-01 2.22026460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.59999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.33, Y:-169.95, Z:2.22 [[ 1.80839303e-01 9.83509182e-01 -2.61463437e-03 3.23294340e+01] [ 9.83419135e-01 -1.80858129e-01 -1.33094705e-02 -1.69945599e+02] [-1.35628643e-02 -1.64406106e-04 -9.99908007e-01 2.21984102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.63 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.33, Y:-169.96, Z:2.22 [[ 1.05365262e-01 9.94432404e-01 -1.53472915e-03 3.23328186e+01] [ 9.94344477e-01 -1.05376355e-01 -1.32244187e-02 -1.69955760e+02] [-1.33125147e-02 -1.32655113e-04 -9.99911376e-01 2.22065946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.65999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.34, Y:-169.97, Z:2.22 [[ 2.86293034e-02 9.99589967e-01 -5.10510074e-04 3.23388828e+01] [ 9.99495430e-01 -2.86336170e-02 -1.37477875e-02 -1.69965404e+02] [-1.37567683e-02 -1.16662905e-04 -9.99905364e-01 2.22061099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.69 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.34, Y:-169.97, Z:2.22 [[-4.62174554e-02 9.98931256e-01 5.40401570e-04 3.23436587e+01] [ 9.98845823e-01 4.62205702e-02 -1.30644607e-02 -1.69974305e+02] [-1.30754758e-02 -6.40282791e-05 -9.99914510e-01 2.22032546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.71999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.35, Y:-169.98, Z:2.22 [[-1.22388113e-01 9.92481163e-01 1.51329667e-03 3.23501340e+01] [ 9.92401542e-01 1.22397463e-01 -1.25714273e-02 -1.69983168e+02] [-1.26621284e-02 -3.67953163e-05 -9.99919831e-01 2.22003090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.36, Y:-169.99, Z:2.22 [[-1.98258119e-01 9.80146974e-01 2.37221716e-03 3.23585640e+01] [ 9.80075841e-01 1.98272309e-01 -1.18083707e-02 -1.69991308e+02] [-1.20442838e-02 -1.61526358e-05 -9.99927465e-01 2.21956786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.78 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.37, Y:-170.00, Z:2.22 [[-2.72989867e-01 9.62011555e-01 3.20941074e-03 3.23691069e+01] [ 9.61945164e-01 2.73008732e-01 -1.13019815e-02 -1.69998998e+02] [-1.17488340e-02 1.95071180e-06 -9.99930980e-01 2.21911849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.81 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.38, Y:-170.01, Z:2.22 [[-3.46328281e-01 9.38104554e-01 4.07027215e-03 3.23795388e+01] [ 9.38040333e-01 3.46352198e-01 -1.09767327e-02 -1.70006398e+02] [-1.17070706e-02 1.65264849e-05 -9.99931470e-01 2.21978059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.84 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.39, Y:-170.01, Z:2.22 [[-4.18199601e-01 9.08341967e-01 4.89536770e-03 3.23919196e+01] [ 9.08280399e-01 4.18228251e-01 -1.05757887e-02 -1.70011815e+02] [-1.16538138e-02 2.35759072e-05 -9.99932092e-01 2.21916551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.87 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.40, Y:-170.02, Z:2.22 [[-4.87860871e-01 8.72903016e-01 5.66531181e-03 3.24046887e+01] [ 8.72844780e-01 4.87893764e-01 -1.00829174e-02 -1.70017094e+02] [-1.15654793e-02 2.58769594e-05 -9.99933117e-01 2.21981887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.9 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.42, Y:-170.02, Z:2.22 [[-5.54504239e-01 8.32155951e-01 6.44371709e-03 3.24179859e+01] [ 8.32100386e-01 5.54541677e-01 -9.61644825e-03 -1.70020568e+02] [-1.15756943e-02 2.94581600e-05 -9.99932999e-01 2.21961999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.93 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.43, Y:-170.02, Z:2.22 [[-6.17557862e-01 7.86490539e-01 7.41075530e-03 3.24308383e+01] [ 7.86434630e-01 6.17602325e-01 -9.37768614e-03 -1.70022563e+02] [-1.19523611e-02 3.68107969e-05 -9.99928567e-01 2.21969021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.96 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.44, Y:-170.02, Z:2.22 [[-6.75503507e-01 7.37309552e-01 8.34491240e-03 3.24440313e+01] [ 7.37254524e-01 6.75555046e-01 -9.00812476e-03 -1.70024875e+02] [-1.22792241e-02 6.73045559e-05 -9.99924605e-01 2.21997747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.99 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.46, Y:-170.03, Z:2.22 [[-7.29831462e-01 6.83567486e-01 9.02931037e-03 3.24564518e+01] [ 6.83516731e-01 7.29887309e-01 -8.33041366e-03 -1.70025306e+02] [-1.22847790e-02 9.18867245e-05 -9.99924535e-01 2.21965629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.02 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.07, Y:-169.38, Z:1.47 [[-6.94862888e-01 -7.19093975e-01 8.33202181e-03 3.30716805e+01] [ 7.19040535e-01 -6.94912833e-01 -8.76719512e-03 -1.69383613e+02] [ 1.20944661e-02 -1.00937093e-04 9.99926854e-01 1.46905065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.05 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.05, Y:-169.36, Z:1.47 [[-6.97229215e-01 -7.16805231e-01 7.85378990e-03 3.30529564e+01] [ 7.16757356e-01 -6.97273432e-01 -8.28571996e-03 -1.69362820e+02] [ 1.14154864e-02 -1.47784337e-04 9.99934830e-01 1.46935796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.08 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.04, Y:-169.34, Z:1.47 [[-6.99889883e-01 -7.14209013e-01 7.72258533e-03 3.30350454e+01] [ 7.14162621e-01 -6.99932463e-01 -8.14238274e-03 -1.69342317e+02] [ 1.12206513e-02 -1.83589522e-04 9.99937030e-01 1.46898427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.11 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.02, Y:-169.32, Z:1.47 [[-7.05429889e-01 -7.08746137e-01 6.89815047e-03 3.30168878e+01] [ 7.08708890e-01 -7.05463575e-01 -7.27006218e-03 -1.69321411e+02] [ 1.00190224e-02 -2.39738599e-04 9.99949780e-01 1.46925531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.14 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:33.00, Y:-169.30, Z:1.47 [[-7.08477936e-01 -7.05703222e-01 6.47900306e-03 3.29978116e+01] [ 7.05670272e-01 -7.08507512e-01 -6.82443811e-03 -1.69300825e+02] [ 9.40645030e-03 -2.62923973e-04 9.99955724e-01 1.46966074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.17 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.98, Y:-169.28, Z:1.47 [[-7.11533172e-01 -7.02625598e-01 6.14931431e-03 3.29789638e+01] [ 7.02595837e-01 -7.11559686e-01 -6.47318822e-03 -1.69280941e+02] [ 8.92383191e-03 -2.85405508e-04 9.99960141e-01 1.47041361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.2 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.96, Y:-169.26, Z:1.47 [[-7.17120709e-01 -6.96927530e-01 5.46869187e-03 3.29626105e+01] [ 6.96903855e-01 -7.17141492e-01 -5.75306260e-03 -1.69259402e+02] [ 7.93129355e-03 -3.14487883e-04 9.99968497e-01 1.47058920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.22999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.94, Y:-169.24, Z:1.47 [[-7.19320710e-01 -6.94658650e-01 5.20346810e-03 3.29410296e+01] [ 6.94637180e-01 -7.19339459e-01 -5.47088190e-03 -1.69241150e+02] [ 7.54345537e-03 -3.20796248e-04 9.99971496e-01 1.47156406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.26 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.92, Y:-169.22, Z:1.47 [[-7.21165145e-01 -6.92744326e-01 5.11198732e-03 3.29207012e+01] [ 6.92723580e-01 -7.21183186e-01 -5.37160278e-03 -1.69221900e+02] [ 7.40782665e-03 -3.32618539e-04 9.99972506e-01 1.47176978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.28999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.90, Y:-169.20, Z:1.47 [[-7.22409981e-01 -6.91448632e-01 4.75485021e-03 3.28992458e+01] [ 6.91430674e-01 -7.22425558e-01 -4.99362947e-03 -1.69202664e+02] [ 6.88786358e-03 -3.19798483e-04 9.99976227e-01 1.47174050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.32 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.88, Y:-169.19, Z:1.47 [[-7.23647158e-01 -6.90158772e-01 3.95723880e-03 3.28778557e+01] [ 6.90146325e-01 -7.23657926e-01 -4.15402901e-03 -1.69186255e+02] [ 5.73062679e-03 -2.74977474e-04 9.99983542e-01 1.47164169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.34999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.86, Y:-169.17, Z:1.47 [[-7.23986263e-01 -6.89806086e-01 3.38454064e-03 3.28554154e+01] [ 6.89796988e-01 -7.23994135e-01 -3.55080227e-03 -1.69168265e+02] [ 4.89975259e-03 -2.36086125e-04 9.99987968e-01 1.47215646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.38 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.83, Y:-169.15, Z:1.47 [[-7.23645655e-01 -6.90165871e-01 2.83490151e-03 3.28333684e+01] [ 6.90159495e-01 -7.23651181e-01 -2.97309857e-03 -1.69149742e+02] [ 4.10341099e-03 -1.94935674e-04 9.99991562e-01 1.47237405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.40999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.81, Y:-169.13, Z:1.47 [[-7.23145561e-01 -6.90692358e-01 2.13636127e-03 3.28116845e+01] [ 6.90688743e-01 -7.23148702e-01 -2.23922317e-03 -1.69131715e+02] [ 3.09152121e-03 -1.43723618e-04 9.99995211e-01 1.47274125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.44 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.79, Y:-169.12, Z:1.47 [[-7.20579847e-01 -6.93368913e-01 2.05766992e-03 3.27871892e+01] [ 6.93365575e-01 -7.20582774e-01 -2.15544515e-03 -1.69117482e+02] [ 2.97724016e-03 -1.26452853e-04 9.99995560e-01 1.47240119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.46999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.76, Y:-169.10, Z:1.47 [[-7.18858844e-01 -6.95152648e-01 2.18158409e-03 3.27644342e+01] [ 6.95148907e-01 -7.18862143e-01 -2.28392171e-03 -1.69100790e+02] [ 3.15593244e-03 -1.25291519e-04 9.99995012e-01 1.47223317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.74, Y:-169.09, Z:1.47 [[-7.14417183e-01 -6.99717667e-01 1.80989570e-03 3.27363417e+01] [ 6.99715110e-01 -7.14419470e-01 -1.89369144e-03 -1.69088667e+02] [ 2.61807408e-03 -8.64743340e-05 9.99996569e-01 1.47145287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.53 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.71, Y:-169.07, Z:1.47 [[-7.12177165e-01 -7.01998123e-01 1.52313266e-03 3.27125899e+01] [ 7.01996320e-01 -7.12178791e-01 -1.59270486e-03 -1.69072499e+02] [ 2.20281860e-03 -6.50545074e-05 9.99997572e-01 1.47114966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.69, Y:-169.06, Z:1.47 [[-7.10076535e-01 -7.04122943e-01 1.48166987e-03 3.26913062e+01] [ 7.04121242e-01 -7.10078079e-01 -1.54844388e-03 -1.69055008e+02] [ 2.14239615e-03 -5.62384373e-05 9.99997704e-01 1.47090225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.59 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.67, Y:-169.04, Z:1.47 [[-7.08154187e-01 -7.06056818e-01 1.19007148e-03 3.26680289e+01] [ 7.06055725e-01 -7.08155186e-01 -1.24300500e-03 -1.69038768e+02] [ 1.72038744e-03 -3.99824190e-05 9.99998519e-01 1.47045279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.62 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.65, Y:-169.02, Z:1.47 [[-7.06390255e-01 -7.07821482e-01 1.24758039e-03 3.26454872e+01] [ 7.07820285e-01 -7.06391356e-01 -1.30235115e-03 -1.69022094e+02] [ 1.80311213e-03 -3.69054552e-05 9.99998374e-01 1.47001364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.65 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.62, Y:-169.01, Z:1.47 [[-7.03680258e-01 -7.10514886e-01 1.64069995e-03 3.26184526e+01] [ 7.10512825e-01 -7.03682169e-01 -1.71180745e-03 -1.69008434e+02] [ 2.37079598e-03 -3.88267467e-05 9.99997189e-01 1.46895591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.68 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.60, Y:-168.99, Z:1.47 [[-7.03006780e-01 -7.11180462e-01 1.95423346e-03 3.25978390e+01] [ 7.11177544e-01 -7.03009494e-01 -2.03772538e-03 -1.68990059e+02] [ 2.82303515e-03 -4.27278108e-05 9.99996014e-01 1.46810629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.71 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.57, Y:-168.97, Z:1.47 [[-7.02532353e-01 -7.11649834e-01 1.67552546e-03 3.25748518e+01] [ 7.11647692e-01 -7.02534350e-01 -1.74611591e-03 -1.68972676e+02] [ 2.41973728e-03 -3.43190928e-05 9.99997072e-01 1.46784902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.74 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.55, Y:-168.96, Z:1.47 [[-7.02777202e-01 -7.11409728e-01 6.34640082e-04 3.25516352e+01] [ 7.11409421e-01 -7.02777489e-01 -6.60995213e-04 -1.68956055e+02] [ 9.16249188e-04 -1.30434332e-05 9.99999580e-01 1.46842724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.77 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.53, Y:-168.94, Z:1.47 [[-7.03481368e-01 -7.10713682e-01 1.64779716e-04 3.25312289e+01] [ 7.10713662e-01 -7.03481387e-01 -1.71515268e-04 -1.68937432e+02] [ 2.37817711e-04 -3.54659990e-06 9.99999972e-01 1.46900201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.8 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.51, Y:-168.92, Z:1.47 [[-7.04069399e-01 -7.10131026e-01 -4.55944247e-04 3.25116609e+01] [ 7.10130868e-01 -7.04069546e-01 4.74401183e-04 -1.68919088e+02] [-6.57903458e-04 1.02312717e-05 9.99999784e-01 1.46941248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.83 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.49, Y:-168.90, Z:1.47 [[-7.05686736e-01 -7.08523318e-01 -9.69050769e-04 3.24891824e+01] [ 7.08522601e-01 -7.05687401e-01 1.00772524e-03 -1.68901335e+02] [-1.39784375e-03 2.45439631e-05 9.99999023e-01 1.46948169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.86 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.47, Y:-168.88, Z:1.47 [[-7.07070251e-01 -7.07141731e-01 -1.49385307e-03 3.24696622e+01] [ 7.07140028e-01 -7.07071828e-01 1.55266113e-03 -1.68881887e+02] [-2.15421290e-03 4.14771963e-05 9.99997679e-01 1.46920775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.45, Y:-168.86, Z:1.47 [[-7.08320678e-01 -7.05889644e-01 -1.27591101e-03 3.24482731e+01] [ 7.05888400e-01 -7.08321826e-01 1.32543322e-03 -1.68863757e+02] [-1.83936520e-03 3.81809715e-05 9.99998308e-01 1.46864029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.92 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.43, Y:-168.84, Z:1.47 [[-7.09785112e-01 -7.04417820e-01 -7.93210817e-04 3.24298418e+01] [ 7.04417339e-01 -7.09785555e-01 8.23557944e-04 -1.68842956e+02] [-1.14313847e-03 2.57977138e-05 9.99999346e-01 1.46802585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.95 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.41, Y:-168.83, Z:1.47 [[-7.12378691e-01 -7.01795057e-01 5.47153256e-04 3.24069764e+01] [ 7.01794827e-01 -7.12378901e-01 -5.67872946e-04 -1.68825997e+02] [ 7.88310861e-04 -2.05512609e-05 9.99999689e-01 1.46566114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.97999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.39, Y:-168.81, Z:1.46 [[-7.13938231e-01 -7.00208177e-01 8.43099130e-04 3.23880307e+01] [ 7.00207632e-01 -7.13938728e-01 -8.74541327e-04 -1.68806045e+02] [ 1.21428211e-03 -3.40240419e-05 9.99999262e-01 1.46473366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.01 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.37, Y:-168.79, Z:1.46 [[-7.15423811e-01 -6.98689852e-01 1.12350442e-03 3.23665471e+01] [ 6.98688883e-01 -7.15424691e-01 -1.16475960e-03 -1.68786943e+02] [ 1.61758852e-03 -4.83166997e-05 9.99998691e-01 1.46449147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.03999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.35, Y:-168.77, Z:1.47 [[-7.18096758e-01 -6.95942894e-01 7.30732004e-04 3.23472121e+01] [ 6.95942483e-01 -7.18097129e-01 -7.57116403e-04 -1.68767484e+02] [ 1.05164634e-03 -3.51353892e-05 9.99999446e-01 1.46500652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.33, Y:-168.75, Z:1.47 [[-7.19369105e-01 -6.94627847e-01 4.94691763e-04 3.23260081e+01] [ 6.94627659e-01 -7.19369275e-01 -5.12275156e-04 -1.68747931e+02] [ 7.11706643e-04 -2.48883393e-05 9.99999746e-01 1.46529754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.09999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.30, Y:-168.73, Z:1.47 [[-7.20301824e-01 -6.93660753e-01 2.04605737e-04 3.23047714e+01] [ 6.93660720e-01 -7.20301853e-01 -2.11760555e-04 -1.68728466e+02] [ 2.94267878e-04 -1.06045509e-05 9.99999957e-01 1.46560071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.13 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.28, Y:-168.71, Z:1.47 [[-7.21386288e-01 -6.92532850e-01 -2.76533182e-04 3.22837123e+01] [ 6.92532791e-01 -7.21386340e-01 2.86139819e-04 -1.68711249e+02] [-3.97648485e-04 1.49090456e-05 9.99999921e-01 1.46580902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.15999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.26, Y:-168.69, Z:1.47 [[-7.21462436e-01 -6.92453464e-01 -3.91707158e-04 3.22613041e+01] [ 6.92453346e-01 -7.21462542e-01 4.05080419e-04 -1.68693479e+02] [-5.63101381e-04 2.10113736e-05 9.99999841e-01 1.46576367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.19 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.24, Y:-168.68, Z:1.47 [[-7.21339576e-01 -6.92581404e-01 -4.64067862e-04 3.22417118e+01] [ 6.92581238e-01 -7.21339725e-01 4.79622427e-04 -1.68675072e+02] [-6.66928157e-04 2.45659435e-05 9.99999777e-01 1.46545729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.21999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.22, Y:-168.66, Z:1.47 [[-7.20400790e-01 -6.93557951e-01 -2.64401885e-04 3.22164837e+01] [ 6.93557898e-01 -7.20400838e-01 2.73123749e-04 -1.68659310e+02] [-3.79902487e-04 1.33805492e-05 9.99999928e-01 1.46503647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.25 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.20, Y:-168.64, Z:1.46 [[-7.19505263e-01 -6.94486806e-01 -5.02093546e-04 3.21958865e+01] [ 6.94486613e-01 -7.19505438e-01 5.18366557e-04 -1.68640508e+02] [-7.21257771e-04 2.42702196e-05 9.99999740e-01 1.46470456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.28 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.17, Y:-168.62, Z:1.46 [[-7.18537699e-01 -6.95487908e-01 -3.81103105e-04 3.21730242e+01] [ 6.95487797e-01 -7.18537800e-01 3.93237092e-04 -1.68623468e+02] [-5.47328629e-04 1.75031165e-05 9.99999850e-01 1.46452679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.31 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.15, Y:-168.61, Z:1.46 [[-7.15254283e-01 -6.98864071e-01 -5.65906995e-04 3.21480729e+01] [ 6.98863828e-01 -7.15254507e-01 5.83592959e-04 -1.68607897e+02] [-8.12619680e-04 2.19254347e-05 9.99999670e-01 1.46431523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.34 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.13, Y:-168.59, Z:1.46 [[-7.13347877e-01 -7.00809919e-01 -5.13962336e-04 3.21250110e+01] [ 7.00809719e-01 -7.13348062e-01 5.29847266e-04 -1.68589932e+02] [-7.37956256e-04 1.77756223e-05 9.99999728e-01 1.46384849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.37 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.11, Y:-168.57, Z:1.46 [[-7.13552510e-01 -7.00601564e-01 -5.14116058e-04 3.21057635e+01] [ 7.00601364e-01 -7.13552695e-01 5.29698109e-04 -1.68570168e+02] [-7.37956222e-04 1.77770039e-05 9.99999728e-01 1.46384819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.4 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.08, Y:-168.55, Z:1.46 [[-7.11503409e-01 -7.02682529e-01 -4.02030606e-04 3.20845995e+01] [ 7.02682408e-01 -7.11503523e-01 4.13985867e-04 -1.68551946e+02] [-5.76946828e-04 1.20525212e-05 9.99999834e-01 1.46367914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.43 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.06, Y:-168.54, Z:1.46 [[-7.07121527e-01 -7.07091954e-01 -3.38759071e-04 3.20596913e+01] [ 7.07091868e-01 -7.07121608e-01 3.48630800e-04 -1.68537573e+02] [-4.86057892e-04 6.99055963e-06 9.99999882e-01 1.46293133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.46 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.04, Y:-168.52, Z:1.46 [[-7.04993194e-01 -7.09213944e-01 -4.21159116e-04 3.20385158e+01] [ 7.09213812e-01 -7.04993320e-01 4.33250242e-04 -1.68520189e+02] [-6.04181477e-04 6.74660964e-06 9.99999817e-01 1.46304788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.49 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:32.02, Y:-168.50, Z:1.46 [[-7.03305601e-01 -7.10887309e-01 -6.81851528e-04 3.20164300e+01] [ 7.10886964e-01 -7.03305932e-01 7.01031737e-04 -1.68502513e+02] [-9.77904790e-04 8.32018508e-06 9.99999522e-01 1.46304254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.52 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.99, Y:-168.48, Z:1.46 [[-7.01873127e-01 -7.12301245e-01 -1.02442104e-03 3.19947526e+01] [ 7.12300468e-01 -7.01873874e-01 1.05262820e-03 -1.68484187e+02] [-1.46880274e-03 9.11585896e-06 9.99998921e-01 1.46330240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.55 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.97, Y:-168.47, Z:1.46 [[-6.99126238e-01 -7.14996702e-01 -1.48958070e-03 3.19734599e+01] [ 7.14995066e-01 -6.99127825e-01 1.52967886e-03 -1.68467544e+02] [-2.13512266e-03 4.39577908e-06 9.99997721e-01 1.46414254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.58 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.95, Y:-168.45, Z:1.46 [[-6.98179697e-01 -7.15920911e-01 -1.53622206e-03 3.19527705e+01] [ 7.15919174e-01 -6.98181387e-01 1.57664701e-03 -1.68449109e+02] [-2.20131621e-03 9.72108315e-07 9.99997577e-01 1.46382823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.61 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.93, Y:-168.43, Z:1.46 [[-6.97265560e-01 -7.16811345e-01 -1.49507523e-03 3.19326622e+01] [ 7.16809704e-01 -6.97267163e-01 1.53346553e-03 -1.68430544e+02] [-2.14167236e-03 -2.45173258e-06 9.99997707e-01 1.46349997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.64 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.91, Y:-168.41, Z:1.46 [[-6.96746495e-01 -7.17315724e-01 -1.57271277e-03 3.19121224e+01] [ 7.17313912e-01 -6.96748270e-01 1.61214064e-03 -1.68410942e+02] [-2.25219873e-03 -4.87540443e-06 9.99997464e-01 1.46282275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.67 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.89, Y:-168.39, Z:1.46 [[-6.95589662e-01 -7.18438254e-01 -1.22348139e-03 3.18926153e+01] [ 7.18437161e-01 -6.95590738e-01 1.25337177e-03 -1.68392349e+02] [-1.75151255e-03 -7.16205559e-06 9.99998466e-01 1.46281813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.7 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.87, Y:-168.37, Z:1.46 [[-6.95629507e-01 -7.18400031e-01 -9.91903326e-04 3.18738170e+01] [ 7.18399313e-01 -6.95630214e-01 1.01553803e-03 -1.68371893e+02] [-1.41956048e-03 -6.14444767e-06 9.99998992e-01 1.46272988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.72999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.86, Y:-168.35, Z:1.46 [[-6.95898594e-01 -7.18139919e-01 -4.51386388e-04 3.18553973e+01] [ 7.18139770e-01 -6.95898741e-01 4.61857664e-04 -1.68352394e+02] [-6.45797644e-04 -2.75241800e-06 9.99999792e-01 1.46296755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.76 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.84, Y:-168.33, Z:1.46 [[-6.96841897e-01 -7.17224761e-01 1.15869555e-04 3.18368819e+01] [ 7.17224751e-01 -6.96841906e-01 -1.18483949e-04 -1.68331032e+02] [ 1.65722383e-04 5.39933170e-07 9.99999986e-01 1.46284738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.78999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.82, Y:-168.31, Z:1.46 [[-6.97348484e-01 -7.16732185e-01 2.58541546e-04 3.18183177e+01] [ 7.16732136e-01 -6.97348532e-01 -2.64226930e-04 -1.68310440e+02] [ 3.69673513e-04 1.04678583e-06 9.99999932e-01 1.46308676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.82 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.80, Y:-168.29, Z:1.46 [[-6.97875987e-01 -7.16218568e-01 2.65552300e-04 3.17995083e+01] [ 7.16218516e-01 -6.97876037e-01 -2.71234351e-04 -1.68289712e+02] [ 3.79585665e-04 9.05534334e-07 9.99999928e-01 1.46303743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.84999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.78, Y:-168.27, Z:1.46 [[-6.98522356e-01 -7.15588124e-01 3.94415469e-04 3.17815033e+01] [ 7.15588010e-01 -6.98522467e-01 -4.02610083e-04 -1.68269846e+02] [ 5.63611061e-04 1.00683693e-06 9.99999841e-01 1.46303704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.88 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.76, Y:-168.25, Z:1.46 [[-6.99035344e-01 -7.15086987e-01 4.34317492e-04 3.17634579e+01] [ 7.15086850e-01 -6.99035479e-01 -4.43087673e-04 -1.68248066e+02] [ 6.20449565e-04 8.40782554e-07 9.99999808e-01 1.46339374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.90999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.74, Y:-168.23, Z:1.46 [[-6.99351285e-01 -7.14777758e-01 7.32517200e-04 3.17445601e+01] [ 7.14777368e-01 -6.99351668e-01 -7.46861124e-04 -1.68227230e+02] [ 1.04612685e-03 1.26842925e-06 9.99999453e-01 1.46332294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.94 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.73, Y:-168.21, Z:1.46 [[-6.99425121e-01 -7.14705148e-01 1.02590281e-03 3.17257485e+01] [ 7.14704383e-01 -6.99425873e-01 -1.04532909e-03 -1.68207455e+02] [ 1.46464505e-03 2.08781055e-06 9.99998927e-01 1.46317711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.96999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.71, Y:-168.19, Z:1.46 [[-6.99174380e-01 -7.14949847e-01 1.37938981e-03 3.17059553e+01] [ 7.14948467e-01 -6.99175741e-01 -1.40468747e-03 -1.68186976e+02] [ 1.96871698e-03 4.07114218e-06 9.99998062e-01 1.46286030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.0 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.69, Y:-168.17, Z:1.46 [[-6.98067110e-01 -7.16028666e-01 2.29340138e-03 3.16869167e+01] [ 7.16024862e-01 -6.98070877e-01 -2.33408069e-03 -1.68166690e+02] [ 3.27222539e-03 1.27874426e-05 9.99994646e-01 1.46235499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.03 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.67, Y:-168.15, Z:1.46 [[-6.97285325e-01 -7.16789679e-01 2.39406089e-03 3.16677654e+01] [ 7.16785544e-01 -6.97289434e-01 -2.43500395e-03 -1.68147278e+02] [ 3.41473907e-03 1.81357181e-05 9.99994170e-01 1.46250042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.06 meters Centerline goodness [0,1] 0.9999791388518025 Centerline is valid? [True, True] Translation: X:31.65, Y:-168.13, Z:1.46 [[-6.95591305e-01 -7.18432905e-01 2.62633829e-03 3.16481177e+01] [ 7.18427945e-01 -6.95596262e-01 -2.66971549e-03 -1.68127793e+02] [ 3.74488255e-03 2.98039369e-05 9.99992987e-01 1.46252138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.09 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.63, Y:-168.11, Z:1.46 [[-6.94934509e-01 -7.19067852e-01 2.73005206e-03 3.16282677e+01] [ 7.19062504e-01 -6.94939870e-01 -2.77352929e-03 -1.68107649e+02] [ 3.89157777e-03 3.56568494e-05 9.99992427e-01 1.46240082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.12 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.61, Y:-168.09, Z:1.46 [[-6.94594450e-01 -7.19396129e-01 2.78559479e-03 3.16088660e+01] [ 7.19390570e-01 -6.94600034e-01 -2.82831775e-03 -1.68087980e+02] [ 3.96955508e-03 3.93968099e-05 9.99992121e-01 1.46228212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.15 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.59, Y:-168.07, Z:1.46 [[-6.94468492e-01 -7.19517192e-01 2.91963827e-03 3.15896752e+01] [ 7.19511094e-01 -6.94474628e-01 -2.96267438e-03 -1.68067409e+02] [ 4.15930985e-03 4.32281132e-05 9.99991349e-01 1.46239045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.18 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.57, Y:-168.05, Z:1.46 [[-6.95437363e-01 -7.18580439e-01 3.00446963e-03 3.15718820e+01] [ 7.18573980e-01 -6.95443852e-01 -3.04687780e-03 -1.68047106e+02] [ 4.27886672e-03 4.00210335e-05 9.99990845e-01 1.46182905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.21 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.55, Y:-168.03, Z:1.46 [[-6.96316664e-01 -7.17727281e-01 3.26384540e-03 3.15538391e+01] [ 7.17719659e-01 -6.96324313e-01 -3.30800817e-03 -1.68025674e+02] [ 4.64694261e-03 3.91047891e-05 9.99989202e-01 1.46152371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.24 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.54, Y:-168.00, Z:1.46 [[-6.97797118e-01 -7.16287648e-01 3.34470291e-03 3.15354554e+01] [ 7.16279636e-01 -6.97805133e-01 -3.38796809e-03 -1.68003914e+02] [ 4.76071056e-03 3.16282103e-05 9.99988667e-01 1.46099656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.27 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.52, Y:-167.98, Z:1.46 [[-7.00844387e-01 -7.13306161e-01 3.38616278e-03 3.15193634e+01] [ 7.13297925e-01 -7.00852567e-01 -3.42788390e-03 -1.67981439e+02] [ 4.81833158e-03 1.29296930e-05 9.99988392e-01 1.46096621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.3 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.50, Y:-167.96, Z:1.46 [[-7.02775520e-01 -7.11405105e-01 3.05694469e-03 3.15016459e+01] [ 7.11398382e-01 -7.02782168e-01 -3.09283371e-03 -1.67960077e+02] [ 4.34862390e-03 1.13768606e-06 9.99990545e-01 1.46108370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.33 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.48, Y:-167.94, Z:1.46 [[-7.04797799e-01 -7.09402281e-01 2.90971506e-03 3.14840870e+01] [ 7.09396180e-01 -7.04803805e-01 -2.94209471e-03 -1.67938678e+02] [ 4.13790695e-03 -9.44112139e-06 9.99991439e-01 1.46084157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.36 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.47, Y:-167.92, Z:1.46 [[-7.06837333e-01 -7.07368683e-01 3.24526134e-03 3.14666383e+01] [ 7.07361081e-01 -7.06844782e-01 -3.27941188e-03 -1.67917336e+02] [ 4.61364931e-03 -2.24391816e-05 9.99989357e-01 1.46063071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.39 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.45, Y:-167.89, Z:1.46 [[-7.11014988e-01 -7.03161029e-01 4.71747667e-03 3.14506037e+01] [ 7.03144891e-01 -7.11030634e-01 -4.76445920e-03 -1.67893578e+02] [ 6.70445246e-03 -7.05322783e-05 9.99977522e-01 1.45938178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.42 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.43, Y:-167.87, Z:1.46 [[-7.13304906e-01 -7.00833065e-01 5.39690955e-03 3.14319370e+01] [ 7.00811899e-01 -7.13325315e-01 -5.44776110e-03 -1.67872656e+02] [ 7.66772331e-03 -1.03696291e-04 9.99970597e-01 1.45895407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.45 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.42, Y:-167.85, Z:1.46 [[-7.18189171e-01 -6.95815109e-01 6.75637227e-03 3.14159408e+01] [ 6.95781751e-01 -7.18220924e-01 -6.81606953e-03 -1.67849938e+02] [ 9.59529210e-03 -1.94266796e-04 9.99953945e-01 1.45780998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.47999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.40, Y:-167.83, Z:1.46 [[-7.20948504e-01 -6.92952468e-01 7.08036388e-03 3.13981905e+01] [ 6.92915736e-01 -7.20983230e-01 -7.13889469e-03 -1.67828433e+02] [ 1.00517383e-02 -2.40679898e-04 9.99949451e-01 1.45807595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.51 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.38, Y:-167.81, Z:1.46 [[-7.23856206e-01 -6.89914252e-01 7.10766067e-03 3.13797135e+01] [ 6.89877130e-01 -7.23891046e-01 -7.16233046e-03 -1.67807141e+02] [ 1.00865658e-02 -2.81084805e-04 9.99949090e-01 1.45848708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.53999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.36, Y:-167.78, Z:1.46 [[-7.29727980e-01 -6.83703741e-01 6.80216798e-03 3.13647886e+01] [ 6.83669500e-01 -7.29759599e-01 -6.85147582e-03 -1.67784617e+02] [ 9.64832703e-03 -3.49278835e-04 9.99953393e-01 1.45924631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.35, Y:-167.76, Z:1.46 [[-7.32848061e-01 -6.80358500e-01 6.78452371e-03 3.13465826e+01] [ 6.80324331e-01 -7.32879362e-01 -6.82979175e-03 -1.67763257e+02] [ 9.61894428e-03 -3.89523088e-04 9.99953661e-01 1.45961058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.59999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.33, Y:-167.74, Z:1.46 [[-7.35781258e-01 -6.77184942e-01 6.81866161e-03 3.13285135e+01] [ 6.77150329e-01 -7.35812727e-01 -6.86024608e-03 -1.67741797e+02] [ 9.66291334e-03 -4.30381537e-04 9.99953220e-01 1.45981052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.63 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.31, Y:-167.72, Z:1.46 [[-7.38475786e-01 -6.74248075e-01 6.56103426e-03 3.13116109e+01] [ 6.74215949e-01 -7.38504795e-01 -6.59709118e-03 -1.67720517e+02] [ 9.29343129e-03 -4.48238151e-04 9.99956715e-01 1.46017988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.65999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.30, Y:-167.70, Z:1.46 [[-7.42951811e-01 -6.69316491e-01 6.16776287e-03 3.12951216e+01] [ 6.69287957e-01 -7.42977258e-01 -6.19867580e-03 -1.67699724e+02] [ 8.73138349e-03 -4.77307995e-04 9.99961767e-01 1.46081660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.69 meters Centerline goodness [0,1] 0.9999789712747613 Centerline is valid? [True, True] Translation: X:31.28, Y:-167.68, Z:1.46 [[-7.44477516e-01 -6.67616253e-01 6.46277414e-03 3.12754343e+01] [ 6.67584892e-01 -7.44505386e-01 -6.49162155e-03 -1.67680106e+02] [ 9.14548221e-03 -5.18415906e-04 9.99958045e-01 1.46122338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.71999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.26, Y:-167.66, Z:1.46 [[-7.45431626e-01 -6.66549454e-01 6.59665736e-03 3.12568977e+01] [ 6.66516766e-01 -7.45460618e-01 -6.62321973e-03 -1.67660999e+02] [ 9.33225177e-03 -5.40374727e-04 9.99956308e-01 1.46076705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.24, Y:-167.64, Z:1.46 [[-7.45840350e-01 -6.66086603e-01 7.12807337e-03 3.12360606e+01] [ 6.66048454e-01 -7.45874180e-01 -7.15296551e-03 -1.67641885e+02] [ 1.00811404e-02 -5.87328060e-04 9.99949012e-01 1.46023673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.78 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.21, Y:-167.63, Z:1.46 [[-7.45199121e-01 -6.66791660e-01 8.19456762e-03 3.12067779e+01] [ 6.66741336e-01 -7.45243883e-01 -8.21864547e-03 -1.67631403e+02] [ 1.15870756e-02 -6.60870425e-04 9.99932649e-01 1.46073528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.81 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.19, Y:-167.61, Z:1.46 [[-7.44473595e-01 -6.67591004e-01 9.01759369e-03 3.11921845e+01] [ 6.67530163e-01 -7.44527867e-01 -9.04078209e-03 -1.67606870e+02] [ 1.27493946e-02 -7.11107752e-04 9.99918470e-01 1.45758709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.84 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.17, Y:-167.59, Z:1.46 [[-7.43615279e-01 -6.68534416e-01 9.90208579e-03 3.11705010e+01] [ 6.68461210e-01 -7.43680817e-01 -9.92235545e-03 -1.67588891e+02] [ 1.39974274e-02 -7.59254860e-04 9.99901743e-01 1.45618721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.87 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.14, Y:-167.58, Z:1.46 [[-7.40973308e-01 -6.71441940e-01 1.11479927e-02 3.11395821e+01] [ 6.71349578e-01 -7.41056745e-01 -1.11644863e-02 -1.67579638e+02] [ 1.57575995e-02 -7.88386164e-04 9.99875531e-01 1.45695811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.9 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.12, Y:-167.56, Z:1.46 [[-7.39450348e-01 -6.73117802e-01 1.12074804e-02 3.11154967e+01] [ 6.73024744e-01 -7.39534894e-01 -1.12175749e-02 -1.67564030e+02] [ 1.58390722e-02 -7.51928010e-04 9.99874271e-01 1.45765164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.93 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.09, Y:-167.55, Z:1.46 [[-7.38099442e-01 -6.74596638e-01 1.13397208e-02 3.10931727e+01] [ 6.74501650e-01 -7.38186190e-01 -1.13433786e-02 -1.67546915e+02] [ 1.60230304e-02 -7.23881058e-04 9.99871361e-01 1.45750710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.96 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:31.08, Y:-167.53, Z:1.45 [[-7.34927562e-01 -6.78052467e-01 1.12397003e-02 3.10759046e+01] [ 6.77959658e-01 -7.35013228e-01 -1.12364058e-02 -1.67525465e+02] [ 1.58802010e-02 -6.37880933e-04 9.99873698e-01 1.45399929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.99 meters Centerline goodness [0,1] 0.9999790891221614 Centerline is valid? [True, True] Translation: X:30.63, Y:-167.96, Z:2.23 [[-7.30171948e-01 6.83163771e-01 1.16700047e-02 3.06295773e+01] [ 6.83089063e-01 7.30264968e-01 -1.01197312e-02 -1.67958861e+02] [-1.54356293e-02 5.82508709e-04 -9.99880694e-01 2.23042105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.02 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.65, Y:-167.93, Z:2.23 [[-7.78274644e-01 6.27810057e-01 1.19629230e-02 3.06489093e+01] [ 6.27746166e-01 7.78366401e-01 -8.97199774e-03 -1.67931771e+02] [-1.49442477e-02 5.27000699e-04 -9.99888190e-01 2.22936744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.05 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.66, Y:-167.90, Z:2.23 [[-8.22311324e-01 5.68914556e-01 1.18454170e-02 3.06634229e+01] [ 5.68863500e-01 8.22396508e-01 -7.63556293e-03 -1.67903649e+02] [-1.40856124e-02 4.59615485e-04 -9.99900687e-01 2.22870094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.08 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.67, Y:-167.87, Z:2.23 [[-8.63456581e-01 5.04285995e-01 1.17630037e-02 3.06746064e+01] [ 5.04244854e-01 8.63536626e-01 -6.45153824e-03 -1.67871511e+02] [-1.34112049e-02 3.60810933e-04 -9.99910001e-01 2.22861361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.11 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.68, Y:-167.84, Z:2.23 [[-8.98606929e-01 4.38590547e-01 1.19966308e-02 3.06823057e+01] [ 4.38556017e-01 8.98686952e-01 -5.51210712e-03 -1.67839887e+02] [-1.31987737e-02 3.07976970e-04 -9.99912845e-01 2.22843956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.14 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.69, Y:-167.81, Z:2.23 [[-9.28859694e-01 3.70237346e-01 1.19990050e-02 3.06867809e+01] [ 3.70209925e-01 9.28937159e-01 -4.51296236e-03 -1.67805495e+02] [-1.28171888e-02 2.50241903e-04 -9.99917825e-01 2.22748718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.17 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.69, Y:-167.77, Z:2.23 [[-9.54106091e-01 2.99205268e-01 1.25608720e-02 3.06909222e+01] [ 2.99182058e-01 9.54188749e-01 -3.73192308e-03 -1.67772701e+02] [-1.31020538e-02 1.97336987e-04 -9.99914145e-01 2.22763227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.2 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.68, Y:-167.73, Z:2.23 [[-9.75115087e-01 2.21307601e-01 1.31724296e-02 3.06844089e+01] [ 2.21288406e-01 9.75204051e-01 -2.91560182e-03 -1.67732991e+02] [-1.34910515e-02 7.18586267e-05 -9.99908989e-01 2.22840737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.22999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.68, Y:-167.70, Z:2.23 [[-9.89052335e-01 1.46907053e-01 1.39210711e-02 3.06810713e+01] [ 1.46892641e-01 9.89150301e-01 -2.05776963e-03 -1.67699864e+02] [-1.40723326e-02 9.66104259e-06 -9.99900980e-01 2.22933798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.26 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.68, Y:-167.67, Z:2.23 [[-9.96979118e-01 7.63920440e-02 1.40319225e-02 3.06774103e+01] [ 7.63846153e-02 9.97077858e-01 -1.06537737e-03 -1.67671853e+02] [-1.40723056e-02 9.66400678e-06 -9.99900980e-01 2.22933769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.28999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.71, Y:-167.15, Z:1.46 [[-9.89185581e-01 -1.45966359e-01 1.43425705e-02 3.07099200e+01] [ 1.45951301e-01 -9.89289554e-01 -2.09671050e-03 -1.67153533e+02] [ 1.44950044e-02 1.92810319e-05 9.99894942e-01 1.46028552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.32 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.62, Y:-167.66, Z:2.23 [[-9.98005848e-01 6.16468425e-02 1.35644616e-02 3.06185594e+01] [ 6.16392729e-02 9.98098015e-01 -9.75812813e-04 -1.67659046e+02] [-1.35988180e-02 -1.37763341e-04 -9.99907522e-01 2.22754604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.34999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.61, Y:-167.63, Z:2.23 [[-9.99842609e-01 -1.22282191e-02 1.28540679e-02 3.06076204e+01] [-1.22293396e-02 9.99925219e-01 -8.57026638e-06 -1.67629506e+02] [-1.28530019e-02 -1.65765679e-04 -9.99917383e-01 2.22673505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.38 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.60, Y:-167.13, Z:1.46 [[-9.96445058e-01 -8.33963233e-02 1.19289612e-02 3.06011578e+01] [ 8.33914704e-02 -9.96516455e-01 -9.04510669e-04 -1.67129428e+02] [ 1.19628390e-02 9.34784306e-05 9.99928438e-01 1.46144012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.40999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.55, Y:-167.63, Z:2.23 [[-9.99675835e-01 -2.27102078e-02 1.15096163e-02 3.05454942e+01] [-2.27112348e-02 9.99742066e-01 4.14779737e-05 -1.67626161e+02] [-1.15075896e-02 -2.19933071e-04 -9.99933761e-01 2.22676881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.44 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.54, Y:-167.13, Z:1.46 [[-9.96411538e-01 -8.38786395e-02 1.13323005e-02 3.05373034e+01] [ 8.38755738e-02 -9.96475956e-01 -7.46367538e-04 -1.67130857e+02] [ 1.13549693e-02 2.06813983e-04 9.99935509e-01 1.46158819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.46999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.48, Y:-167.63, Z:2.23 [[-9.99521592e-01 -2.88008894e-02 1.12737069e-02 3.04843629e+01] [-2.88017184e-02 9.99585141e-01 8.88486856e-05 -1.67628479e+02] [-1.12715889e-02 -2.35895953e-04 -9.99936446e-01 2.22684118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.48, Y:-167.13, Z:1.46 [[-9.96698766e-01 -8.04336923e-02 1.10449225e-02 3.04772168e+01] [ 8.04311734e-02 -9.96759938e-01 -6.72781680e-04 -1.67126811e+02] [ 1.10632506e-02 2.17795410e-04 9.99938777e-01 1.46114295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.53 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.42, Y:-167.63, Z:2.23 [[-9.99400332e-01 -3.28829438e-02 1.08484668e-02 3.04249121e+01] [-3.28834342e-02 9.99459185e-01 1.33212755e-04 -1.67633550e+02] [-1.08469802e-02 -2.23601972e-04 -9.99941145e-01 2.22798617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.41, Y:-167.61, Z:2.23 [[-9.94604558e-01 -1.03241881e-01 1.01433284e-02 3.04144138e+01] [-1.03238589e-01 9.94656259e-01 8.49020314e-04 -1.67610995e+02] [-1.01767795e-02 -2.02743443e-04 -9.99948195e-01 2.22707859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.59 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.40, Y:-167.59, Z:2.23 [[-9.85040123e-01 -1.72029805e-01 1.00847277e-02 3.03957649e+01] [-1.72022704e-01 9.85091728e-01 1.57389720e-03 -1.67591021e+02] [-1.02051391e-02 -1.84450241e-04 -9.99947909e-01 2.22749392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.62 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.38, Y:-167.57, Z:2.23 [[-9.70426948e-01 -2.41213937e-01 9.34744931e-03 3.03810613e+01] [-2.41204381e-01 9.70471952e-01 2.15340943e-03 -1.67569078e+02] [-9.59086974e-03 -1.64919187e-04 -9.99953993e-01 2.22785943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.65 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.35, Y:-167.55, Z:2.23 [[-9.50738101e-01 -3.09863354e-01 9.04240594e-03 3.03505461e+01] [-3.09850926e-01 9.50781088e-01 2.77971253e-03 -1.67552095e+02] [-9.45867961e-03 -1.59019243e-04 -9.99955253e-01 2.22791580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.68 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.31, Y:-167.54, Z:2.23 [[-9.25906196e-01 -3.77657267e-01 8.52670971e-03 3.03101641e+01] [-3.77642754e-01 9.25945444e-01 3.31424974e-03 -1.67540148e+02] [-9.14691851e-03 -1.51365770e-04 -9.99958155e-01 2.22772165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.71 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.25, Y:-167.54, Z:2.23 [[-8.95575183e-01 -4.44848679e-01 7.39891808e-03 3.02526745e+01] [-4.44834774e-01 8.95605736e-01 3.52000371e-03 -1.67540496e+02] [-8.19238247e-03 -1.38868083e-04 -9.99966432e-01 2.22812202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.74 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.19, Y:-167.55, Z:2.23 [[-8.60232543e-01 -5.09856224e-01 6.82661366e-03 3.01881595e+01] [-5.09841417e-01 8.60259619e-01 3.88808546e-03 -1.67546004e+02] [-7.85502464e-03 -1.35832743e-04 -9.99969140e-01 2.22812203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.77 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.12, Y:-167.56, Z:2.23 [[-8.20025820e-01 -5.72295977e-01 5.91353076e-03 3.01194034e+01] [-5.72282178e-01 8.20047132e-01 3.97607366e-03 -1.67563614e+02] [-7.12486490e-03 -1.23725203e-04 -9.99974610e-01 2.22806171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.8 meters Centerline goodness [0,1] 0.9999790834361731 Centerline is valid? [True, True] Translation: X:30.04, Y:-167.59, Z:2.23 [[-7.75356104e-01 -6.31504122e-01 5.04538865e-03 3.00448994e+01] [-6.31491661e-01 7.75372512e-01 3.96866298e-03 -1.67588931e+02] [-6.41828270e-03 -1.08993793e-04 -9.99979397e-01 2.22752278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.83 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.97, Y:-167.62, Z:2.23 [[-7.26193963e-01 -6.87474283e-01 4.63005943e-03 2.99666211e+01] [-6.87461215e-01 7.26208716e-01 4.24009940e-03 -1.67624255e+02] [-6.27734881e-03 -1.03851692e-04 -9.99980292e-01 2.22731291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.86 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.89, Y:-167.67, Z:2.23 [[-6.72717616e-01 -7.39887813e-01 4.12713567e-03 2.98879712e+01] [-7.39874770e-01 6.72730269e-01 4.39437933e-03 -1.67671810e+02] [-6.02779681e-03 -9.73871675e-05 -9.99981828e-01 2.22595909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.89 meters Centerline goodness [0,1] 0.9999789876237104 Centerline is valid? [True, True] Translation: X:29.81, Y:-167.73, Z:2.23 [[-6.15572631e-01 -7.88074394e-01 3.01415859e-03 2.98114869e+01] [-7.88065526e-01 6.15580006e-01 3.73945260e-03 -1.67728040e+02] [-4.80242260e-03 -7.34497991e-05 -9.99988466e-01 2.22535313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.92 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.73, Y:-167.79, Z:2.22 [[-5.54268386e-01 -8.32334542e-01 2.40150788e-03 2.97321598e+01] [-8.32327223e-01 5.54273585e-01 3.49107439e-03 -1.67794240e+02] [-4.23683418e-03 -6.38482153e-05 -9.99991023e-01 2.22486546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.95 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.66, Y:-167.86, Z:2.22 [[-4.89536147e-01 -8.71980780e-01 1.96962585e-03 2.96608334e+01] [-8.71974195e-01 4.89540106e-01 3.38936193e-03 -1.67861830e+02] [-3.91966930e-03 -5.82477317e-05 -9.99992316e-01 2.22459830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.97999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.59, Y:-167.94, Z:2.22 [[-4.21670884e-01 -9.06747614e-01 1.55928285e-03 2.95906191e+01] [-9.06741873e-01 4.21673763e-01 3.22684787e-03 -1.67942640e+02] [-3.58344527e-03 -5.31992612e-05 -9.99993578e-01 2.22445076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.01 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.53, Y:-168.03, Z:2.22 [[-3.50868382e-01 -9.36423387e-01 1.61828061e-03 2.95282158e+01] [-9.36414293e-01 3.50872107e-01 4.12739127e-03 -1.68034343e+02] [-4.43279524e-03 -6.72099994e-05 -9.99990173e-01 2.22493641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.03999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.47, Y:-168.13, Z:2.23 [[-2.78067291e-01 -9.60560281e-01 1.59030993e-03 2.94690194e+01] [-9.60546231e-01 2.78071826e-01 5.19598909e-03 -1.68129502e+02] [-5.43328113e-03 -8.27316019e-05 -9.99985236e-01 2.22555431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.42, Y:-168.23, Z:2.23 [[-2.03519156e-01 -9.79069911e-01 1.43608702e-03 2.94188060e+01] [-9.79048900e-01 2.03524198e-01 6.41498875e-03 -1.68232413e+02] [-6.57300092e-03 -1.00426320e-04 -9.99978393e-01 2.22677793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.09999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.37, Y:-168.34, Z:2.23 [[-1.27680899e-01 -9.91814763e-01 1.03160461e-03 2.93738427e+01] [-9.91789023e-01 1.27685018e-01 7.14629911e-03 -1.68341239e+02] [-7.21952541e-03 -1.10688232e-04 -9.99973933e-01 2.22726701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.13 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.34, Y:-168.45, Z:2.23 [[-5.13451585e-02 -9.98680847e-01 4.91027154e-04 2.93382918e+01] [-9.98653633e-01 5.13473847e-02 7.37340017e-03 -1.68447779e+02] [-7.38888649e-03 -1.11777650e-04 -9.99972696e-01 2.22710563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.15999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.31, Y:-168.56, Z:2.23 [[ 2.54004531e-02 -9.99677354e-01 -7.44725169e-05 2.93137924e+01] [-9.99652400e-01 -2.54003453e-02 7.06417768e-03 -1.68560607e+02] [-7.06379008e-03 -1.04986684e-04 -9.99975046e-01 2.22708253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.19 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.30, Y:-168.68, Z:2.23 [[ 1.02383201e-01 -9.94744839e-01 -6.20759595e-04 2.92956716e+01] [-9.94719757e-01 -1.02385029e-01 7.06477285e-03 -1.68679633e+02] [-7.09120282e-03 -1.05832228e-04 -9.99974852e-01 2.22709928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.21999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.29, Y:-168.80, Z:2.23 [[ 1.78762197e-01 -9.83891708e-01 -1.08826250e-03 2.92864583e+01] [-9.83869947e-01 -1.78765482e-01 6.54439250e-03 -1.68799660e+02] [-6.63351728e-03 -9.91812110e-05 -9.99977993e-01 2.22692666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.25 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.29, Y:-168.91, Z:2.23 [[ 2.54844115e-01 -9.66981162e-01 -1.38197222e-03 2.92874988e+01] [-9.66964952e-01 -2.54847846e-01 5.59975502e-03 -1.68914115e+02] [-5.76705026e-03 -9.07459108e-05 -9.99983366e-01 2.22688175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.28 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.30, Y:-169.04, Z:2.23 [[ 3.29089527e-01 -9.44297427e-01 -1.56619094e-03 2.92986252e+01] [-9.44285530e-01 -3.29093244e-01 4.74074163e-03 -1.69039261e+02] [-4.99209297e-03 -8.11969844e-05 -9.99987536e-01 2.22632389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.31 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.31, Y:-169.14, Z:2.23 [[ 4.02141932e-01 -9.15575583e-01 -1.79393825e-03 2.93113777e+01] [-9.15565545e-01 -4.02145925e-01 4.28815322e-03 -1.69144848e+02] [-4.64755334e-03 -8.19781699e-05 -9.99989197e-01 2.22630181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.34 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.34, Y:-169.26, Z:2.23 [[ 4.72840030e-01 -8.81146171e-01 -1.93147928e-03 2.93373587e+01] [-8.81138100e-01 -4.72843968e-01 3.77229676e-03 -1.69261893e+02] [-4.23723317e-03 -8.17929343e-05 -9.99991020e-01 2.22642101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.37 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.37, Y:-169.37, Z:2.23 [[ 5.42958946e-01 -8.39755886e-01 -2.37386894e-03 2.93714217e+01] [-8.39746974e-01 -5.42964124e-01 3.87040970e-03 -1.69371573e+02] [-4.53912500e-03 -1.08024313e-04 -9.99989692e-01 2.22733990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.4 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.41, Y:-169.48, Z:2.23 [[ 6.07931745e-01 -7.93983883e-01 -2.93044322e-03 2.94123724e+01] [-7.93973593e-01 -6.07938793e-01 4.04439733e-03 -1.69480298e+02] [-4.99271641e-03 -1.32022991e-04 -9.99987528e-01 2.22824440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.43 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.46, Y:-169.58, Z:2.23 [[ 6.68968078e-01 -7.43281291e-01 -3.82540755e-03 2.94585393e+01] [-7.43267643e-01 -6.68978993e-01 4.50745023e-03 -1.69580295e+02] [-5.90942072e-03 -1.72038666e-04 -9.99982524e-01 2.22883844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.46 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.52, Y:-169.68, Z:2.23 [[ 7.26864924e-01 -6.86764442e-01 -4.68861374e-03 2.95164525e+01] [-6.86748147e-01 -7.26880012e-01 4.73612603e-03 -1.69678681e+02] [-6.66066256e-03 -2.22627092e-04 -9.99977793e-01 2.22968900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.49 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.58, Y:-169.77, Z:2.23 [[ 7.78043355e-01 -6.28190377e-01 -5.03861516e-03 2.95794935e+01] [-6.28175250e-01 -7.78059636e-01 4.36560626e-03 -1.69772852e+02] [-6.66277491e-03 -2.31497604e-04 -9.99977777e-01 2.22992376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.52 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.58, Y:-169.78, Z:2.23 [[ 8.25192323e-01 -5.64827727e-01 -5.22205263e-03 2.95783667e+01] [-5.64814632e-01 -8.25208814e-01 3.85297414e-03 -1.69776621e+02] [-6.48555048e-03 -2.29952947e-04 -9.99978942e-01 2.23008227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.55 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.58, Y:-169.78, Z:2.23 [[ 8.66786727e-01 -4.98653280e-01 -5.06711086e-03 2.95779100e+01] [-4.98643319e-01 -8.66801512e-01 3.15890084e-03 -1.69780686e+02] [-5.96737562e-03 -2.11412339e-04 -9.99982173e-01 2.22965144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.58 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.58, Y:-169.78, Z:2.23 [[ 9.02194708e-01 -4.31309221e-01 -4.13106357e-03 2.95790133e+01] [-4.31303907e-01 -9.02204152e-01 2.14660629e-03 -1.69779534e+02] [-4.65291380e-03 -1.54912980e-04 -9.99989163e-01 2.22874593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.61 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.58, Y:-169.78, Z:2.23 [[ 9.32444147e-01 -3.61293912e-01 -3.82381926e-03 2.95773496e+01] [-3.61290299e-01 -9.32451978e-01 1.62098360e-03 -1.69782267e+02] [-4.15117934e-03 -1.29967863e-04 -9.99991375e-01 2.22842056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.64 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.58, Y:-169.78, Z:2.23 [[ 9.57275244e-01 -2.89160960e-01 -3.16958372e-03 2.95760846e+01] [-2.89159035e-01 -9.57280486e-01 1.05981885e-03 -1.69784280e+02] [-3.34063888e-03 -9.80245815e-05 -9.99994415e-01 2.22765914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.67 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.58, Y:-169.78, Z:2.23 [[ 9.76128911e-01 -2.17180487e-01 -2.23276028e-03 2.95750820e+01] [-2.17179781e-01 -9.76131463e-01 5.56912502e-04 -1.69783791e+02] [-2.30041809e-03 -5.87080062e-05 -9.99997352e-01 2.22700145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.7 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.57, Y:-169.79, Z:2.23 [[ 9.89929877e-01 -1.41539696e-01 -2.31350497e-03 2.95696890e+01] [-1.41539176e-01 -9.89932579e-01 3.87655369e-04 -1.69786813e+02] [-2.34508257e-03 -5.63000435e-05 -9.99997249e-01 2.22709443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.72999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.56, Y:-169.79, Z:2.23 [[ 9.97904147e-01 -6.46485006e-02 -2.80810017e-03 2.95642479e+01] [-6.46480623e-02 -9.97908096e-01 2.46670186e-04 -1.69791077e+02] [-2.81817275e-03 -6.46149666e-05 -9.99996027e-01 2.22752191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.76 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.56, Y:-169.80, Z:2.23 [[ 9.99911737e-01 1.28461057e-02 -3.39061786e-03 2.95578519e+01] [ 1.28462855e-02 -9.99917483e-01 3.12736976e-05 -1.69795379e+02] [-3.38993633e-03 -7.48277824e-05 -9.99994251e-01 2.22818373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.78999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.55, Y:-169.80, Z:2.23 [[ 9.95954905e-01 8.97053938e-02 -5.17393187e-03 2.95523201e+01] [ 8.97047428e-02 -9.95968338e-01 -3.58218664e-04 -1.69797187e+02] [-5.18520647e-03 -1.07356592e-04 -9.99986551e-01 2.22916451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.82 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.55, Y:-169.80, Z:2.23 [[ 9.85960528e-01 1.66875064e-01 -5.87794925e-03 2.95467763e+01] [ 1.66872822e-01 -9.85978042e-01 -8.73307254e-04 -1.69803372e+02] [-5.94126210e-03 -1.19823498e-04 -9.99982343e-01 2.22907454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.84999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.54, Y:-169.81, Z:2.23 [[ 9.69969962e-01 2.43155872e-01 -5.78740725e-03 2.95405937e+01] [ 2.43152264e-01 -9.69987221e-01 -1.32985621e-03 -1.69810603e+02] [-5.93707342e-03 -1.17300598e-04 -9.99982369e-01 2.22929794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.88 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.53, Y:-169.81, Z:2.23 [[ 9.48495370e-01 3.16741425e-01 -5.60376632e-03 2.95335540e+01] [ 3.16736556e-01 -9.48511918e-01 -1.75953626e-03 -1.69814655e+02] [-5.87255716e-03 -1.06005647e-04 -9.99982751e-01 2.22937659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.90999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.53, Y:-169.82, Z:2.23 [[ 9.21317688e-01 3.88780627e-01 -4.83144268e-03 2.95279670e+01] [ 3.88775775e-01 -9.21330352e-01 -1.94418026e-03 -1.69821101e+02] [-5.20721440e-03 -8.71402150e-05 -9.99986439e-01 2.22905383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.94 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.52, Y:-169.82, Z:2.23 [[ 8.89689095e-01 4.56550443e-01 -3.87397680e-03 2.95204091e+01] [ 4.56546393e-01 -8.89697527e-01 -1.92388384e-03 -1.69824111e+02] [-4.32501760e-03 -5.69916671e-05 -9.99990645e-01 2.22807345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.96999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.51, Y:-169.83, Z:2.23 [[ 8.52903405e-01 5.22057123e-01 -3.48459111e-03 2.95144469e+01] [ 5.22052959e-01 -8.52910522e-01 -2.08546326e-03 -1.69831321e+02] [-4.06077538e-03 -4.04423866e-05 -9.99991754e-01 2.22788701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.0 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.51, Y:-169.84, Z:2.23 [[ 8.10896494e-01 5.85183055e-01 -2.76923789e-03 2.95094611e+01] [ 5.85179749e-01 -8.10901222e-01 -1.96728958e-03 -1.69839307e+02] [-3.39680291e-03 -2.52337090e-05 -9.99994231e-01 2.22726659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.03 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.51, Y:-169.85, Z:2.23 [[ 7.63888556e-01 6.45344222e-01 -2.26022888e-03 2.95058909e+01] [ 6.45341459e-01 -7.63891900e-01 -1.88850381e-03 -1.69849109e+02] [-2.94530556e-03 -1.60129499e-05 -9.99995662e-01 2.22644280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.06 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.50, Y:-169.86, Z:2.23 [[ 7.12797421e-01 7.01368284e-01 -1.53834194e-03 2.95025842e+01] [ 7.01366669e-01 -7.12799081e-01 -1.50489711e-03 -1.69860591e+02] [-2.15201582e-03 -6.25498288e-06 -9.99997684e-01 2.22607284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.09 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.50, Y:-169.87, Z:2.23 [[ 6.55804907e-01 7.54929244e-01 -1.32685819e-03 2.95021893e+01] [ 7.54927716e-01 -6.55806249e-01 -1.51887253e-03 -1.69873669e+02] [-2.01680318e-03 -5.59796778e-06 -9.99997966e-01 2.22558066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.12 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.50, Y:-169.89, Z:2.23 [[ 5.94188645e-01 8.04325048e-01 -1.03456098e-03 2.95026717e+01] [ 8.04323847e-01 -5.94189546e-01 -1.39046863e-03 -1.69888030e+02] [-1.73311407e-03 -5.92139611e-06 -9.99998498e-01 2.22577684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.15 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.51, Y:-169.90, Z:2.23 [[ 5.27647238e-01 8.49463219e-01 -7.94618938e-04 2.95068424e+01] [ 8.49462279e-01 -5.27647836e-01 -1.26380292e-03 -1.69901968e+02] [-1.49283306e-03 -8.15669491e-06 -9.99998886e-01 2.22535748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.18 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.51, Y:-169.91, Z:2.23 [[ 4.59517598e-01 8.88168394e-01 -6.93228243e-04 2.95087835e+01] [ 8.88167410e-01 -4.59518120e-01 -1.32213882e-03 -1.69914472e+02] [-1.49283285e-03 -8.15667748e-06 -9.99998886e-01 2.22535748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.21 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.51, Y:-169.93, Z:2.23 [[ 3.87601819e-01 9.21826561e-01 -7.88197038e-04 2.95123714e+01] [ 9.21824723e-01 -3.87602620e-01 -1.84106362e-03 -1.69927333e+02] [-2.00264858e-03 -1.29799089e-05 -9.99997995e-01 2.22592661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.24 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.52, Y:-169.94, Z:2.23 [[ 3.11966474e-01 9.50092332e-01 -1.21652476e-03 2.95165988e+01] [ 9.50085522e-01 -3.11968844e-01 -3.59752748e-03 -1.69939231e+02] [-3.79750109e-03 -3.34945978e-05 -9.99992789e-01 2.22731669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.27 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.52, Y:-169.95, Z:2.23 [[ 2.35860904e-01 9.71786205e-01 -1.09830154e-03 2.95199313e+01] [ 9.71776503e-01 -2.35863457e-01 -4.34257009e-03 -1.69950201e+02] [-4.47909890e-03 -4.30611233e-05 -9.99989968e-01 2.22802240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.3 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.53, Y:-169.96, Z:2.23 [[ 1.58067394e-01 9.87427946e-01 -8.65954235e-04 2.95259681e+01] [ 9.87414950e-01 -1.58069757e-01 -5.06637446e-03 -1.69961321e+02] [-5.13956091e-03 -5.42275472e-05 -9.99986791e-01 2.22818491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.33 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.53, Y:-169.97, Z:2.23 [[ 7.93668545e-02 9.96845370e-01 -4.59744510e-04 2.95332521e+01] [ 9.96832603e-01 -7.93681650e-02 -5.04542665e-03 -1.69973121e+02] [-5.06599927e-03 -5.78486743e-05 -9.99987166e-01 2.22908745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.36 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.54, Y:-169.98, Z:2.23 [[ 6.12243327e-04 9.99999811e-01 -6.03725692e-05 2.95377499e+01] [ 9.99988068e-01 -6.12528735e-04 -4.84652151e-03 -1.69983235e+02] [-4.84655758e-03 -5.74045984e-05 -9.99988254e-01 2.22908939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.39 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.55, Y:-169.99, Z:2.23 [[-7.79451197e-02 9.96957631e-01 2.02373282e-04 2.95456647e+01] [ 9.96952917e-01 7.79453735e-02 -3.06583197e-03 -1.69991989e+02] [-3.07227863e-03 -3.72100053e-05 -9.99995280e-01 2.22694885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.42 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.55, Y:-170.00, Z:2.23 [[-1.55534988e-01 9.87830323e-01 3.48254030e-04 2.95528284e+01] [ 9.87827417e-01 1.55535375e-01 -2.39597222e-03 -1.70001119e+02] [-2.42097983e-03 -2.86426307e-05 -9.99997069e-01 2.22599692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.45 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.56, Y:-170.01, Z:2.23 [[-2.31814063e-01 9.72760042e-01 3.76573024e-04 2.95613613e+01] [ 9.72758621e-01 2.31814368e-01 -1.66239315e-03 -1.70010614e+02] [-1.70440467e-03 -1.90514555e-05 -9.99998547e-01 2.22529778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.47999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.57, Y:-170.02, Z:2.23 [[-3.05771274e-01 9.52104969e-01 2.36720728e-04 2.95691505e+01] [ 9.52104664e-01 3.05771366e-01 -7.62148807e-04 -1.70019803e+02] [-7.98028087e-04 -7.66030255e-06 -9.99999682e-01 2.22506947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.51 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.58, Y:-170.03, Z:2.23 [[-3.78218443e-01 9.25716369e-01 1.19105825e-04 2.95781195e+01] [ 9.25716320e-01 3.78218462e-01 -2.98573286e-04 -1.70027119e+02] [-3.21442200e-04 -2.66771732e-06 -9.99999948e-01 2.22507314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.53999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.59, Y:-170.03, Z:2.23 [[-4.48620027e-01 8.93722587e-01 9.38507559e-05 2.95903330e+01] [ 8.93722567e-01 4.48620036e-01 -1.90391121e-04 -1.70033470e+02] [-2.12260175e-04 -1.53673152e-06 -9.99999978e-01 2.22550620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.60, Y:-170.04, Z:2.23 [[-5.15721011e-01 8.56756560e-01 1.87292726e-04 2.96001885e+01] [ 8.56756502e-01 5.15721045e-01 -3.15041165e-04 -1.70038634e+02] [-3.66504386e-04 -2.00908788e-06 -9.99999933e-01 2.22663623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.59999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.61, Y:-170.04, Z:2.23 [[-5.81005472e-01 8.13899590e-01 3.16014692e-04 2.96115901e+01] [ 8.13899467e-01 5.81005558e-01 -4.47593621e-04 -1.70043819e+02] [-5.47902557e-04 -2.85015329e-06 -9.99999850e-01 2.22722268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.63 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.62, Y:-170.05, Z:2.23 [[-6.42675450e-01 7.66138084e-01 8.37917753e-04 2.96194120e+01] [ 7.66137420e-01 6.42675996e-01 -1.00870783e-03 -1.70050302e+02] [-1.31131911e-03 -6.31161163e-06 -9.99999140e-01 2.22759643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.65999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.63, Y:-170.05, Z:2.23 [[-7.00502632e-01 7.13647632e-01 1.76633159e-03 2.96315403e+01] [ 7.13645322e-01 7.00504859e-01 -1.81582909e-03 -1.70051544e+02] [-2.53318599e-03 -1.14587774e-05 -9.99996791e-01 2.22886984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.69 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.64, Y:-170.05, Z:2.23 [[-7.54169806e-01 6.56675042e-01 2.40690764e-03 2.96438500e+01] [ 6.56671638e-01 7.54173646e-01 -2.11430928e-03 -1.70051135e+02] [-3.20364044e-03 -1.40002332e-05 -9.99994868e-01 2.22932139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.71999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.67, Y:-170.03, Z:2.23 [[-7.98611177e-01 6.01840689e-01 2.82371815e-03 2.96670482e+01] [ 6.01836861e-01 7.98616169e-01 -2.14664598e-03 -1.70034187e+02] [-3.54700587e-03 -1.49178040e-05 -9.99993709e-01 2.23020528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.68, Y:-170.01, Z:2.23 [[-8.39191730e-01 5.43827941e-01 2.90021075e-03 2.96802343e+01] [ 5.43824633e-01 8.39196741e-01 -1.89709974e-03 -1.70009751e+02] [-3.46554326e-03 -1.48243652e-05 -9.99993995e-01 2.23113092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.78 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.71, Y:-169.99, Z:2.23 [[-8.75616035e-01 4.82999194e-01 2.88762318e-03 2.97071772e+01] [ 4.82996512e-01 8.75620796e-01 -1.60970880e-03 -1.69994437e+02] [-3.30595096e-03 -1.47749088e-05 -9.99994535e-01 2.23099300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.81 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.74, Y:-169.98, Z:2.23 [[-9.07759015e-01 4.19482411e-01 2.84217717e-03 2.97362679e+01] [ 4.19480303e-01 9.07763464e-01 -1.32998384e-03 -1.69978483e+02] [-3.13792942e-03 -1.50674786e-05 -9.99995077e-01 2.23053991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.84 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.74, Y:-169.95, Z:2.23 [[-9.35510917e-01 3.53286410e-01 2.83486410e-03 2.97448644e+01] [ 3.53284731e-01 9.35515212e-01 -1.08931013e-03 -1.69952597e+02] [-3.03689696e-03 -1.75473134e-05 -9.99995388e-01 2.22979141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.87 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.77, Y:-169.93, Z:2.23 [[-9.58317973e-01 2.85686572e-01 3.13771624e-03 2.97699552e+01] [ 2.85684971e-01 9.58323109e-01 -9.56765489e-04 -1.69932339e+02] [-3.28028104e-03 -2.04871913e-05 -9.99994620e-01 2.23004213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.9 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:30.03, Y:-169.09, Z:1.46 [[-9.32019300e-01 -3.62389013e-01 3.77199108e-03 3.00261215e+01] [ 3.62386354e-01 -9.32026930e-01 -1.38998693e-03 -1.69085348e+02] [ 4.01931326e-03 7.14234435e-05 9.99991920e-01 1.45784583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.93 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.72, Y:-169.92, Z:2.23 [[-9.59945191e-01 2.80168355e-01 3.30506707e-03 2.97161360e+01] [ 2.80166593e-01 9.59950880e-01 -9.94094855e-04 -1.69916172e+02] [-3.45121596e-03 -2.83071964e-05 -9.99994044e-01 2.22990671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.96 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.98, Y:-169.07, Z:1.46 [[-9.32931285e-01 -3.60040264e-01 3.19768438e-03 2.99786435e+01] [ 3.60038244e-01 -9.32936765e-01 -1.20625860e-03 -1.69071515e+02] [ 3.41753898e-03 2.59322868e-05 9.99994160e-01 1.45826930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.99 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.68, Y:-169.91, Z:2.23 [[-9.61514655e-01 2.74733085e-01 3.36168953e-03 2.96776997e+01] [ 2.74731278e-01 9.61520531e-01 -9.96917292e-04 -1.69905127e+02] [-3.50621967e-03 -3.49893236e-05 -9.99993853e-01 2.22964936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.02 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.93, Y:-169.06, Z:1.46 [[-9.33713398e-01 -3.58006398e-01 3.27257142e-03 2.99289939e+01] [ 3.58004326e-01 -9.33719132e-01 -1.21840408e-03 -1.69058315e+02] [ 3.49185900e-03 3.39545160e-05 9.99993903e-01 1.45828219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.05 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.63, Y:-169.89, Z:2.23 [[-9.62965131e-01 2.69601823e-01 3.60742236e-03 2.96269174e+01] [ 2.69599763e-01 9.62971887e-01 -1.05485606e-03 -1.69890281e+02] [-3.75823743e-03 -4.32293908e-05 -9.99992937e-01 2.22991371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.08 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.63, Y:-169.86, Z:2.23 [[-9.79879591e-01 1.99549703e-01 3.98784347e-03 2.96317748e+01] [ 1.99547835e-01 9.79887705e-01 -8.64928222e-04 -1.69864226e+02] [-4.08023496e-03 -5.17599819e-05 -9.99991675e-01 2.22986368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.11 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.66, Y:-169.84, Z:2.23 [[-9.91565919e-01 1.29546318e-01 3.84444614e-03 2.96598717e+01] [ 1.29545152e-01 9.91573371e-01 -5.51829353e-04 -1.69841986e+02] [-3.88353788e-03 -4.91458194e-05 -9.99992458e-01 2.22966299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.14 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.79, Y:-168.97, Z:1.46 [[-9.75375382e-01 -2.20526358e-01 3.31496972e-03 2.97901859e+01] [ 2.20525127e-01 -9.75381015e-01 -7.37079106e-04 -1.68968119e+02] [ 3.39590390e-03 1.21053041e-05 9.99994234e-01 1.45854042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.17 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.60, Y:-169.84, Z:2.23 [[-9.91977999e-01 1.26384360e-01 2.57754234e-03 2.96004373e+01] [ 1.26383856e-01 9.91981347e-01 -3.57921234e-04 -1.69835420e+02] [-2.60210957e-03 -2.92902481e-05 -9.99996614e-01 2.22854251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.2 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.72, Y:-168.95, Z:1.46 [[-9.76845058e-01 -2.13935295e-01 2.32862120e-03 2.97183543e+01] [ 2.13934719e-01 -9.76847833e-01 -4.96644686e-04 -1.68953739e+02] [ 2.38095841e-03 1.30280153e-05 9.99997165e-01 1.45995646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.22999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.53, Y:-169.83, Z:2.23 [[-9.92278955e-01 1.23992368e-01 2.89276781e-03 2.95349839e+01] [ 1.23991765e-01 9.92283171e-01 -3.87627410e-04 -1.69828621e+02] [-2.91850766e-03 -2.59551348e-05 -9.99995741e-01 2.22832658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.26 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.66, Y:-168.94, Z:1.46 [[-9.78703090e-01 -2.05236392e-01 4.27599481e-03 2.96637553e+01] [ 2.05234993e-01 -9.78712423e-01 -7.68297366e-04 -1.68943854e+02] [ 4.34265182e-03 1.25648758e-04 9.99990563e-01 1.45865834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.28999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.48, Y:-169.82, Z:2.23 [[-9.92370453e-01 1.23193501e-01 4.92406056e-03 2.94763737e+01] [ 1.23191855e-01 9.92382669e-01 -6.37271243e-04 -1.69823965e+02] [-4.96506003e-03 -2.58049981e-05 -9.99987674e-01 2.22993873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.32 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.47, Y:-169.80, Z:2.23 [[-9.98502668e-01 5.44148592e-02 5.60764711e-03 2.94737307e+01] [ 5.44138990e-02 9.98518414e-01 -3.23777481e-04 -1.69798334e+02] [-5.61695720e-03 -1.81587357e-05 -9.99984225e-01 2.23029462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.34999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.54, Y:-168.90, Z:1.46 [[-9.91905231e-01 -1.26843515e-01 5.89360808e-03 2.95448535e+01] [ 1.26841514e-01 -9.91922740e-01 -7.13621902e-04 -1.68898834e+02] [ 5.93652218e-03 3.97088707e-05 9.99982378e-01 1.45782544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.38 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.39, Y:-169.79, Z:2.23 [[-9.98691505e-01 5.06895098e-02 6.77142493e-03 2.93946982e+01] [ 5.06882859e-02 9.98714460e-01 -3.52364888e-04 -1.69794967e+02] [-6.78058120e-03 -8.67189796e-06 -9.99977012e-01 2.23069330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.40999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.41, Y:-169.77, Z:2.23 [[-9.99775362e-01 -1.98638101e-02 7.39294371e-03 2.94053833e+01] [-1.98633067e-02 9.99802695e-01 1.41520810e-04 -1.69768208e+02] [-7.39429619e-03 -5.35928956e-06 -9.99972662e-01 2.23085801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.44 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.40, Y:-169.74, Z:2.23 [[-9.95930889e-01 -8.97768545e-02 7.86001584e-03 2.93985498e+01] [-8.97740281e-02 9.95961905e-01 7.12397130e-04 -1.69742034e+02] [-7.89223313e-03 3.87302401e-06 -9.99968856e-01 2.23076225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.46999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.40, Y:-169.72, Z:2.23 [[-9.86961753e-01 -1.60767544e-01 7.76502123e-03 2.93964099e+01] [-1.60762534e-01 9.86992298e-01 1.26919726e-03 -1.69715028e+02] [-7.86806187e-03 4.32466911e-06 -9.99969046e-01 2.23092638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.37, Y:-169.69, Z:2.23 [[-9.72822636e-01 -2.31421238e-01 7.76719666e-03 2.93737294e+01] [-2.31413820e-01 9.72853643e-01 1.85293052e-03 -1.69691554e+02] [-7.98515304e-03 5.13610330e-06 -9.99968118e-01 2.23062958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.53 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.33, Y:-169.68, Z:2.23 [[-9.53067719e-01 -3.02666718e-01 7.40148253e-03 2.93262953e+01] [-3.02657571e-01 9.53096458e-01 2.35301241e-03 -1.69675968e+02] [-7.76650533e-03 2.46544396e-06 -9.99969840e-01 2.23055032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.26, Y:-169.67, Z:2.23 [[-9.28032458e-01 -3.72430102e-01 7.18167276e-03 2.92592293e+01] [-3.72418945e-01 9.28060245e-01 2.88273575e-03 -1.69670626e+02] [-7.73864255e-03 6.81347041e-07 -9.99970056e-01 2.22979609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.59 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.19, Y:-169.67, Z:2.23 [[-8.97413606e-01 -4.41133098e-01 7.10000667e-03 2.91928400e+01] [-4.41119309e-01 8.97441692e-01 3.48789863e-03 -1.69669921e+02] [-7.91046953e-03 -1.86234930e-06 -9.99968712e-01 2.22955894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.62 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.11, Y:-169.68, Z:2.23 [[-8.61214490e-01 -5.08197413e-01 6.70751563e-03 2.91089150e+01] [-5.08182093e-01 8.61240610e-01 3.94608138e-03 -1.69683305e+02] [-7.78217321e-03 -1.02168648e-05 -9.99969718e-01 2.22931973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.65 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:29.02, Y:-169.71, Z:2.23 [[-8.19975998e-01 -5.72363295e-01 6.29456740e-03 2.90223104e+01] [-5.72346569e-01 8.20000158e-01 4.37566572e-03 -1.69705909e+02] [-7.66601671e-03 -1.47331914e-05 -9.99970616e-01 2.22881037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.68 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.93, Y:-169.74, Z:2.23 [[-7.73675727e-01 -6.33554114e-01 5.92071723e-03 2.89345278e+01] [-6.33535756e-01 7.73698381e-01 4.82299705e-03 -1.69736947e+02] [-7.63647896e-03 -1.95503222e-05 -9.99970842e-01 2.22908420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.71 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.84, Y:-169.78, Z:2.23 [[-7.22540435e-01 -6.91306502e-01 5.53533116e-03 2.88431486e+01] [-6.91286487e-01 7.22561637e-01 5.26064013e-03 -1.69780056e+02] [-7.63633267e-03 -2.54744261e-05 -9.99970842e-01 2.22948416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.74 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.75, Y:-169.83, Z:2.23 [[-6.66938128e-01 -7.45094073e-01 5.32500423e-03 2.87549722e+01] [-7.45070706e-01 6.66959385e-01 5.90098082e-03 -1.69830733e+02] [-7.94834738e-03 -3.19155568e-05 -9.99968411e-01 2.22941442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.77 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.67, Y:-169.89, Z:2.23 [[-6.06380164e-01 -7.95160938e-01 4.70961449e-03 2.86686728e+01] [-7.95137513e-01 6.06398451e-01 6.10361351e-03 -1.69889546e+02] [-7.70925797e-03 -4.36809968e-05 -9.99970282e-01 2.22939870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.8 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.58, Y:-169.96, Z:2.23 [[-5.42596643e-01 -8.39983871e-01 3.99745781e-03 2.85810268e+01] [-8.39961731e-01 5.42611366e-01 6.09882588e-03 -1.69964446e+02] [-7.29198141e-03 -4.85091268e-05 -9.99973412e-01 2.22883119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.83 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.50, Y:-170.04, Z:2.23 [[-4.74624264e-01 -8.80183701e-01 2.90871485e-03 2.85008382e+01] [-8.80167824e-01 4.74633174e-01 5.28688452e-03 -1.70041697e+02] [-6.03400214e-03 -5.08735465e-05 -9.99981794e-01 2.22814303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.86 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.43, Y:-170.13, Z:2.23 [[-4.04388320e-01 -9.14584150e-01 2.43280974e-03 2.84265740e+01] [-9.14568409e-01 4.04395634e-01 5.36626806e-03 -1.70129151e+02] [-5.89172135e-03 -5.49148114e-05 -9.99982642e-01 2.22684824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.36, Y:-170.23, Z:2.23 [[-3.31299093e-01 -9.43523666e-01 2.00068724e-03 2.83557619e+01] [-9.43507565e-01 3.31305128e-01 5.51251877e-03 -1.70226934e+02] [-5.86402986e-03 -6.13710744e-05 -9.99982805e-01 2.22723912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.92 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.29, Y:-170.33, Z:2.23 [[-2.56280402e-01 -9.66601002e-01 1.69060440e-03 2.82942034e+01] [-9.66581788e-01 2.56285968e-01 6.09500784e-03 -1.70326745e+02] [-6.32471887e-03 -7.20763703e-05 -9.99979996e-01 2.22794439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.95 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.23, Y:-170.46, Z:2.23 [[-1.79273598e-01 -9.83798184e-01 1.45254040e-03 2.82336662e+01] [-9.83770104e-01 1.79279456e-01 7.43368688e-03 -1.70457776e+02] [-7.57365831e-03 -9.63020328e-05 -9.99971315e-01 2.22969911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.97999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.19, Y:-170.54, Z:2.23 [[-1.02083191e-01 -9.94775413e-01 9.49040630e-04 2.81928988e+01] [-9.94741656e-01 1.02087546e-01 8.19578373e-03 -1.70543662e+02] [-8.24984938e-03 -1.07398490e-04 -9.99965964e-01 2.23003241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.01 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.16, Y:-170.67, Z:2.23 [[-2.43681146e-02 -9.99703003e-01 3.17973599e-04 2.81552201e+01] [-9.99667245e-01 2.43699326e-02 8.45607220e-03 -1.70673907e+02] [-8.46130976e-03 -1.11809255e-04 -9.99964196e-01 2.23079311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.03999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.13, Y:-170.80, Z:2.23 [[ 5.34179454e-02 -9.98572184e-01 -3.41779897e-04 2.81276113e+01] [-9.98536040e-01 -5.34189201e-02 8.49682704e-03 -1.70796072e+02] [-8.50295265e-03 -1.12603498e-04 -9.99963843e-01 2.23146834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.11, Y:-170.91, Z:2.23 [[ 1.30500705e-01 -9.91447714e-01 -9.98038674e-04 2.81094903e+01] [-9.91411754e-01 -1.30504473e-01 8.44490491e-03 -1.70908876e+02] [-8.50293018e-03 -1.12598774e-04 -9.99963843e-01 2.23146723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.09999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.10, Y:-171.02, Z:2.23 [[ 2.07289016e-01 -9.78278150e-01 -1.76774524e-03 2.81002600e+01] [-9.78237427e-01 -2.07296518e-01 8.92697428e-03 -1.71016435e+02] [-9.09951132e-03 -1.21189158e-04 -9.99958591e-01 2.23043788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.13 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.10, Y:-171.14, Z:2.23 [[ 2.82529172e-01 -9.59255537e-01 -2.46592424e-03 2.81020959e+01] [-9.59215183e-01 -2.82539908e-01 8.79957485e-03 -1.71141533e+02] [-9.13776291e-03 -1.20784630e-04 -9.99958243e-01 2.23070998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.15999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.11, Y:-171.25, Z:2.23 [[ 3.56237845e-01 -9.34390083e-01 -3.12596365e-03 2.81096190e+01] [-9.34351074e-01 -3.56251539e-01 8.53880265e-03 -1.71251794e+02] [-9.09220187e-03 -1.21097161e-04 -9.99958658e-01 2.23027253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.19 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.13, Y:-171.37, Z:2.23 [[ 4.27718017e-01 -9.03903994e-01 -3.85576540e-03 2.81280596e+01] [-9.03864615e-01 -4.27735378e-01 8.43819170e-03 -1.71368127e+02] [-9.27656246e-03 -1.24076712e-04 -9.99956964e-01 2.23030899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.21999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.16, Y:-171.49, Z:2.23 [[ 4.96566387e-01 -8.67987907e-01 -4.33781288e-03 2.81567660e+01] [-8.67952641e-01 -4.96585318e-01 7.82524481e-03 -1.71487078e+02] [-8.94631206e-03 -1.20737401e-04 -9.99959974e-01 2.23085866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.25 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.19, Y:-171.60, Z:2.23 [[ 5.62291667e-01 -8.26926328e-01 -4.57497832e-03 2.81930097e+01] [-8.26897311e-01 -5.62310267e-01 6.92829817e-03 -1.71597909e+02] [-8.30174944e-03 -1.12687052e-04 -9.99965534e-01 2.23023250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.28 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.24, Y:-171.71, Z:2.23 [[ 6.24770957e-01 -7.80791463e-01 -5.09338788e-03 2.82358965e+01] [-7.80763993e-01 -6.24791708e-01 6.55049008e-03 -1.71705141e+02] [-8.29687324e-03 -1.15822100e-04 -9.99965574e-01 2.23048212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.31 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.29, Y:-171.82, Z:2.23 [[ 6.83306191e-01 -7.30112213e-01 -5.36720790e-03 2.82931137e+01] [-7.30088382e-01 -6.83327260e-01 5.90005664e-03 -1.71816248e+02] [-7.97526288e-03 -1.13009099e-04 -9.99968191e-01 2.23131343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.34 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.36, Y:-171.92, Z:2.23 [[ 7.37548312e-01 -6.75269461e-01 -5.80017945e-03 2.83568750e+01] [-6.75247359e-01 -7.37571110e-01 5.46466409e-03 -1.71918113e+02] [-7.96816557e-03 -1.13897922e-04 -9.99968247e-01 2.23125260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.37 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.35, Y:-171.92, Z:2.23 [[ 7.87577777e-01 -6.16178877e-01 -6.69597047e-03 2.83542596e+01] [-6.16155336e-01 -7.87606233e-01 5.38741285e-03 -1.71923414e+02] [-8.59339807e-03 -1.17248702e-04 -9.99963069e-01 2.23172178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.4 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.35, Y:-171.93, Z:2.23 [[ 8.32598557e-01 -5.53828953e-01 -7.28925490e-03 2.83500430e+01] [-5.53806574e-01 -8.32630457e-01 4.98000483e-03 -1.71927158e+02] [-8.82732651e-03 -1.09507557e-04 -9.99961032e-01 2.23208651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.43 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.34, Y:-171.93, Z:2.23 [[ 8.73144589e-01 -4.87404163e-01 -7.46385231e-03 2.83434466e+01] [-4.87385337e-01 -8.73176483e-01 4.28509709e-03 -1.71931730e+02] [-8.60583448e-03 -1.03737152e-04 -9.99962964e-01 2.23222481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.46 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.34, Y:-171.94, Z:2.23 [[ 9.08507249e-01 -4.17793158e-01 -7.96586792e-03 2.83360977e+01] [-4.17776083e-01 -9.08542165e-01 3.77868675e-03 -1.71936913e+02] [-8.81603636e-03 -1.05015211e-04 -9.99961133e-01 2.23185696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.49 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.33, Y:-171.94, Z:2.23 [[ 9.38430038e-01 -3.45363200e-01 -8.56288192e-03 2.83282986e+01] [-3.45347747e-01 -9.38469098e-01 3.26894803e-03 -1.71941885e+02] [-9.16497442e-03 -1.10507050e-04 -9.99957995e-01 2.23214381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.52 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.32, Y:-171.95, Z:2.23 [[ 9.62636513e-01 -2.70651647e-01 -8.86732200e-03 2.83207286e+01] [-2.70639071e-01 -9.62677346e-01 2.61149513e-03 -1.71945672e+02] [-9.24317547e-03 -1.14076775e-04 -9.99957274e-01 2.23252538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.55 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.31, Y:-171.95, Z:2.23 [[ 9.80906635e-01 -1.94272273e-01 -8.96975841e-03 2.83108466e+01] [-1.94263084e-01 -9.80947639e-01 1.89301414e-03 -1.71951206e+02] [-9.16662350e-03 -1.14377202e-04 -9.99957979e-01 2.23213619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.58 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.30, Y:-171.96, Z:2.23 [[ 9.93078473e-01 -1.17105416e-01 -9.02594046e-03 2.83002569e+01] [-1.17099554e-01 -9.93119484e-01 1.17704942e-03 -1.71957269e+02] [-9.10167619e-03 -1.11968843e-04 -9.99958573e-01 2.23207193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.61 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.29, Y:-171.96, Z:2.23 [[ 9.99181040e-01 -3.94792603e-02 -8.86781808e-03 2.82916104e+01] [-3.94767728e-02 -9.99220385e-01 4.55451647e-04 -1.71962093e+02] [-8.87888548e-03 -1.05005811e-04 -9.99960576e-01 2.23148889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.64 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.28, Y:-171.97, Z:2.23 [[ 9.99256168e-01 3.77422446e-02 -7.91416103e-03 2.82830760e+01] [ 3.77417338e-02 -9.99287504e-01 -2.13941045e-04 -1.71966281e+02] [-7.91659684e-03 -8.49122503e-05 -9.99968660e-01 2.23045353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.67 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.27, Y:-171.97, Z:2.23 [[ 9.93351995e-01 1.14856995e-01 -7.72561348e-03 2.82749214e+01] [ 1.14854112e-01 -9.93382034e-01 -8.17207559e-04 -1.71973363e+02] [-7.76834763e-03 -7.55437190e-05 -9.99969823e-01 2.23023335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.7 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.27, Y:-171.98, Z:2.23 [[ 9.81712884e-01 1.90222866e-01 -7.42116994e-03 2.82673823e+01] [ 1.90217875e-01 -9.81740932e-01 -1.37922410e-03 -1.71980849e+02] [-7.54802626e-03 -5.76371059e-05 -9.99971512e-01 2.22936229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.72999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.26, Y:-171.99, Z:2.23 [[ 9.64095531e-01 2.65463312e-01 -7.00264748e-03 2.82592697e+01] [ 2.65456669e-01 -9.64120961e-01 -1.87864961e-03 -1.71990309e+02] [-7.25011177e-03 -4.77017806e-05 -9.99973716e-01 2.22983095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.76 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.25, Y:-172.00, Z:2.23 [[ 9.40675157e-01 3.39236598e-01 -6.98426718e-03 2.82525823e+01] [ 3.39227576e-01 -9.40701084e-01 -2.47452542e-03 -1.71997688e+02] [-7.40955730e-03 -4.15314366e-05 -9.99972548e-01 2.22981212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.78999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.25, Y:-172.01, Z:2.23 [[ 9.11512970e-01 4.11212015e-01 -6.98461126e-03 2.82467429e+01] [ 4.11200257e-01 -9.11539729e-01 -3.10983900e-03 -1.72005196e+02] [-7.64555382e-03 -3.74153682e-05 -9.99970772e-01 2.22983197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.82 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.24, Y:-172.01, Z:2.23 [[ 8.77266708e-01 4.79950083e-01 -7.14426619e-03 2.82404828e+01] [ 4.79934418e-01 -8.77295798e-01 -3.87776388e-03 -1.72013679e+02] [-8.12876780e-03 -2.69460801e-05 -9.99966961e-01 2.23041310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.84999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.24, Y:-172.03, Z:2.23 [[ 8.37484530e-01 5.46418556e-01 -6.81347089e-03 2.82372676e+01] [ 5.46400664e-01 -8.37512245e-01 -4.42188078e-03 -1.72025131e+02] [-8.12256302e-03 -1.96282714e-05 -9.99967011e-01 2.22932824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.88 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.23, Y:-172.04, Z:2.23 [[ 7.92696566e-01 6.09578096e-01 -6.83363635e-03 2.82340466e+01] [ 6.09555581e-01 -7.92726021e-01 -5.23921736e-03 -1.72038342e+02] [-8.61091350e-03 -1.23715669e-05 -9.99962925e-01 2.23010586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.90999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.23, Y:-172.05, Z:2.23 [[ 7.43288507e-01 6.68938294e-01 -6.61459998e-03 2.82315808e+01] [ 6.68911844e-01 -7.43317939e-01 -5.94871999e-03 -1.72050152e+02] [-8.89607743e-03 -2.96906455e-06 -9.99960429e-01 2.23026759e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.94 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.23, Y:-172.06, Z:2.23 [[ 6.90229546e-01 7.23558516e-01 -6.80054944e-03 2.82286447e+01] [ 7.23523133e-01 -6.90263047e-01 -7.15560467e-03 -1.72060712e+02] [-9.87166667e-03 1.86549288e-05 -9.99951274e-01 2.23111500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.96999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.23, Y:-172.07, Z:2.23 [[ 6.32429637e-01 7.74590508e-01 -6.50375871e-03 2.82257974e+01] [ 7.74549016e-01 -6.32463077e-01 -8.01733306e-03 -1.72073093e+02] [-1.03235373e-02 3.29191237e-05 -9.99946710e-01 2.23232930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.0 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.23, Y:-172.08, Z:2.23 [[ 5.70795724e-01 8.21070616e-01 -5.94004613e-03 2.82250542e+01] [ 8.21025332e-01 -5.70826629e-01 -8.62343995e-03 -1.72084550e+02] [-1.04711897e-02 4.52943045e-05 -9.99945175e-01 2.23195467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.03 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.23, Y:-172.10, Z:2.23 [[ 5.06673770e-01 8.62121654e-01 -5.28627514e-03 2.82259845e+01] [ 8.62073307e-01 -5.06701341e-01 -9.13042675e-03 -1.72097179e+02] [-1.05501013e-02 6.89910470e-05 -9.99944344e-01 2.23074554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.06 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.23, Y:-172.11, Z:2.23 [[ 4.38541669e-01 8.98699990e-01 -4.41955966e-03 2.82273478e+01] [ 8.98652559e-01 -4.38563931e-01 -9.23348918e-03 -1.72110465e+02] [-1.02363961e-02 7.76211541e-05 -9.99947604e-01 2.23081056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.09 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.23, Y:-172.12, Z:2.23 [[ 3.67183529e-01 9.30141689e-01 -3.56303376e-03 2.82309505e+01] [ 9.30095795e-01 -3.67200807e-01 -9.24010531e-03 -1.72123144e+02] [-9.90295603e-03 7.88517531e-05 -9.99950961e-01 2.23028059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.12 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.23, Y:-172.14, Z:2.23 [[ 2.93832320e-01 9.55853281e-01 -2.65954441e-03 2.82338719e+01] [ 9.55811617e-01 -2.93844345e-01 -8.92488708e-03 -1.72136502e+02] [-9.31237468e-03 8.03968368e-05 -9.99956636e-01 2.23037145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.15 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.24, Y:-172.15, Z:2.23 [[ 2.17742363e-01 9.76004428e-01 -1.90243058e-03 2.82392158e+01] [ 9.75964086e-01 -2.17750661e-01 -8.87430872e-03 -1.72148971e+02] [-9.07562013e-03 7.56090266e-05 -9.99958813e-01 2.23020002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.18 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.25, Y:-172.16, Z:2.23 [[ 1.39869182e-01 9.90169194e-01 -1.25630339e-03 2.82451322e+01] [ 9.90124512e-01 -1.39874806e-01 -9.40691582e-03 -1.72160352e+02] [-9.49016345e-03 7.18408406e-05 -9.99954965e-01 2.23040819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.21 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.25, Y:-172.17, Z:2.23 [[ 6.09467259e-02 9.98140890e-01 -5.10547496e-04 2.82509510e+01] [ 9.98096798e-01 -6.09488325e-02 -9.38199470e-03 -1.72172993e+02] [-9.39566981e-03 6.22260384e-05 -9.99955858e-01 2.23044666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.24 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.26, Y:-172.18, Z:2.23 [[-1.86853592e-02 9.99825390e-01 2.15698247e-04 2.82599252e+01] [ 9.99785156e-01 1.86865424e-02 -8.96969001e-03 -1.72184026e+02] [-8.97215447e-03 4.80500252e-05 -9.99959748e-01 2.23024339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.27 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.27, Y:-172.19, Z:2.23 [[-9.98626084e-02 9.95000846e-01 8.81418263e-04 2.82713475e+01] [ 9.94963919e-01 9.98664960e-02 -8.57221042e-03 -1.72194219e+02] [-8.61738077e-03 2.09360768e-05 -9.99962870e-01 2.23031117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.3 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.28, Y:-172.20, Z:2.23 [[-1.79023375e-01 9.83843489e-01 1.61858371e-03 2.82847907e+01] [ 9.83803682e-01 1.79030692e-01 -8.85022266e-03 -1.72202496e+02] [-8.99701010e-03 7.97188786e-06 -9.99959526e-01 2.23006225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.33 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.30, Y:-172.21, Z:2.23 [[-2.57102075e-01 9.66381611e-01 2.25946602e-03 2.82981831e+01] [ 9.66344091e-01 2.57112003e-01 -8.51560702e-03 -1.72210172e+02] [-8.81026187e-03 -5.95859140e-06 -9.99961189e-01 2.23090300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.36 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.31, Y:-172.22, Z:2.23 [[-3.34935349e-01 9.42236449e-01 2.96418823e-03 2.83125530e+01] [ 9.42198668e-01 3.34948464e-01 -8.43783410e-03 -1.72215766e+02] [-8.94328513e-03 -3.32747061e-05 -9.99960008e-01 2.23082898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.39 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.33, Y:-172.22, Z:2.23 [[-4.08980379e-01 9.12536458e-01 3.50165651e-03 2.83254086e+01] [ 9.12502092e-01 4.08995367e-01 -7.91976031e-03 -1.72222392e+02] [-8.65923131e-03 -4.37576852e-05 -9.99962507e-01 2.23189957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.42 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.33, Y:-172.23, Z:2.23 [[-4.80528827e-01 8.76970266e-01 3.89853891e-03 2.83319727e+01] [ 8.76940488e-01 4.80544638e-01 -7.22707846e-03 -1.72231945e+02] [-8.21135489e-03 -5.40329217e-05 -9.99966285e-01 2.23202784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.45 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.34, Y:-172.24, Z:2.23 [[-5.48763434e-01 8.35967239e-01 4.17956578e-03 2.83374785e+01] [ 8.35942158e-01 5.48779347e-01 -6.47580892e-03 -1.72240407e+02] [-7.70722348e-03 -5.98119032e-05 -9.99970297e-01 2.23155848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.47999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.34, Y:-172.25, Z:2.23 [[-6.14147280e-01 7.89178949e-01 4.43915092e-03 2.83449207e+01] [ 7.89157488e-01 6.14163319e-01 -5.82040916e-03 -1.72248735e+02] [-7.31970804e-03 -7.13992656e-05 -9.99973208e-01 2.23209685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.51 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.35, Y:-172.25, Z:2.23 [[-6.74717562e-01 7.38060514e-01 4.78418764e-03 2.83541890e+01] [ 7.38041157e-01 6.74734519e-01 -5.34595093e-03 -1.72251837e+02] [-7.17369184e-03 -7.60796007e-05 -9.99974266e-01 2.23149000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.53999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.37, Y:-172.25, Z:2.23 [[-7.30791794e-01 6.82581653e-01 5.06364124e-03 2.83650721e+01] [ 6.82564530e-01 7.30809333e-01 -4.83543143e-03 -1.72253013e+02] [-7.00113306e-03 -7.74317078e-05 -9.99975489e-01 2.23192752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.39, Y:-172.23, Z:2.23 [[-7.77688993e-01 6.28626653e-01 5.32544882e-03 2.83853951e+01] [ 6.28611192e-01 7.77707223e-01 -4.40964815e-03 -1.72233550e+02] [-6.91366237e-03 -8.16980955e-05 -9.99976097e-01 2.23216913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.59999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.41, Y:-172.22, Z:2.23 [[-8.20569134e-01 5.71520540e-01 5.52895575e-03 2.84135588e+01] [ 5.71506869e-01 8.20587756e-01 -3.95386748e-03 -1.72220352e+02] [-6.79670987e-03 -8.45854213e-05 -9.99976899e-01 2.23253638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.63 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.43, Y:-172.20, Z:2.23 [[-8.59166759e-01 5.11660108e-01 6.03437224e-03 2.84307915e+01] [ 5.11646742e-01 8.59187945e-01 -3.69947681e-03 -1.72198023e+02] [-7.07753459e-03 -9.10006039e-05 -9.99974950e-01 2.23305953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.65999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.45, Y:-172.18, Z:2.23 [[-8.93671426e-01 4.48671460e-01 6.73075885e-03 2.84522296e+01] [ 4.48657843e-01 8.93696766e-01 -3.49711610e-03 -1.72178753e+02] [-7.58431360e-03 -1.05464979e-04 -9.99971233e-01 2.23333696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.69 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.48, Y:-172.16, Z:2.23 [[-9.23452269e-01 3.83639994e-01 7.50080689e-03 2.84770582e+01] [ 3.83626287e-01 9.23482724e-01 -3.24514266e-03 -1.72158484e+02] [-8.17183209e-03 -1.19227657e-04 -9.99966603e-01 2.23430632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.71999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.82, Y:-171.37, Z:1.45 [[-8.81632937e-01 -4.71867173e-01 8.04586486e-03 2.88181004e+01] [ 4.71849422e-01 -8.81669630e-01 -4.09711814e-03 -1.71368958e+02] [ 9.02709025e-03 1.84282384e-04 9.99959238e-01 1.45376884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.43, Y:-172.14, Z:2.23 [[-9.25490391e-01 3.78680537e-01 8.28172710e-03 2.84320959e+01] [ 3.78663953e-01 9.25527433e-01 -3.54706474e-03 -1.72138651e+02] [-9.00817001e-03 -1.46782811e-04 -9.99959415e-01 2.23425635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.78 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.43, Y:-172.11, Z:2.24 [[-9.50015164e-01 3.12085663e-01 8.58647641e-03 2.84342490e+01] [ 3.12071491e-01 9.50053955e-01 -2.97788975e-03 -1.72108416e+02] [-9.08697256e-03 -1.49445925e-04 -9.99958701e-01 2.23534172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.81 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.73, Y:-171.31, Z:1.45 [[-9.14039280e-01 -4.05542145e-01 8.23191681e-03 2.87313258e+01] [ 4.05527057e-01 -9.14076337e-01 -3.50088474e-03 -1.71305156e+02] [ 8.94435667e-03 1.38318836e-04 9.99959989e-01 1.45434990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.84 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.41, Y:-172.10, Z:2.23 [[-9.51111976e-01 3.08744810e-01 7.91524381e-03 2.84098916e+01] [ 3.08732931e-01 9.51144902e-01 -2.71168928e-03 -1.72104482e+02] [-8.36576379e-03 -1.35423732e-04 -9.99964997e-01 2.23263219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.87 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.69, Y:-171.29, Z:1.46 [[-9.15669210e-01 -4.01857458e-01 7.77693971e-03 2.86948214e+01] [ 4.01844264e-01 -9.15702224e-01 -3.25949356e-03 -1.71293711e+02] [ 8.43121279e-03 1.40500714e-04 9.99964447e-01 1.45542809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.9 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.36, Y:-172.09, Z:2.23 [[-9.52184858e-01 3.05423801e-01 7.76524994e-03 2.83616676e+01] [ 3.05412527e-01 9.52216512e-01 -2.62741543e-03 -1.72088396e+02] [-8.19667442e-03 -1.30180582e-04 -9.99966398e-01 2.23296090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.93 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.38, Y:-172.07, Z:2.23 [[-9.71135007e-01 2.38369481e-01 8.76293923e-03 2.83772083e+01] [ 2.38358538e-01 9.71174533e-01 -2.28787443e-03 -1.72065321e+02] [-9.05570285e-03 -1.33113569e-04 -9.99958987e-01 2.23376346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.96 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.39, Y:-172.04, Z:2.23 [[-9.85454365e-01 1.69704519e-01 8.94820903e-03 2.83899016e+01] [ 1.69696357e-01 9.85494982e-01 -1.66919011e-03 -1.72042148e+02] [-9.10168420e-03 -1.26432202e-04 -9.99958571e-01 2.23349802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.99 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.56, Y:-171.20, Z:1.45 [[-9.64911670e-01 -2.62427235e-01 8.79861167e-03 2.85585751e+01] [ 2.62417505e-01 -9.64951776e-01 -2.26324016e-03 -1.71195026e+02] [ 9.08417182e-03 1.25082877e-04 9.99958730e-01 1.45454914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.02 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.34, Y:-172.04, Z:2.23 [[-9.86024794e-01 1.66343113e-01 9.22354535e-03 2.83412126e+01] [ 1.66334674e-01 9.86067926e-01 -1.68001797e-03 -1.72035658e+02] [-9.37450165e-03 -1.22343967e-04 -9.99956051e-01 2.23273943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.05 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.35, Y:-172.01, Z:2.23 [[-9.95273732e-01 9.66428535e-02 9.50561825e-03 2.83457278e+01] [ 9.66373096e-02 9.95319117e-01 -1.04189126e-03 -1.72009640e+02] [-9.56181491e-03 -1.18369628e-04 -9.99954278e-01 2.23266417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.08 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.33, Y:-171.98, Z:2.23 [[-9.99568262e-01 2.76829248e-02 9.84610544e-03 2.83309307e+01] [ 2.76805615e-02 9.99616749e-01 -3.76241015e-04 -1.71984048e+02] [-9.85274737e-03 -1.03532850e-04 -9.99951455e-01 2.23212017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.11 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.40, Y:-171.11, Z:1.46 [[-9.93356957e-01 -1.14641956e-01 9.95876825e-03 2.84006909e+01] [ 1.14637360e-01 -9.93406870e-01 -1.03299227e-03 -1.71111367e+02] [ 1.00115330e-02 1.15516852e-04 9.99949877e-01 1.45595397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.14 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.27, Y:-171.98, Z:2.23 [[-9.99664805e-01 2.37421915e-02 1.03240287e-02 2.82674541e+01] [ 2.37400143e-02 9.99718111e-01 -3.33400101e-04 -1.71984067e+02] [-1.03290341e-02 -8.81957594e-05 -9.99946650e-01 2.23251319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.17 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.31, Y:-171.11, Z:1.46 [[-9.94227333e-01 -1.06730711e-01 1.09802508e-02 2.83147487e+01] [ 1.06725749e-01 -9.94287954e-01 -1.03861761e-03 -1.71105309e+02] [ 1.10283835e-02 1.39253471e-04 9.99939176e-01 1.45513254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.2 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.18, Y:-171.98, Z:2.23 [[-9.99755971e-01 1.91654583e-02 1.09856249e-02 2.81838420e+01] [ 1.91634268e-02 9.99816323e-01 -2.90163678e-04 -1.71983113e+02] [-1.09891682e-02 -7.95706518e-05 -9.99939614e-01 2.23285268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.22999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.20, Y:-171.10, Z:1.45 [[-9.94847116e-01 -1.00788737e-01 1.09929732e-02 2.82006390e+01] [ 1.00783509e-01 -9.94907847e-01 -1.02992165e-03 -1.71099545e+02] [ 1.10407998e-02 8.32958245e-05 9.99939045e-01 1.45496690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.26 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.09, Y:-171.98, Z:2.23 [[-9.99855473e-01 1.28159911e-02 1.11706286e-02 2.80865674e+01] [ 1.28142681e-02 9.99917868e-01 -2.25803883e-04 -1.71979977e+02] [-1.11726051e-02 -8.26278182e-05 -9.99937581e-01 2.23306956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.28999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.09, Y:-171.95, Z:2.23 [[-9.98234025e-01 -5.82798290e-02 1.15018504e-02 2.80901828e+01] [-5.82769318e-02 9.98300283e-01 5.87174967e-04 -1.71952300e+02] [-1.15165210e-02 -8.41545207e-05 -9.99933679e-01 2.23394821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.32 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:28.08, Y:-171.93, Z:2.23 [[-9.91570709e-01 -1.29031243e-01 1.17672457e-02 2.80824617e+01] [-1.29023169e-01 9.91640525e-01 1.44585507e-03 -1.71926888e+02] [-1.18554382e-02 -8.45798056e-05 -9.99929718e-01 2.23290141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.34999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.97, Y:-171.05, Z:1.46 [[-9.98776888e-01 4.79939474e-02 1.18873668e-02 2.79745590e+01] [-4.79894968e-02 -9.98847623e-01 6.59522331e-04 -1.71047202e+02] [ 1.19053212e-02 8.82469096e-05 9.99929125e-01 1.45544361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.38 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.95, Y:-171.94, Z:2.23 [[-9.90718489e-01 -1.35501776e-01 1.07770577e-02 2.79546132e+01] [-1.35494551e-01 9.90777101e-01 1.40118467e-03 -1.71943262e+02] [-1.08675250e-02 -7.20530422e-05 -9.99940944e-01 2.23157696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.40999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.84, Y:-171.06, Z:1.46 [[-9.98439794e-01 5.49739777e-02 9.78975489e-03 2.78390469e+01] [-5.49713960e-02 -9.98487788e-01 5.32815093e-04 -1.71061598e+02] [ 9.80424166e-03 -6.17270009e-06 9.99951937e-01 1.45587259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.44 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.83, Y:-171.96, Z:2.23 [[-9.89645185e-01 -1.43223119e-01 9.46288977e-03 2.78294174e+01] [-1.43217242e-01 9.89690423e-01 1.29934344e-03 -1.71957604e+02] [-9.55142739e-03 -6.93599956e-05 -9.99954382e-01 2.23095303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.46999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.81, Y:-171.93, Z:2.23 [[-9.76692213e-01 -2.14455070e-01 9.01907672e-03 2.78139357e+01] [-2.14446603e-01 9.76733852e-01 1.90701536e-03 -1.71932096e+02] [-9.21820666e-03 -7.15433148e-05 -9.99957509e-01 2.23076229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.77, Y:-171.91, Z:2.23 [[-9.58222745e-01 -2.85871634e-01 9.30481376e-03 2.77740138e+01] [-2.85859081e-01 9.58267917e-01 2.68050492e-03 -1.71912663e+02] [-9.68278482e-03 -9.13447307e-05 -9.99953117e-01 2.23147063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.53 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.73, Y:-171.90, Z:2.23 [[-9.34059816e-01 -3.57005399e-01 8.91095459e-03 2.77304084e+01] [-3.56990168e-01 9.34102315e-01 3.29920474e-03 -1.71897623e+02] [-9.50157722e-03 -9.94686064e-05 -9.99954854e-01 2.23116089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.66, Y:-171.90, Z:2.23 [[-9.04454775e-01 -4.26483560e-01 8.56345592e-03 2.76614506e+01] [-4.26465614e-01 9.04495307e-01 3.91400487e-03 -1.71895673e+02] [-9.41486442e-03 -1.11979095e-04 -9.99955673e-01 2.23130424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.59 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.59, Y:-171.90, Z:2.23 [[-8.68768891e-01 -4.95156131e-01 7.81148934e-03 2.75858317e+01] [-4.95137441e-01 8.68803999e-01 4.30406328e-03 -1.71901394e+02] [-8.91783650e-03 -1.28524564e-04 -9.99960227e-01 2.23095532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.62 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.51, Y:-171.92, Z:2.23 [[-8.28418180e-01 -5.60063828e-01 7.19915542e-03 2.75070319e+01] [-5.60044072e-01 8.28449450e-01 4.70600210e-03 -1.71916158e+02] [-8.59979790e-03 -1.33306626e-04 -9.99963012e-01 2.23097803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.65 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.42, Y:-171.94, Z:2.23 [[-7.83235654e-01 -6.21685109e-01 7.03815813e-03 2.74187206e+01] [-6.21661650e-01 7.83267263e-01 5.40258359e-03 -1.71944123e+02] [-8.87146462e-03 -1.43856907e-04 -9.99960637e-01 2.23175137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.68 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.33, Y:-171.98, Z:2.23 [[-7.33253803e-01 -6.79919731e-01 6.92958144e-03 2.73286792e+01] [-6.79891377e-01 7.33286530e-01 6.21137707e-03 -1.71982889e+02] [-9.30460655e-03 -1.56846806e-04 -9.99956699e-01 2.23269587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.71 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.23, Y:-172.04, Z:2.23 [[-6.78660542e-01 -7.34422179e-01 6.62814199e-03 2.72327355e+01] [-7.34389573e-01 6.78692886e-01 6.92247532e-03 -1.72037535e+02] [-9.58249223e-03 -1.69627517e-04 -9.99954073e-01 2.23371321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.74 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.15, Y:-172.09, Z:2.23 [[-6.20330131e-01 -7.84317888e-01 5.99829215e-03 2.71512321e+01] [-7.84283805e-01 6.20359108e-01 7.31370447e-03 -1.72088207e+02] [-9.45736441e-03 -1.67452139e-04 -9.99955264e-01 2.23402393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.77 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.06, Y:-172.17, Z:2.23 [[-5.58540964e-01 -8.29460004e-01 5.30028387e-03 2.70589692e+01] [-8.29425369e-01 5.58566089e-01 7.58164936e-03 -1.72167894e+02] [-9.24923374e-03 -1.61528157e-04 -9.99957212e-01 2.23340886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.8 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.99, Y:-172.23, Z:2.23 [[-4.93568626e-01 -8.69694762e-01 4.58612005e-03 2.69852231e+01] [-8.69660044e-01 4.93589909e-01 7.77236055e-03 -1.72234515e+02] [-9.02324383e-03 -1.52172044e-04 -9.99959278e-01 2.23288440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.83 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.91, Y:-172.32, Z:2.23 [[-4.26346938e-01 -9.04552674e-01 3.57043723e-03 2.69110075e+01] [-9.04523356e-01 4.26361870e-01 7.28380064e-03 -1.72318457e+02] [-8.11087964e-03 -1.24117759e-04 -9.99967099e-01 2.23213216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.86 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.84, Y:-172.40, Z:2.23 [[-3.56194418e-01 -9.34407636e-01 2.81180878e-03 2.68441612e+01] [-9.34380854e-01 3.56205500e-01 7.07547395e-03 -1.72404036e+02] [-7.61295864e-03 -1.07055965e-04 -9.99971015e-01 2.23227875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.78, Y:-172.51, Z:2.23 [[-2.85352920e-01 -9.58419657e-01 2.33927818e-03 2.67796754e+01] [-9.58389995e-01 2.85362494e-01 7.54082325e-03 -1.72506596e+02] [-7.89481549e-03 -9.01448684e-05 -9.99968831e-01 2.23336208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.92 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.73, Y:-172.60, Z:2.23 [[-2.14739185e-01 -9.76669846e-01 1.75898363e-03 2.67301147e+01] [-9.76639068e-01 2.14746383e-01 7.75384477e-03 -1.72601967e+02] [-7.95068175e-03 -5.28378281e-05 -9.99968391e-01 2.23269064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.95 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.68, Y:-172.72, Z:2.23 [[-1.40357024e-01 -9.90100302e-01 1.13932221e-03 2.66832066e+01] [-9.90069709e-01 1.40361643e-01 7.78335456e-03 -1.72715290e+02] [-7.86621884e-03 -3.55599241e-05 -9.99969060e-01 2.23229642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.97999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.65, Y:-172.83, Z:2.23 [[-6.48943858e-02 -9.97891982e-01 5.57813268e-04 2.66455713e+01] [-9.97857937e-01 6.48967795e-02 8.24293624e-03 -1.72827724e+02] [-8.26176027e-03 -2.16981121e-05 -9.99965871e-01 2.23223996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.01 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.62, Y:-172.94, Z:2.23 [[ 9.24277024e-03 -9.99957280e-01 -9.87833026e-05 2.66183505e+01] [-9.99911088e-01 -9.24329276e-03 9.61131673e-03 -1.72939869e+02] [-9.61181921e-03 9.93932731e-06 -9.99953805e-01 2.23332462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.03999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.60, Y:-173.07, Z:2.23 [[ 8.52445157e-02 -9.96359647e-01 -9.08872416e-04 2.65979819e+01] [-9.96306465e-01 -8.52493561e-02 1.02944190e-02 -1.73066288e+02] [-1.03344245e-02 2.79726982e-05 -9.99946598e-01 2.23323419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.59, Y:-173.19, Z:2.23 [[ 1.61224067e-01 -9.86916235e-01 -1.77355676e-03 2.65869819e+01] [-9.86859385e-01 -1.61233816e-01 1.05929495e-02 -1.73188979e+02] [-1.07403111e-02 4.24127356e-05 -9.99942320e-01 2.23423582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.09999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.59, Y:-173.32, Z:2.23 [[ 2.36366017e-01 -9.71660378e-01 -2.68611679e-03 2.65873195e+01] [-9.71600245e-01 -2.36381273e-01 1.08100916e-02 -1.73321941e+02] [-1.11386854e-02 5.46934429e-05 -9.99937961e-01 2.23424311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.13 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.59, Y:-173.42, Z:2.23 [[ 3.10692061e-01 -9.50504589e-01 -3.38659623e-03 2.65879074e+01] [-9.50450155e-01 -3.10710512e-01 1.01725090e-02 -1.73419892e+02] [-1.07212675e-02 5.82731331e-05 -9.99942524e-01 2.23400119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.15999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.61, Y:-173.55, Z:2.23 [[ 3.82936880e-01 -9.23766457e-01 -3.85729264e-03 2.66085175e+01] [-9.23721170e-01 -3.82956301e-01 9.14723049e-03 -1.73549992e+02] [-9.92707922e-03 6.02509727e-05 -9.99950724e-01 2.23247128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.19 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.63, Y:-173.66, Z:2.23 [[ 4.53495331e-01 -8.91248121e-01 -4.33252188e-03 2.66276938e+01] [-8.91208645e-01 -4.53516023e-01 8.38853572e-03 -1.73656671e+02] [-9.44113479e-03 5.70191726e-05 -9.99955430e-01 2.23085727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.21999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.66, Y:-173.77, Z:2.23 [[ 5.21348525e-01 -8.53330906e-01 -4.69895534e-03 2.66604276e+01] [-8.53297131e-01 -5.21369698e-01 7.59237920e-03 -1.73771296e+02] [-8.92870474e-03 5.13294124e-05 -9.99960137e-01 2.22958869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.25 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.70, Y:-173.88, Z:2.23 [[ 5.86722391e-01 -8.09776417e-01 -4.35782460e-03 2.67030279e+01] [-8.09754507e-01 -5.86738573e-01 5.95700719e-03 -1.73884334e+02] [-7.38074772e-03 3.36586116e-05 -9.99972761e-01 2.22928150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.28 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.75, Y:-174.00, Z:2.23 [[ 6.48082201e-01 -7.61555363e-01 -4.78440167e-03 2.67544718e+01] [-7.61534926e-01 -6.48099860e-01 5.57918652e-03 -1.73995957e+02] [-7.34962946e-03 2.77174922e-05 -9.99972991e-01 2.22758796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.31 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.80, Y:-174.08, Z:2.23 [[ 7.05681575e-01 -7.08512384e-01 -4.86989961e-03 2.67982640e+01] [-7.08495688e-01 -7.05698379e-01 4.86405717e-03 -1.74084694e+02] [-6.88292499e-03 1.78273468e-05 -9.99976312e-01 2.22770226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.34 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.79, Y:-174.09, Z:2.23 [[ 7.60427587e-01 -6.49401014e-01 -5.31115882e-03 2.67922444e+01] [-6.49385180e-01 -7.60446134e-01 4.53484338e-03 -1.74093129e+02] [-6.98378208e-03 5.67824506e-07 -9.99975613e-01 2.22792254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.37 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.79, Y:-174.10, Z:2.23 [[ 8.08805366e-01 -5.88049291e-01 -5.64897063e-03 2.67865984e+01] [-5.88034954e-01 -8.08825093e-01 4.10633135e-03 -1.74097548e+02] [-6.98375444e-03 5.69352580e-07 -9.99975613e-01 2.22792222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.4 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.78, Y:-174.11, Z:2.23 [[ 8.53608651e-01 -5.20880772e-01 -5.95744024e-03 2.67772933e+01] [-5.20867945e-01 -8.53629440e-01 3.65563729e-03 -1.74106684e+02] [-6.98959755e-03 -1.74439669e-05 -9.99975572e-01 2.22846595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.43 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.77, Y:-174.11, Z:2.23 [[ 8.92296601e-01 -4.51405467e-01 -6.31503055e-03 2.67673351e+01] [-4.51393946e-01 -8.92318947e-01 3.22515985e-03 -1.74113196e+02] [-7.09087620e-03 -2.72326099e-05 -9.99974859e-01 2.22855456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.46 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.76, Y:-174.12, Z:2.23 [[ 9.25842703e-01 -3.77855838e-01 -6.34477679e-03 2.67582169e+01] [-3.77846639e-01 -9.25864442e-01 2.63699648e-03 -1.74121577e+02] [-6.87080774e-03 -4.40913671e-05 -9.99976395e-01 2.22860062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.49 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.75, Y:-174.13, Z:2.23 [[ 9.52980250e-01 -3.02961028e-01 -6.57712062e-03 2.67505733e+01] [-3.02953419e-01 -9.53002945e-01 2.14795709e-03 -1.74130532e+02] [-6.91876260e-03 -5.43995115e-05 -9.99976064e-01 2.22889206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.52 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.74, Y:-174.14, Z:2.23 [[ 9.74068920e-01 -2.26144759e-01 -6.94887079e-03 2.67430862e+01] [-2.26138518e-01 -9.74093704e-01 1.68147955e-03 -1.74139653e+02] [-7.14910907e-03 -6.64696318e-05 -9.99974443e-01 2.22941561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.55 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.73, Y:-174.15, Z:2.23 [[ 9.89012969e-01 -1.47644285e-01 -7.38327096e-03 2.67336018e+01] [-1.47639557e-01 -9.89040524e-01 1.18435239e-03 -1.74147706e+02] [-7.47721704e-03 -8.12770178e-05 -9.99972042e-01 2.22977398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.58 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.72, Y:-174.16, Z:2.23 [[ 9.97632365e-01 -6.83580252e-02 -7.53955293e-03 2.67245984e+01] [-6.83553689e-02 -9.97660850e-01 6.09736295e-04 -1.74156843e+02] [-7.56359715e-03 -9.29237396e-05 -9.99971391e-01 2.23070087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.61 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.72, Y:-174.17, Z:2.23 [[ 9.99889714e-01 1.24840745e-02 -8.04414231e-03 2.67167386e+01] [ 1.24846270e-02 -9.99922064e-01 1.84736548e-05 -1.74166775e+02] [-8.04328476e-03 -1.18899734e-04 -9.99967645e-01 2.23227569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.64 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.71, Y:-174.17, Z:2.23 [[ 9.95718575e-01 9.20806592e-02 -8.10384503e-03 2.67105411e+01] [ 9.20786812e-02 -9.95751543e-01 -6.17635359e-04 -1.74174851e+02] [-8.12628846e-03 -1.31200363e-04 -9.99966973e-01 2.23299430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.67 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.70, Y:-174.18, Z:2.23 [[ 9.85157830e-01 1.71437268e-01 -8.56235113e-03 2.67031328e+01] [ 1.71432159e-01 -9.85195026e-01 -1.33256702e-03 -1.74183923e+02] [-8.66403740e-03 -1.55073508e-04 -9.99962455e-01 2.23392360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.7 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.70, Y:-174.19, Z:2.23 [[ 9.68715391e-01 2.48031042e-01 -8.43173943e-03 2.66970172e+01] [ 2.48023037e-01 -9.68752073e-01 -1.99872363e-03 -1.74191206e+02] [-8.66401056e-03 -1.55071273e-04 -9.99962455e-01 2.23392335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.72999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.69, Y:-174.20, Z:2.23 [[ 9.46050571e-01 3.23915391e-01 -8.19373701e-03 2.66907189e+01] [ 3.23904714e-01 -9.46086039e-01 -2.63484204e-03 -1.74199508e+02] [-8.60544609e-03 -1.61296229e-04 -9.99962959e-01 2.23429485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.76 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.69, Y:-174.21, Z:2.23 [[ 9.17179229e-01 3.98407072e-01 -7.35305560e-03 2.66867751e+01] [ 3.98395672e-01 -9.17208689e-01 -3.01809415e-03 -1.74208327e+02] [-7.94671654e-03 -1.61292263e-04 -9.99968411e-01 2.23361867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.78999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.68, Y:-174.22, Z:2.23 [[ 8.82774416e-01 4.69744639e-01 -7.02171950e-03 2.66839404e+01] [ 4.69731271e-01 -8.82802326e-01 -3.54782312e-03 -1.74218180e+02] [-7.86536120e-03 -1.66393736e-04 -9.99969054e-01 2.23336487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.82 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.68, Y:-174.23, Z:2.23 [[ 8.42713391e-01 5.38325586e-01 -6.30110026e-03 2.66819244e+01] [ 5.38311983e-01 -8.42736932e-01 -3.83046696e-03 -1.74228155e+02] [-7.37220827e-03 -1.63971978e-04 -9.99972811e-01 2.23355469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.84999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.68, Y:-174.24, Z:2.23 [[ 7.97634666e-01 6.03111710e-01 -5.93334228e-03 2.66796180e+01] [ 6.03096567e-01 -7.97656717e-01 -4.27711029e-03 -1.74239404e+02] [-7.31234563e-03 -1.66806922e-04 -9.99973251e-01 2.23405931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.88 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.68, Y:-174.25, Z:2.23 [[ 7.47977628e-01 6.63700481e-01 -5.58030846e-03 2.66775756e+01] [ 6.63683658e-01 -7.47998425e-01 -4.72842412e-03 -1.74249050e+02] [-7.31231930e-03 -1.66804081e-04 -9.99973251e-01 2.23405907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.90999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.68, Y:-174.26, Z:2.23 [[ 6.93550045e-01 7.20389696e-01 -5.19820846e-03 2.66769588e+01] [ 7.20371259e-01 -6.93569505e-01 -5.15661626e-03 -1.74258771e+02] [-7.32009208e-03 -1.68268532e-04 -9.99973194e-01 2.23373502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.94 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.68, Y:-174.27, Z:2.23 [[ 6.34999201e-01 7.72499973e-01 -4.45040200e-03 2.66771155e+01] [ 7.72482708e-01 -6.35014777e-01 -5.16705953e-03 -1.74271012e+02] [-6.81762438e-03 -1.56779917e-04 -9.99976747e-01 2.23380002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.96999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.68, Y:-174.28, Z:2.23 [[ 5.73330657e-01 8.19314155e-01 -4.03408403e-03 2.66752751e+01] [ 8.19295694e-01 -5.73344829e-01 -5.50208415e-03 -1.74279892e+02] [-6.82085665e-03 -1.50594156e-04 -9.99976726e-01 2.23411869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.0 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.67, Y:-174.29, Z:2.23 [[ 5.08476041e-01 8.61068528e-01 -3.62028833e-03 2.66717830e+01] [ 8.61048674e-01 -5.08488909e-01 -5.84892811e-03 -1.74287573e+02] [-6.87720438e-03 -1.43204660e-04 -9.99976342e-01 2.23414595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.03 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.67, Y:-174.30, Z:2.23 [[ 4.40938782e-01 8.97531806e-01 -3.10602911e-03 2.66713342e+01] [ 8.97511578e-01 -4.40949702e-01 -6.02716370e-03 -1.74297068e+02] [-6.77917373e-03 -1.30086871e-04 -9.99977013e-01 2.23373359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.06 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.67, Y:-174.31, Z:2.23 [[ 3.71292558e-01 9.28512552e-01 -2.50527096e-03 2.66717732e+01] [ 9.28493377e-01 -3.71300994e-01 -5.96833687e-03 -1.74306634e+02] [-6.47188530e-03 -1.10128432e-04 -9.99979051e-01 2.23346812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.09 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.67, Y:-174.32, Z:2.23 [[ 2.99734231e-01 9.54020900e-01 -1.87423066e-03 2.66704758e+01] [ 9.54004027e-01 -2.99740078e-01 -5.67468400e-03 -1.74316224e+02] [-5.97554918e-03 -8.71265542e-05 -9.99982142e-01 2.23343119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.12 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.67, Y:-174.33, Z:2.23 [[ 2.26718669e-01 9.73959347e-01 -1.35518015e-03 2.66725431e+01] [ 9.73943680e-01 -2.26722709e-01 -5.52465095e-03 -1.74325992e+02] [-5.68803554e-03 -6.73276311e-05 -9.99983821e-01 2.23267883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.15 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.67, Y:-174.34, Z:2.23 [[ 1.55984627e-01 9.87758994e-01 -9.82877059e-04 2.66719205e+01] [ 9.87740721e-01 -1.55987720e-01 -6.00831375e-03 -1.74336595e+02] [-6.08808270e-03 -3.36231169e-05 -9.99981467e-01 2.23268442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.18 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.67, Y:-174.35, Z:2.23 [[ 8.15537329e-02 9.96668786e-01 -5.64797326e-04 2.66744657e+01] [ 9.96646077e-01 -8.15556873e-02 -6.72811780e-03 -1.74347560e+02] [-6.75176743e-03 -1.41999174e-05 -9.99977206e-01 2.23324092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.21 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.68, Y:-174.36, Z:2.23 [[ 6.58780556e-03 9.99978300e-01 -3.54574257e-05 2.66786804e+01] [ 9.99956223e-01 -6.58789573e-03 -6.64473446e-03 -1.74357960e+02] [-6.64482385e-03 8.31834508e-06 -9.99977923e-01 2.23283698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.24 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.68, Y:-174.37, Z:2.23 [[-6.85751759e-02 9.97645826e-01 5.01283125e-04 2.66839056e+01] [ 9.97622315e-01 6.85770013e-02 -6.84923397e-03 -1.74368097e+02] [-6.86748617e-03 3.04038071e-05 -9.99976418e-01 2.23283039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.27 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.69, Y:-174.38, Z:2.23 [[-1.42409279e-01 9.89807462e-01 8.86796984e-04 2.66891467e+01] [ 9.89790414e-01 1.42412031e-01 -5.80943030e-03 -1.74379190e+02] [-5.87650801e-03 5.04263767e-05 -9.99982732e-01 2.23085918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.3 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.70, Y:-174.39, Z:2.23 [[-2.18745782e-01 9.75781070e-01 1.25981194e-03 2.66999772e+01] [ 9.75766224e-01 2.18749404e-01 -5.38283142e-03 -1.74388585e+02] [-5.52804811e-03 5.18102719e-05 -9.99984719e-01 2.23032528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.33 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.71, Y:-174.40, Z:2.23 [[-2.94080087e-01 9.55779282e-01 1.69286822e-03 2.67117976e+01] [ 9.55764506e-01 2.94084954e-01 -5.31488937e-03 -1.74396236e+02] [-5.57770822e-03 5.49802298e-05 -9.99984443e-01 2.23015244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.36 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.72, Y:-174.40, Z:2.23 [[-3.67231864e-01 9.30126011e-01 2.52221180e-03 2.67249217e+01] [ 9.30105407e-01 3.67240518e-01 -6.19140361e-03 -1.74403595e+02] [-6.68504391e-03 7.22421394e-05 -9.99977652e-01 2.23088708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.39 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.74, Y:-174.41, Z:2.23 [[-4.38888960e-01 8.98536141e-01 3.04696107e-03 2.67380052e+01] [ 8.98515644e-01 4.38899530e-01 -6.06962963e-03 -1.74409513e+02] [-6.79109136e-03 7.38487506e-05 -9.99976938e-01 2.23124394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.42 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.75, Y:-174.41, Z:2.23 [[-5.07533462e-01 8.61624357e-01 3.64039018e-03 2.67514592e+01] [ 8.61603306e-01 5.07546511e-01 -6.02352350e-03 -1.74414258e+02] [-7.03768190e-03 7.94324816e-05 -9.99975232e-01 2.23125011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.45 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.77, Y:-174.42, Z:2.23 [[-5.73124537e-01 8.19457719e-01 4.16076723e-03 2.67651718e+01] [ 8.19437176e-01 5.73139633e-01 -5.80308802e-03 -1.74417403e+02] [-7.14008588e-03 8.35952189e-05 -9.99974506e-01 2.23097409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.47999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.78, Y:-174.42, Z:2.23 [[-6.35210438e-01 7.72324223e-01 4.79527394e-03 2.67786901e+01] [ 7.72303284e-01 6.35228531e-01 -5.68783018e-03 -1.74420832e+02] [-7.43894384e-03 9.04367112e-05 -9.99972327e-01 2.23077453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.51 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.79, Y:-174.42, Z:2.23 [[-6.93257518e-01 7.20668761e-01 5.52730884e-03 2.67932419e+01] [ 7.20647012e-01 6.93279545e-01 -5.59970101e-03 -1.74421223e+02] [-7.86749975e-03 1.01203779e-04 -9.99969046e-01 2.23118860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.53999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.81, Y:-174.42, Z:2.23 [[-7.47546264e-01 6.64183304e-01 5.92635660e-03 2.68066265e+01] [ 6.64163500e-01 7.47569748e-01 -5.13001132e-03 -1.74421083e+02] [-7.83763278e-03 1.01148946e-04 -9.99969280e-01 2.23117878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.84, Y:-174.41, Z:2.23 [[-7.93138487e-01 6.09006803e-01 6.48493476e-03 2.68358224e+01] [ 6.08987455e-01 7.93164992e-01 -4.85544350e-03 -1.74407596e+02] [-8.10062135e-03 9.82048022e-05 -9.99967185e-01 2.23119950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.59999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.85, Y:-174.38, Z:2.23 [[-8.34790318e-01 5.50526596e-01 6.75218038e-03 2.68527132e+01] [ 5.50509450e-01 8.34817620e-01 -4.34583327e-03 -1.74383554e+02] [-8.02933595e-03 8.92795645e-05 -9.99967760e-01 2.23140351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.63 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.35, Y:-173.64, Z:1.46 [[-8.08219688e-01 -5.88846496e-01 6.38281167e-03 2.73517605e+01] [ 5.88827226e-01 -8.08244886e-01 -4.76461828e-03 -1.73637659e+02] [ 7.96450367e-03 -9.24850109e-05 9.99968279e-01 1.45648225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.65999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.34, Y:-173.67, Z:1.46 [[-7.63910491e-01 -6.45291337e-01 6.31283374e-03 2.73385959e+01] [ 6.45268847e-01 -7.63936574e-01 -5.38765328e-03 -1.73673960e+02] [ 8.29921056e-03 -4.22099150e-05 9.99965560e-01 1.45598301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.69 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.77, Y:-174.34, Z:2.23 [[-8.03236675e-01 5.95622984e-01 6.64112279e-03 2.67669063e+01] [ 5.95602833e-01 8.03264129e-01 -4.89941330e-03 -1.74344082e+02] [-8.25277888e-03 2.00831026e-05 -9.99965945e-01 2.23302387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.71999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.79, Y:-174.32, Z:2.23 [[-8.44810727e-01 5.35014516e-01 7.36910041e-03 2.67897940e+01] [ 5.34994139e-01 8.44842865e-01 -4.66952531e-03 -1.74321850e+02] [-8.72399574e-03 -2.43954609e-06 -9.99961945e-01 2.23303902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.81, Y:-174.30, Z:2.23 [[-8.81824271e-01 4.71517499e-01 7.56332682e-03 2.68115285e+01] [ 4.71499908e-01 8.81856705e-01 -4.07296761e-03 -1.74298826e+02] [-8.59024597e-03 -2.55337972e-05 -9.99963103e-01 2.23368624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.78 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.84, Y:-174.27, Z:2.23 [[-9.15328038e-01 4.02632337e-01 7.86032437e-03 2.68355472e+01] [ 4.02616781e-01 9.15361784e-01 -3.54011797e-03 -1.74272613e+02] [-8.62040651e-03 -7.56707392e-05 -9.99962841e-01 2.23340621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.81 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:27.19, Y:-173.51, Z:1.46 [[-8.76577881e-01 -4.81191870e-01 8.09954235e-03 2.71908069e+01] [ 4.81172546e-01 -8.76615292e-01 -4.31400290e-03 -1.73506849e+02] [ 9.17604581e-03 1.15717896e-04 9.99957893e-01 1.45529420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.84 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.80, Y:-174.24, Z:2.23 [[-9.19942667e-01 3.91965217e-01 8.29204219e-03 2.67958233e+01] [ 3.91947804e-01 9.19980025e-01 -3.69771554e-03 -1.74244987e+02] [-9.07788905e-03 -1.51638569e-04 -9.99958784e-01 2.23306242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.87 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.81, Y:-174.22, Z:2.23 [[-9.46251009e-01 3.23322437e-01 8.46339048e-03 2.68099854e+01] [ 3.23307852e-01 9.46288841e-01 -3.07594028e-03 -1.74220402e+02] [-9.00333248e-03 -1.74331003e-04 -9.99959454e-01 2.23154697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.9 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.83, Y:-174.19, Z:2.23 [[-9.67290474e-01 2.53527323e-01 8.54611224e-03 2.68250565e+01] [ 2.53515692e-01 9.67328207e-01 -2.43581896e-03 -1.74193564e+02] [-8.88444210e-03 -1.89570913e-04 -9.99960515e-01 2.23186540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.93 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.84, Y:-174.17, Z:2.23 [[-9.83172620e-01 1.82455259e-01 9.03755758e-03 2.68357945e+01] [ 1.82445535e-01 9.83214133e-01 -1.89595789e-03 -1.74166425e+02] [-9.23178183e-03 -2.15191858e-04 -9.99957363e-01 2.23169044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.96 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.83, Y:-174.13, Z:2.23 [[-9.93953750e-01 1.09352580e-01 9.89729592e-03 2.68314375e+01] [ 1.09344528e-01 9.94002990e-01 -1.35265155e-03 -1.74133625e+02] [-9.98585768e-03 -2.62257930e-04 -9.99950106e-01 2.23250236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.99 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.85, Y:-174.11, Z:2.23 [[-9.99259673e-01 3.70935411e-02 1.02065980e-02 2.68483229e+01] [ 3.70887190e-02 9.99311758e-01 -6.61396608e-04 -1.74107844e+02] [-1.02241070e-02 -2.82357312e-04 -9.99947693e-01 2.23251697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.02 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.85, Y:-174.08, Z:2.23 [[-9.99338632e-01 -3.47278787e-02 1.07829582e-02 2.68519014e+01] [-3.47291520e-02 9.99396759e-01 6.91953767e-05 -1.74079476e+02] [-1.07788565e-02 -3.05333382e-04 -9.99941860e-01 2.23316713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.05 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.85, Y:-173.28, Z:1.45 [[-9.95919382e-01 -8.96076638e-02 1.07261739e-02 2.68505989e+01] [ 8.96057273e-02 -9.95977096e-01 -6.61944113e-04 -1.73277521e+02] [ 1.07423388e-02 3.01883640e-04 9.99942254e-01 1.45438519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.08 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.76, Y:-174.08, Z:2.23 [[-9.99106982e-01 -4.09624385e-02 1.03593563e-02 2.67612440e+01] [-4.09633139e-02 9.99160643e-01 1.27750606e-04 -1.74078728e+02] [-1.03558941e-02 -2.96717041e-04 -9.99946332e-01 2.23372862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.11 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.75, Y:-173.28, Z:1.45 [[-9.96487479e-01 -8.31261688e-02 1.01363054e-02 2.67492952e+01] [ 8.31246953e-02 -9.96538992e-01 -5.67308697e-04 -1.73278125e+02] [ 1.01483817e-02 2.77261283e-04 9.99948465e-01 1.45379367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.14 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.67, Y:-174.08, Z:2.23 [[-9.98897108e-01 -4.59429264e-02 9.68583870e-03 2.66658083e+01] [-4.59433416e-02 9.98944031e-01 1.79741694e-04 -1.74078085e+02] [-9.68386862e-03 -2.65456339e-04 -9.99953075e-01 2.23385827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.17 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.67, Y:-174.05, Z:2.23 [[-9.93270207e-01 -1.15454063e-01 9.20082646e-03 2.66657915e+01] [-1.15451344e-01 9.93312792e-01 8.27905848e-04 -1.74053175e+02] [-9.23488371e-03 -2.39913564e-04 -9.99957329e-01 2.23323387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.2 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.66, Y:-174.03, Z:2.23 [[-9.83130813e-01 -1.82725635e-01 8.07132589e-03 2.66602316e+01] [-1.82721024e-01 9.83163927e-01 1.31134647e-03 -1.74029599e+02] [-8.17505307e-03 -1.85575805e-04 -9.99966567e-01 2.23264816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.22999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.64, Y:-174.01, Z:2.23 [[-9.67994017e-01 -2.50862013e-01 7.47221305e-03 2.66395799e+01] [-2.50855795e-01 9.68022844e-01 1.77329496e-03 -1.74007355e+02] [-7.67812527e-03 -1.57909032e-04 -9.99970510e-01 2.23236619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.26 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.60, Y:-173.99, Z:2.23 [[-9.47790373e-01 -3.18817103e-01 7.00451072e-03 2.66008212e+01] [-3.18809447e-01 9.47816246e-01 2.21350993e-03 -1.73991244e+02] [-7.34469388e-03 -1.35160784e-04 -9.99973018e-01 2.23237077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.28999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.54, Y:-173.98, Z:2.23 [[-9.22742955e-01 -3.85356284e-01 6.78033870e-03 2.65427849e+01] [-3.85346799e-01 9.22767859e-01 2.70615393e-03 -1.73983632e+02] [-7.29951205e-03 -1.15697344e-04 -9.99973352e-01 2.23326710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.32 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.47, Y:-173.99, Z:2.23 [[-8.92699776e-01 -4.50601605e-01 6.73083579e-03 2.64748826e+01] [-4.50589637e-01 8.92725145e-01 3.28561467e-03 -1.73987121e+02] [-7.48928960e-03 -9.97773780e-05 -9.99971950e-01 2.23321564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.34999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.41, Y:-174.00, Z:2.23 [[-8.59320230e-01 -5.11391341e-01 6.90209289e-03 2.64078509e+01] [-5.11375400e-01 8.59347946e-01 4.03831889e-03 -1.73997100e+02] [-7.99646067e-03 -5.93513898e-05 -9.99968026e-01 2.23331621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.38 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.32, Y:-174.02, Z:2.23 [[-8.20322421e-01 -5.71858198e-01 7.02335435e-03 2.63218575e+01] [-5.71837596e-01 8.20352486e-01 4.85418684e-03 -1.74022386e+02] [-8.53753274e-03 -3.42197674e-05 -9.99963554e-01 2.23328597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.40999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.24, Y:-174.05, Z:2.23 [[-7.77116258e-01 -6.29322239e-01 6.62123756e-03 2.62380831e+01] [-6.29299398e-01 7.77144465e-01 5.36182850e-03 -1.74054398e+02] [-8.51997604e-03 2.32931276e-08 -9.99963704e-01 2.23343493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.44 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.16, Y:-174.10, Z:2.23 [[-7.32867576e-01 -6.80346436e-01 5.81750092e-03 2.61565633e+01] [-6.80324233e-01 7.32890662e-01 5.49694358e-03 -1.74096660e+02] [-8.00341807e-03 7.07448668e-05 -9.99967970e-01 2.23306069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.46999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.07, Y:-174.15, Z:2.23 [[-6.82140673e-01 -7.31202836e-01 5.14923297e-03 2.60713083e+01] [-7.31180845e-01 6.82160099e-01 5.67192282e-03 -1.74149057e+02] [-7.65992733e-03 1.04028734e-04 -9.99970657e-01 2.23298292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.98, Y:-174.21, Z:2.23 [[-6.27736295e-01 -7.78413437e-01 4.43463961e-03 2.59837131e+01] [-7.78392506e-01 6.27751945e-01 5.70991079e-03 -1.74214328e+02] [-7.22852492e-03 1.32428009e-04 -9.99973865e-01 2.23205465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.53 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.90, Y:-174.29, Z:2.23 [[-5.69850602e-01 -8.21739441e-01 3.81871975e-03 2.59024099e+01] [-8.21719084e-01 5.69863375e-01 5.78627658e-03 -1.74285419e+02] [-6.93096021e-03 1.59398300e-04 -9.99975968e-01 2.23144888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.83, Y:-174.37, Z:2.23 [[-5.12235597e-01 -8.58839715e-01 3.00609555e-03 2.58281182e+01] [-8.58822610e-01 5.12244380e-01 5.42396749e-03 -1.74365895e+02] [-6.19817425e-03 1.96646405e-04 -9.99980772e-01 2.23034994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.59 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.75, Y:-174.46, Z:2.23 [[-4.47522189e-01 -8.94269450e-01 2.45797904e-03 2.57507533e+01] [-8.94253304e-01 4.47528891e-01 5.37771860e-03 -1.74461192e+02] [-5.90914608e-03 2.08592522e-04 -9.99982519e-01 2.22977450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.62 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.68, Y:-174.55, Z:2.23 [[-3.79823336e-01 -9.25056840e-01 2.01876922e-03 2.56820549e+01] [-9.25040462e-01 3.79828634e-01 5.50923781e-03 -1.74551427e+02] [-5.86314448e-03 2.25093876e-04 -9.99982786e-01 2.22906999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.65 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.62, Y:-174.66, Z:2.23 [[-3.09375294e-01 -9.50938957e-01 1.42402685e-03 2.56236184e+01] [-9.50925454e-01 3.09378497e-01 5.07217419e-03 -1.74655954e+02] [-5.26389132e-03 2.15062006e-04 -9.99986123e-01 2.22921812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.68 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.57, Y:-174.76, Z:2.23 [[-2.37619959e-01 -9.71357773e-01 9.12211432e-04 2.55662087e+01] [-9.71346940e-01 2.37621621e-01 4.59208612e-03 -1.74762541e+02] [-4.67731971e-03 2.05097531e-04 -9.99989040e-01 2.22853607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.71 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.52, Y:-174.88, Z:2.23 [[-1.61889233e-01 -9.86808775e-01 5.64474380e-04 2.55190430e+01] [-9.86797399e-01 1.61890080e-01 4.74296352e-03 -1.74878140e+02] [-4.77178082e-03 2.10812875e-04 -9.99988593e-01 2.22847056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.74 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.48, Y:-175.00, Z:2.23 [[-8.45751951e-02 -9.96417080e-01 1.97351332e-04 2.54818709e+01] [-9.96405362e-01 8.45751585e-02 4.83696375e-03 -1.74998539e+02] [-4.83632432e-03 2.12445228e-04 -9.99988282e-01 2.22852291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.77 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.45, Y:-175.12, Z:2.23 [[-4.59844308e-03 -9.99989408e-01 -1.97351334e-04 2.54491573e+01] [-9.99975136e-01 4.59732216e-03 5.34722139e-03 -1.75120719e+02] [-5.34625746e-03 2.21935320e-04 -9.99985684e-01 2.22865731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.8 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.43, Y:-175.24, Z:2.23 [[ 7.29959084e-02 -9.97332053e-01 -6.11606223e-04 2.54303850e+01] [-9.97317911e-01 -7.29981332e-02 5.31577587e-03 -1.75244222e+02] [-5.34623977e-03 2.21935952e-04 -9.99985684e-01 2.22865638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.83 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.42, Y:-175.37, Z:2.23 [[ 1.52136993e-01 -9.88358813e-01 -1.09178304e-03 2.54183203e+01] [-9.88342921e-01 -1.52140743e-01 5.60932063e-03 -1.75370302e+02] [-5.71012616e-03 2.25670868e-04 -9.99983672e-01 2.22882127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.86 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.42, Y:-175.50, Z:2.23 [[ 2.30478019e-01 -9.73076196e-01 -1.61198301e-03 2.54165661e+01] [-9.73058766e-01 -2.30483546e-01 5.82863745e-03 -1.75496576e+02] [-6.04324393e-03 2.25181386e-04 -9.99981714e-01 2.22888043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.42, Y:-175.62, Z:2.23 [[ 3.07748660e-01 -9.51465392e-01 -2.09051987e-03 2.54222331e+01] [-9.51447892e-01 -3.07755687e-01 5.77454881e-03 -1.75618519e+02] [-6.13765273e-03 2.11911070e-04 -9.99981142e-01 2.22929436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.92 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.44, Y:-175.75, Z:2.23 [[ 3.86237868e-01 -9.22395348e-01 -2.67038298e-03 2.54354559e+01] [-9.22376467e-01 -3.86247056e-01 5.90458929e-03 -1.75746273e+02] [-6.47779326e-03 1.82522441e-04 -9.99979002e-01 2.22984372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.95 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.46, Y:-175.87, Z:2.23 [[ 4.59574532e-01 -8.88133489e-01 -3.18686369e-03 2.54601900e+01] [-8.88114527e-01 -4.59585553e-01 5.80581581e-03 -1.75865769e+02] [-6.62097596e-03 1.62094855e-04 -9.99978068e-01 2.22939547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.97999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.50, Y:-175.99, Z:2.23 [[ 5.30354081e-01 -8.47769263e-01 -3.43885971e-03 2.54965321e+01] [-8.47752966e-01 -5.30365215e-01 5.25819523e-03 -1.75987986e+02] [-6.28158787e-03 1.26598217e-04 -9.99980263e-01 2.22916373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.01 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.53, Y:-176.09, Z:2.23 [[ 5.97537565e-01 -8.01832163e-01 -3.74702809e-03 2.55319556e+01] [-8.01817406e-01 -5.97549306e-01 4.86570409e-03 -1.76092690e+02] [-6.14051207e-03 9.69913694e-05 -9.99981142e-01 2.22904963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.03999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.58, Y:-176.21, Z:2.23 [[ 6.64175786e-01 -7.47565698e-01 -4.00654039e-03 2.55767505e+01] [-7.47552457e-01 -6.64187870e-01 4.44950893e-03 -1.76206002e+02] [-5.98739578e-03 3.98430195e-05 -9.99982075e-01 2.22897244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.63, Y:-176.30, Z:2.23 [[ 7.22556435e-01 -6.91297447e-01 -4.47640824e-03 2.56261164e+01] [-6.91284298e-01 -7.22570301e-01 4.26379335e-03 -1.76303929e+02] [-6.18206910e-03 1.36394002e-05 -9.99980891e-01 2.22918828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.09999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.62, Y:-176.32, Z:2.23 [[ 7.77178252e-01 -6.29259641e-01 -5.12523364e-03 2.56179137e+01] [-6.29245830e-01 -7.77195151e-01 4.16915497e-03 -1.76315432e+02] [-6.60678770e-03 -1.51446736e-05 -9.99978175e-01 2.22934139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.13 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.61, Y:-176.33, Z:2.23 [[ 8.26269021e-01 -5.63245682e-01 -5.81434036e-03 2.56108458e+01] [-5.63231355e-01 -8.26289477e-01 4.01760451e-03 -1.76326724e+02] [-7.06722664e-03 -4.48033474e-05 -9.99975026e-01 2.22939379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.15999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.60, Y:-176.34, Z:2.23 [[ 8.70939952e-01 -4.91352968e-01 -5.98843938e-03 2.56025739e+01] [-4.91340653e-01 -8.70960535e-01 3.47991750e-03 -1.76341190e+02] [-6.92556215e-03 -8.84354617e-05 -9.99976014e-01 2.22939616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.19 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.60, Y:-176.35, Z:2.23 [[ 9.07633039e-01 -4.19715739e-01 -6.40034565e-03 2.55980098e+01] [-4.19704474e-01 -9.07655599e-01 3.07691590e-03 -1.76351764e+02] [-7.10073960e-03 -1.06456830e-04 -9.99974784e-01 2.22978254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.21999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.59, Y:-176.36, Z:2.23 [[ 9.38217151e-01 -3.45975540e-01 -7.03587005e-03 2.55942782e+01] [-3.45964808e-01 -9.38243524e-01 2.72796281e-03 -1.76363019e+02] [-7.54516792e-03 -1.25258068e-04 -9.99971527e-01 2.23040586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.25 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.59, Y:-176.37, Z:2.23 [[ 9.62730115e-01 -2.70357273e-01 -7.59408173e-03 2.55914124e+01] [-2.70347701e-01 -9.62760056e-01 2.27938869e-03 -1.76373292e+02] [-7.92752786e-03 -1.41393597e-04 -9.99968567e-01 2.23092733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.28 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.59, Y:-176.38, Z:2.23 [[ 9.81061072e-01 -1.93499939e-01 -8.77186667e-03 2.55897503e+01] [-1.93490678e-01 -9.81100273e-01 1.90056688e-03 -1.76384628e+02] [-8.97384036e-03 -1.67297759e-04 -9.99959720e-01 2.23249846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.31 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.59, Y:-176.39, Z:2.23 [[ 9.93132888e-01 -1.16612788e-01 -9.40871548e-03 2.55865738e+01] [-1.16605915e-01 -9.93177441e-01 1.27759847e-03 -1.76392839e+02] [-9.49350827e-03 -1.71713175e-04 -9.99954921e-01 2.23306268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.34 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.58, Y:-176.40, Z:2.23 [[ 9.99177920e-01 -3.94093087e-02 -9.50738551e-03 2.55839278e+01] [-3.94059672e-02 -9.99223138e-01 5.38606535e-04 -1.76400003e+02] [-9.52122570e-03 -1.63516036e-04 -9.99954659e-01 2.23284489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.37 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.58, Y:-176.41, Z:2.23 [[ 9.99243413e-01 3.79055106e-02 -8.70479427e-03 2.55817561e+01] [ 3.79052976e-02 -9.99281318e-01 -1.89512508e-04 -1.76407451e+02] [-8.70572186e-03 -1.40588691e-04 -9.99962095e-01 2.23238197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.4 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.58, Y:-176.41, Z:2.23 [[ 9.93438338e-01 1.14113638e-01 -7.63845173e-03 2.55807410e+01] [ 1.14111111e-01 -9.93467697e-01 -7.67232129e-04 -1.76414116e+02] [-7.67610670e-03 -1.09434403e-04 -9.99970532e-01 2.23165257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.43 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.58, Y:-176.42, Z:2.23 [[ 9.81610082e-01 1.90756061e-01 -7.33295814e-03 2.55789075e+01] [ 1.90751501e-01 -9.81637466e-01 -1.32269364e-03 -1.76420739e+02] [-7.45061828e-03 -1.00403363e-04 -9.99972239e-01 2.23111454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.46 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.58, Y:-176.43, Z:2.23 [[ 9.63884167e-01 2.66236786e-01 -6.72957265e-03 2.55784489e+01] [ 2.66230936e-01 -9.63907654e-01 -1.76717819e-03 -1.76427133e+02] [-6.95717443e-03 -8.82653466e-05 -9.99975795e-01 2.23069180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.49 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.58, Y:-176.43, Z:2.23 [[ 9.40261528e-01 3.40394740e-01 -6.29919386e-03 2.55787697e+01] [ 3.40387680e-01 -9.40282625e-01 -2.19397199e-03 -1.76433798e+02] [-6.66983906e-03 -8.12605296e-05 -9.99977753e-01 2.23052415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.52 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.58, Y:-176.44, Z:2.23 [[ 9.11045825e-01 4.12259952e-01 -6.10220575e-03 2.55790617e+01] [ 4.12251260e-01 -9.11066258e-01 -2.67809177e-03 -1.76441529e+02] [-6.66358374e-03 -7.57776878e-05 -9.99977795e-01 2.23008459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.55 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.58, Y:-176.45, Z:2.23 [[ 8.76025186e-01 4.82231132e-01 -5.74523949e-03 2.55803333e+01] [ 4.82221308e-01 -8.76044023e-01 -3.07896721e-03 -1.76449909e+02] [-6.51785656e-03 -7.32240746e-05 -9.99978756e-01 2.23002933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.58 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.58, Y:-176.46, Z:2.23 [[ 8.35743605e-01 5.49088490e-01 -5.86997298e-03 2.55831609e+01] [ 5.49075586e-01 -8.35764216e-01 -3.76510299e-03 -1.76458413e+02] [-6.97328808e-03 -7.63981086e-05 -9.99975683e-01 2.23053000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.61 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.59, Y:-176.47, Z:2.23 [[ 7.90097797e-01 6.12945605e-01 -6.56938798e-03 2.55871776e+01] [ 6.12925380e-01 -7.90125102e-01 -4.98021057e-03 -1.76468149e+02] [-8.24323653e-03 -9.16912217e-05 -9.99966020e-01 2.23180640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.64 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.59, Y:-176.48, Z:2.23 [[ 7.39629154e-01 6.72982920e-01 -6.53484411e-03 2.55910412e+01] [ 6.72957816e-01 -7.39658015e-01 -5.81358125e-03 -1.76478020e+02] [-8.74599071e-03 -9.77802410e-05 -9.99961748e-01 2.23292866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.67 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.59, Y:-176.49, Z:2.23 [[ 6.84648524e-01 7.28842638e-01 -6.69391799e-03 2.55934215e+01] [ 7.28809341e-01 -6.84681238e-01 -6.96751346e-03 -1.76485464e+02] [-9.66142095e-03 -1.08292157e-04 -9.99953322e-01 2.23325443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.7 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.60, Y:-176.49, Z:2.23 [[ 6.25520144e-01 7.80179606e-01 -6.65827608e-03 2.55984794e+01] [ 7.80137386e-01 -6.25555568e-01 -8.11726325e-03 -1.76493425e+02] [-1.04980449e-02 -1.16858424e-04 -9.99944887e-01 2.23292952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.72999999999996 meters Centerline goodness [0,1] 0.9999782187275381 Centerline is valid? [True, True] Translation: X:25.60, Y:-176.50, Z:2.23 [[ 5.63199614e-01 8.26298363e-01 -6.10000443e-03 2.56032879e+01] [ 8.26251995e-01 -5.63232637e-01 -8.75431447e-03 -1.76500683e+02] [-1.06693973e-02 -1.09714295e-04 -9.99943074e-01 2.23372719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.76 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.61, Y:-176.51, Z:2.23 [[ 4.97322980e-01 8.67548649e-01 -5.40317726e-03 2.56086079e+01] [ 8.67499695e-01 -4.97352320e-01 -9.21680002e-03 -1.76507475e+02] [-1.06833052e-02 -1.03528169e-04 -9.99942927e-01 2.23345039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.78999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.61, Y:-176.51, Z:2.23 [[ 4.28325012e-01 9.03613479e-01 -4.51275606e-03 2.56135903e+01] [ 9.03565641e-01 -4.28348774e-01 -9.29842448e-03 -1.76514588e+02] [-1.03352152e-02 -9.48235357e-05 -9.99946586e-01 2.23402031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.82 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.61, Y:-176.52, Z:2.23 [[ 3.57217382e-01 9.34014614e-01 -3.52738256e-03 2.56146924e+01] [ 9.33971234e-01 -3.57234789e-01 -9.00220580e-03 -1.76520773e+02] [-9.66829554e-03 -7.87294558e-05 -9.99953258e-01 2.23362076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.84999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.62, Y:-176.53, Z:2.23 [[ 2.83789141e-01 9.58882838e-01 -2.72500460e-03 2.56205711e+01] [ 9.58840914e-01 -2.83802215e-01 -8.96682479e-03 -1.76526653e+02] [-9.37149675e-03 -6.81583987e-05 -9.99956084e-01 2.23167723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.88 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.63, Y:-176.53, Z:2.23 [[ 2.08637056e-01 9.77991387e-01 -1.85071009e-03 2.56285310e+01] [ 9.77955238e-01 -2.08645257e-01 -8.40887053e-03 -1.76532684e+02] [-8.60994484e-03 -5.55096336e-05 -9.99962932e-01 2.23058871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.90999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.64, Y:-176.54, Z:2.23 [[ 1.32441450e-01 9.91190289e-01 -1.03629738e-03 2.56354794e+01] [ 9.91162304e-01 -1.32445498e-01 -7.44825816e-03 -1.76538744e+02] [-7.51989408e-03 -4.06807880e-05 -9.99971724e-01 2.22997107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.94 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.64, Y:-176.54, Z:2.23 [[ 5.43032673e-02 9.98524393e-01 -4.37880541e-04 2.56430955e+01] [ 9.98497612e-01 -5.43050179e-02 -7.31329632e-03 -1.76543924e+02] [-7.32628388e-03 -4.00867897e-05 -9.99973162e-01 2.22941170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.96999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.65, Y:-176.55, Z:2.23 [[-2.43943985e-02 9.99702404e-01 1.33279072e-04 2.56507065e+01] [ 9.99676649e-01 2.43947267e-02 -7.17602003e-03 -1.76548496e+02] [-7.17713578e-03 -4.18187163e-05 -9.99974243e-01 2.22951253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.0 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.66, Y:-176.55, Z:2.23 [[-1.04388714e-01 9.94536300e-01 7.38067998e-04 2.56589886e+01] [ 9.94507372e-01 1.04391307e-01 -7.58569654e-03 -1.76553218e+02] [-7.62129845e-03 -5.78470428e-05 -9.99970956e-01 2.22996438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.03 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.67, Y:-176.56, Z:2.23 [[-1.83160778e-01 9.83081894e-01 1.45554629e-03 2.56680038e+01] [ 9.83047606e-01 1.83166547e-01 -8.21100294e-03 -1.76557248e+02] [-8.33869572e-03 -7.30623844e-05 -9.99965230e-01 2.23042654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.06 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.68, Y:-176.56, Z:2.23 [[-2.61058169e-01 9.65320254e-01 2.33246838e-03 2.56776019e+01] [ 9.65278417e-01 2.61068572e-01 -8.98768302e-03 -1.76560171e+02] [-9.28492663e-03 -9.48266919e-05 -9.99956890e-01 2.23101992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.09 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.69, Y:-176.56, Z:2.23 [[-3.37625269e-01 9.41275147e-01 3.20571572e-03 2.56879789e+01] [ 9.41229335e-01 3.37640466e-01 -9.28728880e-03 -1.76562422e+02] [-9.82427347e-03 -1.18309700e-04 -9.99951734e-01 2.23123099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.12 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.70, Y:-176.56, Z:2.23 [[-4.11702895e-01 9.11308154e-01 4.26306535e-03 2.56990328e+01] [ 9.11255620e-01 4.11724941e-01 -9.78616271e-03 -1.76563522e+02] [-1.06734202e-02 -1.44249262e-04 -9.99943027e-01 2.23141227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.15 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.71, Y:-176.56, Z:2.23 [[-4.83619058e-01 8.75264076e-01 5.04018835e-03 2.57095059e+01] [ 8.75212906e-01 4.83645292e-01 -9.46572614e-03 -1.76563449e+02] [-1.07226734e-02 -1.66567665e-04 -9.99942497e-01 2.23187564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.18 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.72, Y:-176.56, Z:2.23 [[-5.51223457e-01 8.34339888e-01 5.44538390e-03 2.57203162e+01] [ 8.34296211e-01 5.51250328e-01 -8.53857864e-03 -1.76563993e+02] [-1.01258464e-02 -1.63601675e-04 -9.99948719e-01 2.23210558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.21 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.73, Y:-176.56, Z:2.23 [[-6.14967075e-01 7.88531215e-01 5.83268564e-03 2.57282602e+01] [ 7.88493300e-01 6.14994714e-01 -7.73417720e-03 -1.76563593e+02] [-9.68571098e-03 -1.57230775e-04 -9.99953080e-01 2.23090309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.24 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.74, Y:-176.56, Z:2.23 [[-6.74702997e-01 7.38065322e-01 5.95368710e-03 2.57376625e+01] [ 7.38034690e-01 6.74729250e-01 -6.72582856e-03 -1.76562792e+02] [-8.98122765e-03 -1.43909076e-04 -9.99959658e-01 2.23093631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.27 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.75, Y:-176.56, Z:2.23 [[-7.30348224e-01 6.83046593e-01 6.23084635e-03 2.57458140e+01] [ 6.83020119e-01 7.30374789e-01 -6.01532089e-03 -1.76561008e+02] [-8.65959753e-03 -1.37485512e-04 -9.99962496e-01 2.23050288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.3 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.77, Y:-176.55, Z:2.23 [[-7.76194466e-01 6.30468423e-01 5.63202991e-03 2.57694273e+01] [ 6.30450783e-01 7.76214890e-01 -4.71747380e-03 -1.76550569e+02] [-7.34588374e-03 -1.10959385e-04 -9.99973013e-01 2.23001802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.33 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.79, Y:-176.53, Z:2.23 [[-8.18777093e-01 5.74087620e-01 5.24174956e-03 2.57901531e+01] [ 5.74075095e-01 8.18793866e-01 -3.79344738e-03 -1.76534213e+02] [-6.46968357e-03 -9.68299477e-05 -9.99979067e-01 2.22960837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.36 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.80, Y:-176.51, Z:2.23 [[-8.57490559e-01 5.14477901e-01 4.73606008e-03 2.58027294e+01] [ 5.14469501e-01 8.57503634e-01 -2.94106338e-03 -1.76510851e+02] [-5.57430084e-03 -8.53756151e-05 -9.99984460e-01 2.22962605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.39 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.81, Y:-176.48, Z:2.23 [[-8.92045394e-01 4.51922806e-01 4.55983132e-03 2.58098683e+01] [ 4.51916430e-01 8.92057044e-01 -2.40213118e-03 -1.76484713e+02] [-5.15320751e-03 -8.21473655e-05 -9.99986719e-01 2.23013511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.42 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.21, Y:-175.80, Z:1.46 [[-8.42613221e-01 -5.38500501e-01 4.49120982e-03 2.62085318e+01] [ 5.38493426e-01 -8.42625185e-01 -2.76187810e-03 -1.75795329e+02] [ 5.27167924e-03 9.12919647e-05 9.99986100e-01 1.45743087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.45 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.79, Y:-176.48, Z:2.23 [[-8.94569326e-01 4.46900218e-01 5.09074401e-03 2.57891182e+01] [ 4.46892324e-01 8.94583805e-01 -2.65819886e-03 -1.76478384e+02] [-5.74204680e-03 -1.02928743e-04 -9.99983509e-01 2.23055568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.47999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.16, Y:-175.77, Z:1.46 [[-8.42247885e-01 -5.39059952e-01 5.73307338e-03 2.61645546e+01] [ 5.39048904e-01 -8.42267378e-01 -3.45586374e-03 -1.75770637e+02] [ 6.69169842e-03 1.79712990e-04 9.99977594e-01 1.45568950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.51 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.75, Y:-176.46, Z:2.23 [[-8.98181512e-01 4.39575700e-01 6.57077877e-03 2.57479077e+01] [ 4.39562579e-01 8.98205531e-01 -3.40040665e-03 -1.76458596e+02] [-7.39664597e-03 -1.65913921e-04 -9.99972631e-01 2.23270122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.53999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.12, Y:-175.75, Z:1.45 [[-8.42731110e-01 -5.38288459e-01 7.05765479e-03 2.61241077e+01] [ 5.38271899e-01 -8.42760630e-01 -4.22880930e-03 -1.75749519e+02] [ 8.22423284e-03 2.35188090e-04 9.99966153e-01 1.45432062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.71, Y:-176.44, Z:2.23 [[-9.01107894e-01 4.33519701e-01 8.07664547e-03 2.57058828e+01] [ 4.33499968e-01 9.01144059e-01 -4.14275047e-03 -1.76439598e+02] [-9.07418502e-03 -2.31839602e-04 -9.99958802e-01 2.23473030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.59999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.08, Y:-175.73, Z:1.45 [[-8.43448001e-01 -5.37158067e-01 7.52864207e-03 2.60837684e+01] [ 5.37138851e-01 -8.43481576e-01 -4.54827749e-03 -1.75725138e+02] [ 8.79341482e-03 2.07690587e-04 9.99961316e-01 1.45346407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.63 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.67, Y:-176.42, Z:2.23 [[-9.03004888e-01 4.29563718e-01 7.56208125e-03 2.56695181e+01] [ 4.29546572e-01 9.03036523e-01 -3.84445563e-03 -1.76424750e+02] [-8.48027421e-03 -2.23296149e-04 -9.99964017e-01 2.23493011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.65999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.05, Y:-175.70, Z:1.45 [[-8.45126829e-01 -5.34525202e-01 6.59177429e-03 2.60476161e+01] [ 5.34510373e-01 -8.45152521e-01 -3.98455136e-03 -1.75703510e+02] [ 7.70089778e-03 1.55920481e-04 9.99970336e-01 1.45436929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.69 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.63, Y:-176.41, Z:2.23 [[-9.04597630e-01 4.26210814e-01 6.88982614e-03 2.56305531e+01] [ 4.26196728e-01 9.04623845e-01 -3.47108604e-03 -1.76409976e+02] [-7.71211543e-03 -2.03514848e-04 -9.99970241e-01 2.23351569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.71999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:26.00, Y:-175.68, Z:1.46 [[-8.47041915e-01 -5.31491050e-01 6.10393303e-03 2.60042869e+01] [ 5.31478531e-01 -8.47063894e-01 -3.65097263e-03 -1.75680111e+02] [ 7.11088056e-03 1.51582514e-04 9.99974706e-01 1.45508036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.59, Y:-176.40, Z:2.23 [[-9.06114261e-01 4.22998965e-01 5.36852213e-03 2.55913038e+01] [ 4.22990501e-01 9.06130151e-01 -2.68051476e-03 -1.76395280e+02] [-5.99843474e-03 -1.58018786e-04 -9.99981997e-01 2.23193264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.78 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.60, Y:-176.37, Z:2.23 [[-9.33872442e-01 3.57580184e-01 4.32143278e-03 2.56036085e+01] [ 3.57575737e-01 9.33882432e-01 -1.78763193e-03 -1.76373890e+02] [-4.67493191e-03 -1.24180686e-04 -9.99989065e-01 2.23089672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.81 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.62, Y:-176.35, Z:2.23 [[-9.56892118e-01 2.90420673e-01 3.64792122e-03 2.56170812e+01] [ 2.90418151e-01 9.56899066e-01 -1.21457825e-03 -1.76352006e+02] [-3.84343104e-03 -1.02797814e-04 -9.99992609e-01 2.23027503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.84 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.64, Y:-176.33, Z:2.23 [[-9.75055245e-01 2.21937026e-01 3.35034548e-03 2.56389076e+01] [ 2.21935390e-01 9.75060997e-01 -8.57214842e-04 -1.76329456e+02] [-3.45703891e-03 -9.22715986e-05 -9.99994020e-01 2.23043562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.87 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.85, Y:-175.52, Z:1.46 [[-9.41369618e-01 -3.37363000e-01 3.07374400e-03 2.58527561e+01] [ 3.37361454e-01 -9.41374634e-01 -1.02405658e-03 -1.75522093e+02] [ 3.23902343e-03 7.29469876e-05 9.99994752e-01 1.45719238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.9 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.59, Y:-176.32, Z:2.23 [[-9.75690902e-01 2.19123264e-01 3.50132081e-03 2.55856507e+01] [ 2.19121511e-01 9.75697180e-01 -8.81543704e-04 -1.76321616e+02] [-3.60939557e-03 -9.28994655e-05 -9.99993482e-01 2.23112095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.93 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.61, Y:-176.30, Z:2.23 [[-9.88663146e-01 1.50084251e-01 4.46110691e-03 2.56052233e+01] [ 1.50082205e-01 9.88673204e-01 -7.91928040e-04 -1.76299058e+02] [-4.52943279e-03 -1.13417308e-04 -9.99989736e-01 2.23181997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.96 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.61, Y:-176.27, Z:2.23 [[-9.96749640e-01 8.04064690e-02 4.99547892e-03 2.56134917e+01] [ 8.04048482e-02 9.96762151e-01 -5.24768386e-04 -1.76274142e+02] [-5.02149908e-03 -1.21401975e-04 -9.99987385e-01 2.23245303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.99 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.70, Y:-175.43, Z:1.45 [[-9.81520560e-01 -1.91232635e-01 6.88984454e-03 2.57023202e+01] [ 1.91229956e-01 -9.81544700e-01 -1.05159715e-03 -1.75428503e+02] [ 6.96379008e-03 2.85380446e-04 9.99975712e-01 1.45349239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.02 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.53, Y:-176.27, Z:2.23 [[-9.96624806e-01 8.17639309e-02 7.32496066e-03 2.55333602e+01] [ 8.17607259e-02 9.96651715e-01 -7.36441815e-04 -1.76272547e+02] [-7.36064899e-03 -1.35062080e-04 -9.99972901e-01 2.23458674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.05 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.65, Y:-175.42, Z:1.45 [[-9.83163943e-01 -1.82593183e-01 6.95631315e-03 2.56541499e+01] [ 1.82589405e-01 -9.83188546e-01 -1.17980788e-03 -1.75418611e+02] [ 7.05479229e-03 1.10204507e-04 9.99975109e-01 1.45363092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.08 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.49, Y:-176.27, Z:2.23 [[-9.96694480e-01 8.09752794e-02 6.56644807e-03 2.54868112e+01] [ 8.09728876e-02 9.96716106e-01 -6.29718722e-04 -1.76272472e+02] [-6.59587620e-03 -9.59329122e-05 -9.99978242e-01 2.23384486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.11 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.58, Y:-175.41, Z:1.45 [[-9.84578236e-01 -1.74857862e-01 5.51585947e-03 2.55778976e+01] [ 1.74855226e-01 -9.84593687e-01 -9.60330900e-04 -1.75406944e+02] [ 5.59880182e-03 1.89559503e-05 9.99984326e-01 1.45452819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.14 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.42, Y:-176.27, Z:2.23 [[-9.96771239e-01 8.01984124e-02 3.91297608e-03 2.54201575e+01] [ 8.01976372e-02 9.96778919e-01 -3.54880288e-04 -1.76271880e+02] [-3.92883290e-03 -3.99230288e-05 -9.99992281e-01 2.23261494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.17 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.42, Y:-176.25, Z:2.23 [[-9.99938733e-01 1.05039565e-02 3.49256587e-03 2.54201099e+01] [ 1.05037842e-02 9.99944831e-01 -6.76775030e-05 -1.76246298e+02] [-3.49308408e-03 -3.09881985e-05 -9.99993899e-01 2.23253261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.2 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.46, Y:-175.36, Z:1.46 [[-9.95600232e-01 -9.36602652e-02 2.81636338e-03 2.54585297e+01] [ 9.36598410e-02 -9.95604216e-01 -2.82436322e-04 -1.75362911e+02] [ 2.83043631e-03 -1.74135220e-05 9.99995994e-01 1.45541234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.22999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.33, Y:-176.25, Z:2.23 [[-9.99967870e-01 7.69077071e-03 2.26085191e-03 2.53338127e+01] [ 7.69072177e-03 9.99970426e-01 -3.03383237e-05 -1.76246485e+02] [-2.26101837e-03 -1.29497659e-05 -9.99997444e-01 2.23270446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.26 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.36, Y:-175.36, Z:1.46 [[-9.96299248e-01 -8.59375782e-02 1.59389354e-03 2.53629026e+01] [ 8.59374138e-02 -9.96300523e-01 -1.71520867e-04 -1.75359819e+02] [ 1.60273706e-03 -3.39110214e-05 9.99998715e-01 1.45550622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.28999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.24, Y:-176.24, Z:2.23 [[-9.99997133e-01 1.74001042e-03 1.64489128e-03 2.52389807e+01] [ 1.73999164e-03 9.99998486e-01 -1.28495563e-05 -1.76244154e+02] [-1.64491114e-03 -9.98742244e-06 -9.99998647e-01 2.23254618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.32 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.25, Y:-176.21, Z:2.23 [[-9.97508293e-01 -7.05008056e-02 2.61577696e-03 2.52520859e+01] [-7.05006117e-02 9.97511722e-01 1.66374226e-04 -1.76214483e+02] [-2.62099770e-03 -1.84542060e-05 -9.99996565e-01 2.23403523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.34999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.26, Y:-176.19, Z:2.23 [[-9.89832409e-01 -1.42198054e-01 3.39344828e-03 2.52560810e+01] [-1.42197311e-01 9.89838226e-01 4.60560696e-04 -1.76186231e+02] [-3.42445566e-03 -2.66613163e-05 -9.99994136e-01 2.23480735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.38 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.24, Y:-176.16, Z:2.24 [[-9.76771681e-01 -2.14230917e-01 4.71134402e-03 2.52411707e+01] [-2.14228640e-01 9.76783043e-01 9.88645176e-04 -1.76159547e+02] [-4.81375931e-03 -4.36242118e-05 -9.99988413e-01 2.23680824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.40999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.20, Y:-176.14, Z:2.24 [[-9.58399409e-01 -2.85384542e-01 5.12216282e-03 2.52047975e+01] [-2.85380765e-01 9.58413095e-01 1.46930112e-03 -1.76139631e+02] [-5.32846375e-03 -5.35894220e-05 -9.99985802e-01 2.23732994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.44 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.15, Y:-176.13, Z:2.24 [[-9.34393942e-01 -3.56203329e-01 5.21058480e-03 2.51539558e+01] [-3.56198160e-01 9.34408468e-01 1.91996532e-03 -1.76126515e+02] [-5.55271260e-03 -6.19967544e-05 -9.99984582e-01 2.23767398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.46999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.09, Y:-176.12, Z:2.24 [[-9.04928786e-01 -4.25527801e-01 5.47572029e-03 2.50864451e+01] [-4.25520503e-01 9.04945349e-01 2.49316893e-03 -1.76123797e+02] [-6.01614031e-03 -7.38909188e-05 -9.99981900e-01 2.23784789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:25.01, Y:-176.13, Z:2.24 [[-8.69932459e-01 -4.93139648e-01 5.55020096e-03 2.50098671e+01] [-4.93130239e-01 8.69950159e-01 3.04751626e-03 -1.76130213e+02] [-6.33124930e-03 -8.58386161e-05 -9.99979954e-01 2.23798027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.53 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.93, Y:-176.15, Z:2.24 [[-8.29680563e-01 -5.58212715e-01 5.35984867e-03 2.49267651e+01] [-5.58201801e-01 8.29697871e-01 3.49192218e-03 -1.76147730e+02] [-6.39629039e-03 -9.46972156e-05 -9.99979539e-01 2.23750125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.84, Y:-176.17, Z:2.24 [[-7.84357272e-01 -6.20288447e-01 5.09031056e-03 2.48432929e+01] [-6.20276221e-01 7.84373783e-01 3.89585821e-03 -1.76172321e+02] [-6.40926199e-03 -1.01653883e-04 -9.99979455e-01 2.23701591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.59 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.75, Y:-176.21, Z:2.24 [[-7.33440118e-01 -6.79741626e-01 4.11281652e-03 2.47534130e+01] [-6.79731697e-01 7.33451642e-01 3.67542463e-03 -1.76208928e+02] [-5.51489115e-03 -9.99078837e-05 -9.99984788e-01 2.23589028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.62 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.67, Y:-176.25, Z:2.24 [[-6.79006247e-01 -7.34123399e-01 3.65393457e-03 2.46664160e+01] [-7.34113545e-01 6.79016071e-01 3.80510964e-03 -1.76254316e+02] [-5.27450032e-03 -9.87096412e-05 -9.99986085e-01 2.23544857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.65 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.58, Y:-176.31, Z:2.24 [[-6.20240632e-01 -7.84405074e-01 3.19960061e-03 2.45797896e+01] [-7.84395440e-01 6.20248877e-01 3.88885508e-03 -1.76309711e+02] [-5.03498635e-03 -9.77261952e-05 -9.99987320e-01 2.23524002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.68 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.50, Y:-176.38, Z:2.24 [[-5.59398047e-01 -8.28893832e-01 2.97317736e-03 2.44950116e+01] [-8.28882996e-01 5.59405940e-01 4.23954636e-03 -1.76375974e+02] [-5.17734690e-03 -9.28222029e-05 -9.99986593e-01 2.23605411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.71 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.41, Y:-176.46, Z:2.24 [[-4.95292999e-01 -8.68721476e-01 2.80041254e-03 2.44074349e+01] [-8.68708610e-01 4.95300907e-01 4.72884141e-03 -1.76463855e+02] [-5.49509296e-03 -9.05804436e-05 -9.99984898e-01 2.23654206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.74 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.34, Y:-176.54, Z:2.24 [[-4.28082569e-01 -9.03736480e-01 2.38521799e-03 2.43366023e+01] [-9.03723490e-01 4.28089207e-01 4.84601939e-03 -1.76539346e+02] [-5.40061058e-03 -8.10810923e-05 -9.99985413e-01 2.23684377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.77 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.27, Y:-176.62, Z:2.24 [[-3.61354819e-01 -9.32425047e-01 2.49544069e-03 2.42700491e+01] [-9.32404118e-01 3.61363429e-01 6.24763929e-03 -1.76624803e+02] [-6.72721636e-03 -6.91446135e-05 -9.99977370e-01 2.23850817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.8 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.21, Y:-176.72, Z:2.24 [[-2.89626852e-01 -9.57137198e-01 2.16142505e-03 2.42058310e+01] [-9.57112144e-01 2.89634910e-01 6.92553398e-03 -1.76722036e+02] [-7.25471034e-03 -6.29055544e-05 -9.99973682e-01 2.23966019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.83 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.15, Y:-176.83, Z:2.24 [[-2.15822945e-01 -9.76431015e-01 1.71167931e-03 2.41473276e+01] [-9.76402390e-01 2.15829724e-01 7.47682394e-03 -1.76832305e+02] [-7.67003406e-03 -5.76176109e-05 -9.99970583e-01 2.24022794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.86 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.10, Y:-176.94, Z:2.24 [[-1.41139633e-01 -9.89989069e-01 1.11696120e-03 2.40999740e+01] [-9.89960495e-01 1.41144046e-01 7.52178868e-03 -1.76938057e+02] [-7.60414099e-03 -4.41249614e-05 -9.99971087e-01 2.24017823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.06, Y:-177.05, Z:2.24 [[-6.69694087e-02 -9.97754899e-01 5.10334648e-04 2.40625982e+01] [-9.97728098e-01 6.69713504e-02 7.31310792e-03 -1.77047455e+02] [-7.33086706e-03 -1.94207038e-05 -9.99973129e-01 2.23864083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.92 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.03, Y:-177.18, Z:2.24 [[ 8.81763490e-03 -9.99961122e-01 -5.76598303e-05 2.40321875e+01] [-9.99935474e-01 -8.81782171e-03 7.16195527e-03 -1.77175800e+02] [-7.16218526e-03 -5.49539696e-06 -9.99974351e-01 2.23820542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.95 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.01, Y:-177.30, Z:2.24 [[ 8.45947296e-02 -9.96415240e-01 -6.32874563e-04 2.40115876e+01] [-9.96388043e-01 -8.45970966e-02 7.36202077e-03 -1.77304403e+02] [-7.38916904e-03 7.80049115e-06 -9.99972700e-01 2.23855004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.97999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.00, Y:-177.40, Z:2.24 [[ 1.60300955e-01 -9.87067391e-01 -1.25262241e-03 2.39961125e+01] [-9.87038212e-01 -1.60305848e-01 7.58961615e-03 -1.77402104e+02] [-7.69226531e-03 1.97634616e-05 -9.99970414e-01 2.23875254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.01 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.99, Y:-177.52, Z:2.24 [[ 2.35217487e-01 -9.71941220e-01 -1.73151778e-03 2.39927103e+01] [-9.71915738e-01 -2.35223858e-01 7.03803611e-03 -1.77524175e+02] [-7.24785170e-03 2.74202184e-05 -9.99973734e-01 2.23870110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.03999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.00, Y:-177.64, Z:2.24 [[ 3.08267207e-01 -9.51297755e-01 -1.97751952e-03 2.39988085e+01] [-9.51278900e-01 -3.08273548e-01 5.98948627e-03 -1.77643142e+02] [-6.30740180e-03 3.48103887e-05 -9.99980108e-01 2.23780557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.02, Y:-177.77, Z:2.24 [[ 3.81269493e-01 -9.24459724e-01 -2.79163505e-03 2.40152534e+01] [-9.24435674e-01 -3.81279711e-01 6.66827981e-03 -1.77766006e+02] [-7.22894992e-03 3.82753680e-05 -9.99973870e-01 2.23782760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.09999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.04, Y:-177.88, Z:2.24 [[ 4.51681735e-01 -8.92172599e-01 -3.41522375e-03 2.40367474e+01] [-8.92147768e-01 -4.51694644e-01 6.65650224e-03 -1.77879195e+02] [-7.48138718e-03 4.02637651e-05 -9.99972013e-01 2.23729579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.13 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.07, Y:-177.99, Z:2.24 [[ 5.18492780e-01 -8.55071470e-01 -4.24476854e-03 2.40702312e+01] [-8.55043624e-01 -5.18510153e-01 6.90090273e-03 -1.77994584e+02] [-8.10172063e-03 5.13940334e-05 -9.99967179e-01 2.23778183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.15999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.11, Y:-178.11, Z:2.24 [[ 5.81610951e-01 -8.13455074e-01 -4.42084605e-03 2.41134730e+01] [-8.13432356e-01 -5.81627749e-01 6.07973745e-03 -1.78108423e+02] [-7.51688002e-03 6.00173367e-05 -9.99971746e-01 2.23791964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.19 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.16, Y:-178.21, Z:2.24 [[ 6.42151674e-01 -7.66563077e-01 -4.71975369e-03 2.41604176e+01] [-7.66543081e-01 -6.42169016e-01 5.53714103e-03 -1.78213124e+02] [-7.27544745e-03 6.22101503e-05 -9.99973532e-01 2.23774530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.21999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.20, Y:-178.30, Z:2.24 [[ 6.98860116e-01 -7.15241650e-01 -4.89079454e-03 2.42026685e+01] [-7.15224759e-01 -6.98877226e-01 4.91598169e-03 -1.78302084e+02] [-6.93417979e-03 6.24338123e-05 -9.99975956e-01 2.23689690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.25 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.27, Y:-178.40, Z:2.24 [[ 7.51157074e-01 -6.60107800e-01 -4.55449270e-03 2.42666084e+01] [-6.60096136e-01 -7.51170879e-01 3.92447469e-03 -1.78400064e+02] [-6.01177863e-03 5.85061098e-05 -9.99981927e-01 2.23653580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.28 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.26, Y:-178.41, Z:2.24 [[ 7.99879811e-01 -6.00140908e-01 -4.81442155e-03 2.42605152e+01] [-6.00130510e-01 -7.99894297e-01 3.53326712e-03 -1.78408089e+02] [-5.97148648e-03 6.30922249e-05 -9.99982169e-01 2.23601738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.31 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.25, Y:-178.41, Z:2.24 [[ 8.42655837e-01 -5.38431596e-01 -4.74940569e-03 2.42534596e+01] [-5.38423553e-01 -8.42669218e-01 2.94402990e-03 -1.78412308e+02] [-5.58733670e-03 7.63879108e-05 -9.99984388e-01 2.23568810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.34 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.25, Y:-178.42, Z:2.24 [[ 8.81453115e-01 -4.72242171e-01 -5.26661001e-03 2.42467252e+01] [-4.72234349e-01 -8.81468844e-01 2.71967741e-03 -1.78417660e+02] [-5.92669901e-03 8.98060179e-05 -9.99982433e-01 2.23526953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.37 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.24, Y:-178.42, Z:2.23 [[ 9.15063485e-01 -4.03279537e-01 -4.94312489e-03 2.42403845e+01] [-4.03274178e-01 -9.15076831e-01 2.08077136e-03 -1.78423743e+02] [-5.36247157e-03 8.93967392e-05 -9.99985618e-01 2.23496187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.4 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.23, Y:-178.43, Z:2.23 [[ 9.43380107e-01 -3.31672570e-01 -5.22302188e-03 2.42346273e+01] [-3.31668064e-01 -9.43394561e-01 1.73167184e-03 -1.78430022e+02] [-5.50171848e-03 9.86847853e-05 -9.99984861e-01 2.23468016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.43 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.23, Y:-178.44, Z:2.23 [[ 9.66134357e-01 -2.57988088e-01 -5.15274850e-03 2.42255868e+01] [-2.57984979e-01 -9.66148092e-01 1.27065374e-03 -1.78440262e+02] [-5.30613166e-03 1.01709473e-04 -9.99985917e-01 2.23433732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.46 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.22, Y:-178.45, Z:2.23 [[ 9.83446588e-01 -1.81110127e-01 -5.65070809e-03 2.42157145e+01] [-1.81107763e-01 -9.83462816e-01 9.31500228e-04 -1.78448558e+02] [-5.72596541e-03 1.07306382e-04 -9.99983601e-01 2.23477032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.49 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.21, Y:-178.46, Z:2.24 [[ 9.94703308e-01 -1.02617063e-01 -5.92183151e-03 2.42065620e+01] [-1.02615875e-01 -9.94720929e-01 5.04859970e-04 -1.78455704e+02] [-5.94237699e-03 1.05488040e-04 -9.99982338e-01 2.23527255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.52 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.20, Y:-178.47, Z:2.23 [[ 9.99713945e-01 -2.29400620e-02 -6.76616973e-03 2.41991582e+01] [-2.29402807e-02 -9.99736836e-01 4.52876016e-05 -1.78469110e+02] [-6.76542801e-03 1.09943186e-04 -9.99977108e-01 2.23489233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.55 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.19, Y:-178.48, Z:2.24 [[ 9.98153651e-01 6.02426532e-02 -7.75322432e-03 2.41918309e+01] [ 6.02401459e-02 -9.98183758e-01 -5.56728541e-04 -1.78481825e+02] [-7.77268140e-03 8.86452611e-05 -9.99969788e-01 2.23626105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.58 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.18, Y:-178.49, Z:2.24 [[ 9.89977989e-01 1.41002408e-01 -7.86784699e-03 2.41848046e+01] [ 1.40997408e-01 -9.90009251e-01 -1.18937256e-03 -1.78491028e+02] [-7.95694570e-03 6.81066234e-05 -9.99968341e-01 2.23684690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.61 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.18, Y:-178.50, Z:2.24 [[ 9.75901732e-01 2.18072781e-01 -7.75058144e-03 2.41789029e+01] [ 2.18065349e-01 -9.75932507e-01 -1.80165726e-03 -1.78497989e+02] [-7.95693678e-03 6.81071987e-05 -9.99968341e-01 2.23684682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.64 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.18, Y:-178.51, Z:2.24 [[ 9.54942571e-01 2.96686680e-01 -7.85496447e-03 2.41758794e+01] [ 2.96676249e-01 -9.54974875e-01 -2.48815966e-03 -1.78511149e+02] [-8.23949754e-03 4.56681847e-05 -9.99966054e-01 2.23674354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.67 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.17, Y:-178.52, Z:2.24 [[ 9.27555426e-01 3.73603015e-01 -7.85607437e-03 2.41736993e+01] [ 3.73589442e-01 -9.27588695e-01 -3.18464451e-03 -1.78522938e+02] [-8.47699856e-03 1.89878506e-05 -9.99964069e-01 2.23705717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.7 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.17, Y:-178.54, Z:2.24 [[ 8.92584012e-01 4.50824919e-01 -7.11853200e-03 2.41737962e+01] [ 4.50810880e-01 -8.92612397e-01 -3.55798356e-03 -1.78537077e+02] [-7.95811756e-03 -3.33124345e-05 -9.99968333e-01 2.23674887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.72999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.17, Y:-178.55, Z:2.24 [[ 8.52926590e-01 5.21985111e-01 -6.91204781e-03 2.41738731e+01] [ 5.21968529e-01 -8.52954595e-01 -4.16108161e-03 -1.78549652e+02] [-8.06768558e-03 -5.87742730e-05 -9.99967454e-01 2.23617004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.76 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.17, Y:-178.56, Z:2.24 [[ 8.07699665e-01 5.89557770e-01 -6.54887469e-03 2.41744495e+01] [ 5.89539215e-01 -8.07726209e-01 -4.67813618e-03 -1.78562673e+02] [-8.04772927e-03 -8.22894210e-05 -9.99967613e-01 2.23628300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.78999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.18, Y:-178.57, Z:2.23 [[ 7.57135370e-01 6.53229119e-01 -6.14414332e-03 2.41755594e+01] [ 6.53208738e-01 -7.57160292e-01 -5.16116938e-03 -1.78572640e+02] [-8.02352747e-03 -1.05704216e-04 -9.99967805e-01 2.23497399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.82 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.18, Y:-178.58, Z:2.23 [[ 7.01779741e-01 7.12370546e-01 -5.77935373e-03 2.41780837e+01] [ 7.12347884e-01 -7.01803526e-01 -5.68363450e-03 -1.78583887e+02] [-8.10482463e-03 -1.28250855e-04 -9.99967147e-01 2.23430769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.84999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.18, Y:-178.60, Z:2.23 [[ 6.40608442e-01 7.67849326e-01 -5.31382749e-03 2.41817998e+01] [ 7.67824985e-01 -6.40630460e-01 -6.11594803e-03 -1.78595824e+02] [-8.10032632e-03 -1.62161571e-04 -9.99967179e-01 2.23421953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.88 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.19, Y:-178.61, Z:2.23 [[ 5.77494947e-01 8.16380319e-01 -4.77087476e-03 2.41851342e+01] [ 8.16354869e-01 -5.77514628e-01 -6.44838892e-03 -1.78605887e+02] [-8.01958776e-03 -1.70814827e-04 -9.99967828e-01 2.23454485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.90999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.19, Y:-178.61, Z:2.23 [[ 5.11140391e-01 8.59485297e-01 -4.53051415e-03 2.41874211e+01] [ 8.59454751e-01 -5.11160434e-01 -7.24858793e-03 -1.78614672e+02] [-8.54587432e-03 -1.88725842e-04 -9.99963466e-01 2.23481450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.94 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.19, Y:-178.62, Z:2.24 [[ 4.42342239e-01 8.96835144e-01 -4.47973384e-03 2.41912413e+01] [ 8.96793930e-01 -4.42364871e-01 -8.60053104e-03 -1.78623153e+02] [-9.69493538e-03 -2.13019958e-04 -9.99952980e-01 2.23504896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.96999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.20, Y:-178.63, Z:2.24 [[ 3.70963181e-01 9.28639218e-01 -3.93956736e-03 2.41961044e+01] [ 9.28592960e-01 -3.70984035e-01 -9.27152285e-03 -1.78631584e+02] [-1.00714163e-02 -2.18860904e-04 -9.99949258e-01 2.23528256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.0 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.20, Y:-178.64, Z:2.24 [[ 2.97557827e-01 9.54697634e-01 -3.43030236e-03 2.42004307e+01] [ 9.54642797e-01 -2.97577511e-01 -1.02349538e-02 -1.78641006e+02] [-1.07920670e-02 -2.29222829e-04 -9.99941738e-01 2.23631503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.03 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.20, Y:-178.65, Z:2.24 [[ 2.22586662e-01 9.74908827e-01 -2.82100667e-03 2.42028156e+01] [ 9.74843573e-01 -2.22604409e-01 -1.12821093e-02 -1.78648096e+02] [-1.16269964e-02 -2.38793183e-04 -9.99932376e-01 2.23655221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.06 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.21, Y:-178.66, Z:2.24 [[ 1.46347737e-01 9.89231196e-01 -1.99534508e-03 2.42059132e+01] [ 9.89160037e-01 -1.46361147e-01 -1.18674394e-02 -1.78655621e+02] [-1.20316823e-02 -2.36942707e-04 -9.99927589e-01 2.23605212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.09 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.21, Y:-178.66, Z:2.24 [[ 6.95394783e-02 9.97578622e-01 -1.07465568e-03 2.42117382e+01] [ 9.97504521e-01 -6.95474134e-02 -1.21609484e-02 -1.78664642e+02] [-1.22062417e-02 -2.26307885e-04 -9.99925475e-01 2.23672664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.12 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.21, Y:-178.67, Z:2.24 [[-6.93637017e-03 9.99975936e-01 -1.15160584e-04 2.42146704e+01] [ 9.99906108e-01 6.93452469e-03 -1.18189899e-02 -1.78672036e+02] [-1.18179069e-02 -1.97130661e-04 -9.99930147e-01 2.23587141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.15 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.22, Y:-178.68, Z:2.24 [[-8.45887738e-02 9.96415603e-01 8.28138837e-04 2.42212857e+01] [ 9.96342900e-01 8.45926069e-02 -1.20381116e-02 -1.78680530e+02] [-1.20650166e-02 -1.93178848e-04 -9.99927196e-01 2.23611723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.18 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.23, Y:-178.69, Z:2.24 [[-1.61891625e-01 9.86806942e-01 1.77803527e-03 2.42271538e+01] [ 9.86734025e-01 1.61901280e-01 -1.19974685e-02 -1.78688011e+02] [-1.21270513e-02 -1.87841772e-04 -9.99926447e-01 2.23558259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.21 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.23, Y:-178.69, Z:2.24 [[-2.37956070e-01 9.71272358e-01 2.62968823e-03 2.42342215e+01] [ 9.71204768e-01 2.37970537e-01 -1.14596258e-02 -1.78694882e+02] [-1.17562061e-02 -1.72921781e-04 -9.99930879e-01 2.23553556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.24 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.24, Y:-178.70, Z:2.24 [[-3.11800456e-01 9.50141595e-01 3.37997421e-03 2.42404928e+01] [ 9.50080522e-01 3.11818740e-01 -1.07737748e-02 -1.78701377e+02] [-1.12905508e-02 -1.48020222e-04 -9.99936249e-01 2.23513216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.27 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.25, Y:-178.71, Z:2.24 [[-3.84222213e-01 9.23231337e-01 4.14594962e-03 2.42494695e+01] [ 9.23173806e-01 3.84244558e-01 -1.03074434e-02 -1.78708307e+02] [-1.11092133e-02 -1.32916612e-04 -9.99938282e-01 2.23532255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.3 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.26, Y:-178.72, Z:2.24 [[-4.54633389e-01 8.90663750e-01 5.15425197e-03 2.42573202e+01] [ 8.90603260e-01 4.54662587e-01 -1.03810220e-02 -1.78715298e+02] [-1.15894455e-02 -1.29165619e-04 -9.99932832e-01 2.23542046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.33 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.27, Y:-178.72, Z:2.23 [[-5.21896361e-01 8.52987258e-01 6.07671398e-03 2.42660242e+01] [ 8.52926816e-01 5.21931724e-01 -1.01549432e-02 -1.78720760e+02] [-1.18336669e-02 -1.16835571e-04 -9.99929973e-01 2.23488126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.36 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.28, Y:-178.73, Z:2.24 [[-5.86107883e-01 8.10200864e-01 7.21873698e-03 2.42750249e+01] [ 8.10137143e-01 5.86152326e-01 -1.01616871e-02 -1.78726551e+02] [-1.24642871e-02 -1.07677938e-04 -9.99922312e-01 2.23533450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.39 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.28, Y:-178.73, Z:2.24 [[-6.45586587e-01 7.63638544e-01 8.61009069e-03 2.42814491e+01] [ 7.63569036e-01 6.45643995e-01 -1.03033404e-02 -1.78734599e+02] [-1.34270812e-02 -7.72997237e-05 -9.99909850e-01 2.23610770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.42 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.29, Y:-178.74, Z:2.24 [[-7.02285026e-01 7.11827156e-01 9.89151421e-03 2.42911605e+01] [ 7.11755384e-01 7.02354680e-01 -1.01082523e-02 -1.78739241e+02] [-1.41426797e-02 -5.85357022e-05 -9.99899986e-01 2.23553993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.45 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.30, Y:-178.74, Z:2.23 [[-7.55239630e-01 6.55365387e-01 1.04551823e-02 2.43018713e+01] [ 6.55301786e-01 7.55311994e-01 -9.13022991e-03 -1.78741396e+02] [-1.38805612e-02 -4.42118516e-05 -9.99903659e-01 2.23495791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.47999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.90, Y:-178.08, Z:1.45 [[-7.05096051e-01 -7.09052189e-01 9.19520296e-03 2.48986296e+01] [ 7.08991787e-01 -7.05156007e-01 -9.25486278e-03 -1.78075094e+02] [ 1.30462333e-02 -6.24383020e-06 9.99914894e-01 1.45316539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.51 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.27, Y:-178.71, Z:2.23 [[-7.57107464e-01 6.53226030e-01 9.16743606e-03 2.42711803e+01] [ 6.53177656e-01 7.57162963e-01 -7.94962647e-03 -1.78714611e+02] [-1.21341460e-02 -3.07571355e-05 -9.99926378e-01 2.23414280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.53999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.30, Y:-178.70, Z:2.23 [[-8.00596018e-01 5.99128459e-01 9.54496401e-03 2.42969773e+01] [ 5.99085674e-01 8.00652915e-01 -7.16001188e-03 -1.78700582e+02] [-1.19319701e-02 -1.40258046e-05 -9.99928811e-01 2.23300810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.32, Y:-178.69, Z:2.23 [[-8.40505765e-01 5.41716476e-01 9.66019507e-03 2.43234694e+01] [ 5.41680658e-01 8.40561277e-01 -6.22934674e-03 -1.78686311e+02] [-1.14945257e-02 -3.06101564e-06 -9.99933936e-01 2.23168837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.59999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.34, Y:-178.67, Z:2.23 [[-8.76088784e-01 4.82053981e-01 9.61264157e-03 2.43433221e+01] [ 4.82025111e-01 8.76141518e-01 -5.27570912e-03 -1.78667193e+02] [-1.09652110e-02 1.15450338e-05 -9.99939880e-01 2.23123217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.63 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.36, Y:-178.65, Z:2.23 [[-9.07314911e-01 4.20342243e-01 9.59431949e-03 2.43602677e+01] [ 4.20319077e-01 9.07365636e-01 -4.41314105e-03 -1.78646180e+02] [-1.05605854e-02 2.85668353e-05 -9.99944235e-01 2.23041219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.65999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.39, Y:-178.63, Z:2.23 [[-9.33290075e-01 3.58988020e-01 9.86094068e-03 2.43863605e+01] [ 3.58968809e-01 9.33342165e-01 -3.71454015e-03 -1.78629325e+02] [-1.05371071e-02 7.30266846e-05 -9.99944481e-01 2.23074209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.69 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.38, Y:-178.60, Z:2.23 [[-9.55602365e-01 2.94483574e-01 1.01756796e-02 2.43794027e+01] [ 2.94468005e-01 9.55656536e-01 -3.02978922e-03 -1.78599550e+02] [-1.06166779e-02 1.01138326e-04 -9.99943636e-01 2.23156792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.71999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.67, Y:-177.74, Z:1.46 [[-9.41120600e-01 -3.37911156e-01 1.03955428e-02 2.46682464e+01] [ 3.37889626e-01 -9.41178009e-01 -3.81524229e-03 -1.77741125e+02] [ 1.10732692e-02 -7.80570531e-05 9.99938686e-01 1.45587934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.36, Y:-178.60, Z:2.23 [[-9.55266088e-01 2.95536714e-01 1.11692781e-02 2.43584973e+01] [ 2.95518588e-01 9.55331368e-01 -3.27753843e-03 -1.78596742e+02] [-1.16389946e-02 1.69807972e-04 -9.99932250e-01 2.23181306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.78 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.37, Y:-178.57, Z:2.23 [[-9.72666632e-01 2.31930298e-01 1.13119878e-02 2.43699526e+01] [ 2.31917325e-01 9.72732381e-01 -2.46351666e-03 -1.78574636e+02] [-1.15749010e-02 2.27265496e-04 -9.99932983e-01 2.23179992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.81 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.58, Y:-177.68, Z:1.46 [[-9.66299449e-01 -2.57189896e-01 1.08964462e-02 2.45826202e+01] [ 2.57170771e-01 -9.66360855e-01 -3.14534810e-03 -1.77684730e+02] [ 1.13388508e-02 -2.37100665e-04 9.99935685e-01 1.45724819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.84 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.32, Y:-178.57, Z:2.23 [[-9.72701174e-01 2.31810447e-01 1.07862132e-02 2.43168579e+01] [ 2.31799162e-01 9.72760941e-01 -2.30208806e-03 -1.78566176e+02] [-1.10260549e-02 2.60991420e-04 -9.99939177e-01 2.23127862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.87 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.33, Y:-178.54, Z:2.23 [[-9.86427113e-01 1.63868426e-01 1.04254011e-02 2.43316336e+01] [ 1.63862127e-01 9.86482168e-01 -1.46135646e-03 -1.78540258e+02] [-1.05239425e-02 2.66806776e-04 -9.99944586e-01 2.23121138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.9 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.35, Y:-178.51, Z:2.23 [[-9.95313175e-01 9.61860807e-02 9.99606853e-03 2.43499066e+01] [ 9.61840726e-02 9.95363330e-01 -6.82550802e-04 -1.78511023e+02] [-1.00153719e-02 2.82110776e-04 -9.99949805e-01 2.23030286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.93 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.42, Y:-177.60, Z:1.46 [[-9.94337359e-01 -1.05834935e-01 9.60120420e-03 2.44224171e+01] [ 1.05827143e-01 -9.94383669e-01 -1.31739297e-03 -1.77602223e+02] [ 9.68670686e-03 -2.93865032e-04 9.99953040e-01 1.45797016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.96 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.25, Y:-178.50, Z:2.23 [[-9.95671255e-01 9.24748018e-02 9.33615808e-03 2.42543644e+01] [ 9.24734183e-02 9.95714984e-01 -5.80685524e-04 -1.78502789e+02] [-9.34985127e-03 2.85174567e-04 -9.99956249e-01 2.22912249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.99 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.32, Y:-177.59, Z:1.46 [[-9.95150246e-01 -9.79874107e-02 8.62871980e-03 2.43236377e+01] [ 9.79810454e-02 -9.95187607e-01 -1.15837244e-03 -1.77594435e+02] [ 8.70070092e-03 -3.07303635e-04 9.99962101e-01 1.45902041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.02 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.16, Y:-178.49, Z:2.23 [[-9.96092908e-01 8.78969796e-02 8.54635825e-03 2.41593907e+01] [ 8.78961130e-02 9.96129532e-01 -4.77680766e-04 -1.78494467e+02] [-8.55526654e-03 2.75377247e-04 -9.99963365e-01 2.22846503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.05 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.21, Y:-177.59, Z:1.46 [[-9.95857058e-01 -9.05471774e-02 8.36237727e-03 2.42097133e+01] [ 9.05416233e-02 -9.95892128e-01 -1.04116411e-03 -1.77589561e+02] [ 8.42230016e-03 -2.79707414e-04 9.99964493e-01 1.45859617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.08 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.06, Y:-178.48, Z:2.23 [[-9.96619170e-01 8.16975757e-02 8.70265223e-03 2.40584200e+01] [ 8.16969178e-02 9.96657126e-01 -4.31658212e-04 -1.78483447e+02] [-8.70882579e-03 2.80781015e-04 -9.99962038e-01 2.22942538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.11 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.06, Y:-178.45, Z:2.23 [[-9.99911163e-01 9.70990202e-03 9.13149255e-03 2.40593793e+01] [ 9.71211171e-03 9.99952817e-01 1.97671499e-04 -1.78452241e+02] [-9.12914233e-03 2.86340014e-04 -9.99958288e-01 2.22969052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.14 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:24.05, Y:-177.56, Z:1.46 [[-9.99835914e-01 -1.54904074e-02 9.39110856e-03 2.40536116e+01] [ 1.54871253e-02 -9.99879978e-01 -4.22125700e-04 -1.77563016e+02] [ 9.39652032e-03 -2.76615160e-04 9.99955814e-01 1.45729808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.17 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.96, Y:-178.45, Z:2.23 [[-9.99954903e-01 8.72378075e-04 9.45676843e-03 2.39550204e+01] [ 8.74937822e-04 9.99999582e-01 2.66545102e-04 -1.78447628e+02] [-9.45653194e-03 2.74807166e-04 -9.99955248e-01 2.23071217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.2 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.95, Y:-178.42, Z:2.23 [[-9.97255072e-01 -7.32126779e-02 1.10555632e-02 2.39522843e+01] [-7.32049399e-02 9.97316308e-01 1.10351855e-03 -1.78415786e+02] [-1.11066850e-02 2.91167635e-04 -9.99938277e-01 2.23193732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.22999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.94, Y:-178.39, Z:2.23 [[-9.89228097e-01 -1.45913535e-01 1.17052179e-02 2.39353350e+01] [-1.45899777e-01 9.89297303e-01 2.02538036e-03 -1.78386640e+02] [-1.18754709e-02 2.95774473e-04 -9.99929440e-01 2.23207187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.26 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.90, Y:-178.36, Z:2.23 [[-9.75753066e-01 -2.18567636e-01 1.15819842e-02 2.39004148e+01] [-2.18548791e-01 9.75821761e-01 2.88393976e-03 -1.78363754e+02] [-1.19322881e-02 2.82784427e-04 -9.99928768e-01 2.23227971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.28999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.84, Y:-178.35, Z:2.23 [[-9.56434236e-01 -2.91739676e-01 1.10233631e-02 2.38437080e+01] [-2.91717262e-01 9.56497725e-01 3.62501643e-03 -1.78345936e+02] [-1.16013829e-02 2.51384504e-04 -9.99932670e-01 2.23137509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.32 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.78, Y:-178.34, Z:2.23 [[-9.31862482e-01 -3.62668472e-01 1.01928975e-02 2.37771429e+01] [-3.62644075e-01 9.31918198e-01 4.21281042e-03 -1.78339156e+02] [-1.10268002e-02 2.29366092e-04 -9.99939177e-01 2.23046731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.34999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.70, Y:-178.34, Z:2.23 [[-9.01886236e-01 -4.31878360e-01 9.07188906e-03 2.37015950e+01] [-4.31854224e-01 9.01931838e-01 4.57038584e-03 -1.78341614e+02] [-1.01560763e-02 2.04234471e-04 -9.99948405e-01 2.22962723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.38 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.62, Y:-178.35, Z:2.23 [[-8.66594868e-01 -4.98945574e-01 8.16386216e-03 2.36179092e+01] [-4.98921409e-01 8.66633302e-01 4.91403111e-03 -1.78354040e+02] [-9.52690889e-03 1.85348532e-04 -9.99954601e-01 2.22885615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.40999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.53, Y:-178.38, Z:2.23 [[-8.25534604e-01 -5.64302590e-01 7.42998147e-03 2.35274170e+01] [-5.64277959e-01 8.25568023e-01 5.27493899e-03 -1.78375018e+02] [-9.11061685e-03 1.62069887e-04 -9.99958484e-01 2.22843237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.44 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.44, Y:-178.41, Z:2.23 [[-7.79716631e-01 -6.26094776e-01 6.87800543e-03 2.34355896e+01] [-6.26068720e-01 7.79746952e-01 5.71384955e-03 -1.78407216e+02] [-8.94051512e-03 1.49079459e-04 -9.99960022e-01 2.22860763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.46999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.34, Y:-178.45, Z:2.23 [[-7.28825776e-01 -6.84672017e-01 6.10058654e-03 2.33434268e+01] [-6.84646538e-01 7.28851297e-01 5.90807397e-03 -1.78449178e+02] [-8.49151333e-03 1.29211142e-04 -9.99963938e-01 2.22876653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.25, Y:-178.50, Z:2.23 [[-6.74426906e-01 -7.38320142e-01 5.63170657e-03 2.32532189e+01] [-7.38292789e-01 6.74450407e-01 6.35659603e-03 -1.78503280e+02] [-8.49150967e-03 1.29211037e-04 -9.99963938e-01 2.22876636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.53 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.16, Y:-178.57, Z:2.23 [[-6.14640340e-01 -7.88790397e-01 5.19250161e-03 2.31622731e+01] [-7.88760629e-01 6.14662262e-01 6.85373652e-03 -1.78565936e+02] [-8.59779633e-03 1.16942104e-04 -9.99963031e-01 2.22914687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.07, Y:-178.64, Z:2.23 [[-5.50729310e-01 -8.34670261e-01 4.77318786e-03 2.30744799e+01] [-8.34637276e-01 5.50749984e-01 7.42111658e-03 -1.78638421e+02] [-8.82301845e-03 1.03145900e-04 -9.99961071e-01 2.22960040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.59 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.99, Y:-178.72, Z:2.23 [[-4.81520278e-01 -8.76421501e-01 4.85529024e-03 2.29887567e+01] [-8.76375285e-01 4.81544749e-01 9.00081696e-03 -1.78718096e+02] [-1.02265490e-02 7.90195172e-05 -9.99947704e-01 2.23078138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.62 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.91, Y:-178.81, Z:2.23 [[-4.10868107e-01 -9.11683929e-01 4.45097687e-03 2.29115266e+01] [-9.11628742e-01 4.10892211e-01 1.00313208e-02 -1.78805626e+02] [-1.09742657e-02 6.39113447e-05 -9.99939779e-01 2.23114738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.65 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.84, Y:-178.90, Z:2.23 [[-3.37671915e-01 -9.41255855e-01 3.88494689e-03 2.28406923e+01] [-9.41191960e-01 3.37694260e-01 1.09673059e-02 -1.78900411e+02] [-1.16349651e-02 4.68704066e-05 -9.99932310e-01 2.23153004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.68 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.78, Y:-179.00, Z:2.23 [[-2.62215473e-01 -9.65004528e-01 3.05084841e-03 2.27767842e+01] [-9.64938146e-01 2.62233219e-01 1.13187059e-02 -1.79002883e+02] [-1.17226362e-02 2.40598086e-05 -9.99931287e-01 2.23221566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.71 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.72, Y:-179.11, Z:2.23 [[-1.83913200e-01 -9.82940270e-01 2.08835728e-03 2.27190114e+01] [-9.82877607e-01 1.83925056e-01 1.10988347e-02 -1.79107779e+02] [-1.12935928e-02 -1.13774052e-05 -9.99936225e-01 2.23162621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.74 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.67, Y:-179.22, Z:2.23 [[-1.06317760e-01 -9.94331562e-01 1.13091116e-03 2.26717506e+01] [-9.94277543e-01 1.06323772e-01 1.03645004e-02 -1.79222947e+02] [-1.04259926e-02 -2.25091111e-05 -9.99945648e-01 2.23128544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.77 meters Centerline goodness [0,1] 0.9999564203691195 Centerline is valid? [True, True] Translation: X:22.63, Y:-179.34, Z:2.23 [[-2.85486397e-02 -9.99592355e-01 3.13364213e-04 2.26342733e+01] [-9.99542626e-01 2.85503452e-02 9.97083165e-03 -1.79335182e+02] [-9.97571375e-03 -2.85672082e-05 -9.99950241e-01 2.23157201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.8 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.61, Y:-179.45, Z:2.23 [[ 4.93886858e-02 -9.98779542e-01 -4.29419471e-04 2.26059430e+01] [-9.98735855e-01 -4.93905419e-02 9.34162214e-03 -1.79453420e+02] [-9.35143034e-03 -3.24938176e-05 -9.99956274e-01 2.23146395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.83 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.59, Y:-179.57, Z:2.23 [[ 1.26878995e-01 -9.91917754e-01 -9.42973068e-04 2.25852714e+01] [-9.91888522e-01 -1.26882496e-01 7.61525447e-03 -1.79573830e+02] [-7.67335289e-03 -3.08916720e-05 -9.99970559e-01 2.23080972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.86 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.58, Y:-179.69, Z:2.23 [[ 2.03600828e-01 -9.79053010e-01 -1.38079974e-03 2.25753405e+01] [-9.79029431e-01 -2.03605508e-01 6.79484138e-03 -1.79694528e+02] [-6.93364834e-03 -3.15917423e-05 -9.99975962e-01 2.23048971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.57, Y:-179.81, Z:2.23 [[ 2.78721328e-01 -9.60370632e-01 -1.63428679e-03 2.25740728e+01] [-9.60353519e-01 -2.78726117e-01 5.73316679e-03 -1.79813653e+02] [-5.96148343e-03 -2.84627859e-05 -9.99982230e-01 2.23027978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.91999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.58, Y:-179.93, Z:2.23 [[ 3.52359099e-01 -9.35863190e-01 -1.77617015e-03 2.25820234e+01] [-9.35850914e-01 -3.52363575e-01 4.79362940e-03 -1.79933105e+02] [-5.11203897e-03 -2.68484756e-05 -9.99986933e-01 2.23025798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.95 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.60, Y:-180.05, Z:2.23 [[ 4.23623597e-01 -9.05836438e-01 -1.84275812e-03 2.25995704e+01] [-9.05827619e-01 -4.23627604e-01 3.99728791e-03 -1.80051806e+02] [-4.40153224e-03 -2.41242858e-05 -9.99990313e-01 2.22977857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.97999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.62, Y:-180.17, Z:2.23 [[ 4.92780519e-01 -8.70151878e-01 -1.75214446e-03 2.26217646e+01] [-8.70146213e-01 -4.92783633e-01 3.13994889e-03 -1.80165132e+02] [-3.59566053e-03 -2.26837782e-05 -9.99993535e-01 2.23016149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.01 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.66, Y:-180.28, Z:2.23 [[ 5.58516436e-01 -8.29491079e-01 -1.98510613e-03 2.26576914e+01] [-8.29485684e-01 -5.58519963e-01 2.99163101e-03 -1.80279959e+02] [-3.59025264e-03 -2.42579732e-05 -9.99993555e-01 2.23073824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.03999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.69, Y:-180.38, Z:2.23 [[ 6.20856727e-01 -7.83920235e-01 -2.44760810e-03 2.26949388e+01] [-7.83913960e-01 -6.20861551e-01 3.13671246e-03 -1.80382393e+02] [-3.97855813e-03 -2.87348734e-05 -9.99992085e-01 2.23156035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.74, Y:-180.49, Z:2.23 [[ 6.79333811e-01 -7.33824967e-01 -2.54763313e-03 2.27425555e+01] [-7.33819647e-01 -6.79338587e-01 2.79445469e-03 -1.80487940e+02] [-3.78134611e-03 -2.88643081e-05 -9.99992850e-01 2.23300131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.09999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.79, Y:-180.58, Z:2.23 [[ 7.33429486e-01 -6.79761402e-01 -2.37164675e-03 2.27913585e+01] [-6.79757737e-01 -7.33433320e-01 2.23255358e-03 -1.80579063e+02] [-3.25704850e-03 -2.52753957e-05 -9.99994696e-01 2.23354001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.13 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.78, Y:-180.59, Z:2.23 [[ 7.84015384e-01 -6.20737572e-01 -2.17797224e-03 2.27846717e+01] [-6.20735104e-01 -7.84018409e-01 1.75045590e-03 -1.80590410e+02] [-2.79414408e-03 -2.04405248e-05 -9.99996096e-01 2.23402008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.15999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.78, Y:-180.60, Z:2.23 [[ 8.29716403e-01 -5.58182858e-01 -1.60866772e-03 2.27806545e+01] [-5.58181779e-01 -8.29717962e-01 1.09766598e-03 -1.80601812e+02] [-1.94743884e-03 -1.28224615e-05 -9.99998104e-01 2.23414916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.19 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.78, Y:-180.61, Z:2.23 [[ 8.69260597e-01 -4.94354077e-01 -2.46301085e-04 2.27763650e+01] [-4.94354057e-01 -8.69260632e-01 1.41286780e-04 -1.80614513e+02] [-2.83945533e-04 -1.05508955e-06 -9.99999960e-01 2.23428421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.21999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.77, Y:-180.63, Z:2.23 [[ 9.04394390e-01 -4.26697478e-01 2.21043807e-04 2.27731778e+01] [-4.26697465e-01 -9.04394417e-01 -1.04563986e-04 -1.80625756e+02] [ 2.44527974e-04 2.48250478e-07 -9.99999970e-01 2.23455037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.25 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.77, Y:-180.64, Z:2.23 [[ 9.34313379e-01 -3.56451005e-01 1.09163108e-03 2.27727619e+01] [-3.56450763e-01 -9.34314016e-01 -4.15707685e-04 -1.80635406e+02] [ 1.16810564e-03 -7.11477575e-07 -9.99999318e-01 2.23451357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.28 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.77, Y:-180.65, Z:2.23 [[ 9.58793776e-01 -2.84095000e-01 2.12768980e-03 2.27713438e+01] [-2.84094312e-01 -9.58796136e-01 -6.24882162e-04 -1.80648571e+02] [ 2.21754666e-03 -5.33144431e-06 -9.99997541e-01 2.23483463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.31 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.77, Y:-180.66, Z:2.23 [[ 9.77599126e-01 -2.10449722e-01 3.29586018e-03 2.27700264e+01] [-2.10448579e-01 -9.77604682e-01 -6.93495299e-04 -1.80660831e+02] [ 3.36799424e-03 -1.56486949e-05 -9.99994328e-01 2.23492883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.34 meters Centerline goodness [0,1] 0.9999788063750424 Centerline is valid? [True, True] Translation: X:22.77, Y:-180.67, Z:2.23 [[ 9.90699661e-01 -1.35961435e-01 5.35439453e-03 2.27667247e+01] [-1.35959665e-01 -9.90714130e-01 -6.95006426e-04 -1.80673267e+02] [ 5.39916839e-03 -3.94390552e-05 -9.99985424e-01 2.23440051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.37 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.76, Y:-180.68, Z:2.23 [[ 9.98231699e-01 -5.91704263e-02 5.68651165e-03 2.27645049e+01] [-5.91697419e-02 -9.98247894e-01 -2.88668670e-04 -1.80684677e+02] [ 5.69362893e-03 -4.83112096e-05 -9.99983790e-01 2.23446770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.4 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.76, Y:-180.70, Z:2.23 [[ 9.99804472e-01 1.86339355e-02 6.61777439e-03 2.27641410e+01] [ 1.86331333e-02 -9.99826371e-01 1.82853497e-04 -1.80697315e+02] [ 6.62003264e-03 -5.95078720e-05 -9.99978086e-01 2.23454072e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.43 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.77, Y:-180.71, Z:2.23 [[ 9.95275301e-01 9.67883536e-02 7.68704232e-03 2.27655227e+01] [ 9.67849220e-02 -9.95304983e-01 8.18045385e-04 -1.80710987e+02] [ 7.73012879e-03 -7.01905753e-05 -9.99970120e-01 2.23467809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.46 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.77, Y:-180.73, Z:2.23 [[ 9.84612397e-01 1.74567788e-01 8.03212648e-03 2.27680349e+01] [ 1.74561373e-01 -9.84645155e-01 1.49840303e-03 -1.80727060e+02] [ 8.17036733e-03 -7.32471735e-05 -9.99966619e-01 2.23484307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.49 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.77, Y:-180.74, Z:2.23 [[ 9.67535597e-01 2.52580806e-01 8.82068804e-03 2.27721202e+01] [ 2.52569671e-01 -9.67575802e-01 2.37258147e-03 -1.80744786e+02] [ 9.13395284e-03 -6.77187548e-05 -9.99958282e-01 2.23439006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.52 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.78, Y:-180.76, Z:2.23 [[ 9.44279857e-01 3.29007389e-01 9.47050690e-03 2.27759201e+01] [ 3.28990212e-01 -9.44327345e-01 3.36242506e-03 -1.80758092e+02] [ 1.00495213e-02 -5.93661794e-05 -9.99949501e-01 2.23354159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.55 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.78, Y:-180.77, Z:2.23 [[ 9.15015206e-01 4.03311606e-01 9.32314954e-03 2.27831331e+01] [ 4.03290172e-01 -9.15062701e-01 4.15820386e-03 -1.80771276e+02] [ 1.02083183e-02 -4.48851833e-05 -9.99947893e-01 2.23416531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.58 meters Centerline goodness [0,1] 0.9999790545210816 Centerline is valid? [True, True] Translation: X:22.79, Y:-180.78, Z:2.23 [[ 8.79597072e-01 4.75620068e-01 9.72322256e-03 2.27916055e+01] [ 4.75590696e-01 -8.79650811e-01 5.28577065e-03 -1.80783308e+02] [ 1.10670592e-02 -2.50741987e-05 -9.99938758e-01 2.23405753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.61 meters Centerline goodness [0,1] 0.9999790869356087 Centerline is valid? [True, True] Translation: X:22.80, Y:-180.80, Z:2.23 [[ 8.38368054e-01 5.45022340e-01 9.46864467e-03 2.28007896e+01] [ 5.44987603e-01 -8.38421522e-01 6.15331685e-03 -1.80795206e+02] [ 1.12924106e-02 1.54969437e-06 -9.99936239e-01 2.23403478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.64 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.81, Y:-180.81, Z:2.23 [[ 7.90238973e-01 6.12712321e-01 1.02944813e-02 2.28139663e+01] [ 6.12661371e-01 -7.90306021e-01 7.90168604e-03 -1.80810335e+02] [ 1.29772510e-02 6.28107685e-05 -9.99915790e-01 2.23392528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.66999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.83, Y:-180.82, Z:2.23 [[ 7.37925690e-01 6.74803960e-01 1.02612158e-02 2.28280523e+01] [ 6.74740719e-01 -7.37997022e-01 9.23894331e-03 -1.80821818e+02] [ 1.38072222e-02 1.06006482e-04 -9.99904670e-01 2.23405311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.7 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.84, Y:-180.83, Z:2.23 [[ 6.80849945e-01 7.32353170e-01 1.01087374e-02 2.28431802e+01] [ 7.32275763e-01 -6.80924968e-01 1.06487558e-02 -1.80831733e+02] [ 1.46819417e-02 1.52178590e-04 -9.99892203e-01 2.23389542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.72999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.86, Y:-180.84, Z:2.23 [[ 6.19429077e-01 7.84998166e-01 9.24649710e-03 2.28577043e+01] [ 7.84915258e-01 -6.19498057e-01 1.14102844e-02 -1.80840567e+02] [ 1.46852393e-02 1.89854720e-04 -9.99892148e-01 2.23352327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.76 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.88, Y:-180.85, Z:2.23 [[ 5.51444419e-01 8.34157751e-01 9.48154366e-03 2.28782418e+01] [ 8.34043976e-01 -5.51525839e-01 1.37801959e-02 -1.80849806e+02] [ 1.67241736e-02 3.09012239e-04 -9.99860094e-01 2.23317990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.78999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.89, Y:-180.85, Z:2.23 [[ 4.82353703e-01 8.75931112e-01 8.92141529e-03 2.28934950e+01] [ 8.75795303e-01 -4.82436056e-01 1.54285114e-02 -1.80854892e+02] [ 1.78183256e-02 3.71334007e-04 -9.99841172e-01 2.23354473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.82 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.91, Y:-180.86, Z:2.23 [[ 4.10497502e-01 9.11828015e-01 7.84039770e-03 2.29089808e+01] [ 9.11680522e-01 -4.10572161e-01 1.64050659e-02 -1.80857102e+02] [ 1.81776477e-02 4.13699308e-04 -9.99834687e-01 2.23361073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.84999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.92, Y:-180.86, Z:2.23 [[ 3.36226317e-01 9.41757062e-01 6.74530472e-03 2.29236244e+01] [ 9.41594099e-01 -3.36293659e-01 1.75250568e-02 -1.80857466e+02] [ 1.87727492e-02 4.58953830e-04 -9.99823671e-01 2.23400927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.88 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.94, Y:-180.86, Z:2.23 [[ 2.59979068e-01 9.65597735e-01 5.64780114e-03 2.29385020e+01] [ 9.65411119e-01 -2.60039897e-01 1.89900924e-02 -1.80856740e+02] [ 1.98054439e-02 5.15423488e-04 -9.99803720e-01 2.23477499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.90999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.95, Y:-180.86, Z:2.23 [[ 1.82492965e-01 9.83197355e-01 4.39065317e-03 2.29529590e+01] [ 9.82983160e-01 -1.82544888e-01 2.05297864e-02 -1.80855579e+02] [ 2.09863230e-02 5.69396523e-04 -9.99779601e-01 2.23472724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.94 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.97, Y:-180.85, Z:2.24 [[ 1.03989251e-01 9.94574319e-01 2.85663593e-03 2.29703516e+01] [ 9.94342846e-01 -1.04026701e-01 2.14651017e-02 -1.80852667e+02] [ 2.16458053e-02 6.08335658e-04 -9.99765517e-01 2.23511878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.96999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.98, Y:-180.85, Z:2.24 [[ 2.57686801e-02 9.99667221e-01 1.19281333e-03 2.29825233e+01] [ 9.99422690e-01 -2.57887687e-02 2.21184501e-02 -1.80846717e+02] [ 2.21418507e-02 6.22161441e-04 -9.99754646e-01 2.23683585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.0 meters Centerline goodness [0,1] 0.9999792960662526 Centerline is valid? [True, True] Translation: X:23.00, Y:-180.84, Z:2.24 [[-5.24896052e-02 9.98621316e-01 -5.56445701e-04 2.29955280e+01] [ 9.98363544e-01 5.24887035e-02 2.26973409e-02 -1.80841030e+02] [ 2.26952555e-02 6.35839359e-04 -9.99742227e-01 2.23666157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.03 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.01, Y:-180.83, Z:2.24 [[-1.29151973e-01 9.91622092e-01 -2.32279739e-03 2.30070767e+01] [ 9.91367148e-01 1.29171455e-01 2.24925285e-02 -1.80832567e+02] [ 2.26041273e-02 6.02209417e-04 -9.99744313e-01 2.23877948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.06 meters Centerline goodness [0,1] 0.9999376143736484 Centerline is valid? [True, True] Translation: X:23.02, Y:-180.82, Z:2.24 [[-2.05118467e-01 9.78728530e-01 -4.10842265e-03 2.30164022e+01] [ 9.78472031e-01 2.05158796e-01 2.24132339e-02 -1.80824793e+02] [ 2.27793505e-02 5.77391532e-04 -9.99740350e-01 2.23936314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.09 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.02, Y:-180.82, Z:2.24 [[-2.79821725e-01 9.60034981e-01 -5.71290159e-03 2.30232421e+01] [ 9.59794306e-01 2.79879529e-01 2.15020896e-02 -1.80815272e+02] [ 2.22416824e-02 5.33541400e-04 -9.99752481e-01 2.23997911e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.12 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.03, Y:-180.81, Z:2.24 [[-3.52390684e-01 9.35826006e-01 -7.10587497e-03 2.30294339e+01] [ 9.35607817e-01 3.52462001e-01 2.02126222e-02 -1.80805327e+02] [ 2.14200484e-02 4.74427598e-04 -9.99770452e-01 2.24189571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.15 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.04, Y:-180.80, Z:2.24 [[-4.23050174e-01 9.06066672e-01 -8.46974808e-03 2.30363784e+01] [ 9.05864410e-01 4.23134734e-01 1.91485818e-02 -1.80795477e+02] [ 2.09337364e-02 4.28367528e-04 -9.99780774e-01 2.24123614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.18 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.04, Y:-180.78, Z:2.24 [[-4.90904570e-01 8.71159117e-01 -9.72092814e-03 2.30400195e+01] [ 8.70972944e-01 4.91000663e-01 1.80133198e-02 -1.80784727e+02] [ 2.04654499e-02 3.76155594e-04 -9.99790490e-01 2.24393693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.21 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.04, Y:-180.77, Z:2.25 [[-5.54327844e-01 8.32239287e-01 -9.92018969e-03 2.30440882e+01] [ 8.32097468e-01 5.54416540e-01 1.53657110e-02 -1.80773185e+02] [ 1.82878656e-02 2.63076727e-04 -9.99832728e-01 2.24643912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.24 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.05, Y:-180.76, Z:2.25 [[-6.16438478e-01 7.87332720e-01 -1.05257642e-02 2.30480165e+01] [ 7.87211831e-01 6.16528296e-01 1.37982971e-02 -1.80762392e+02] [ 1.73532822e-02 2.19795134e-04 -9.99849396e-01 2.24692811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.27 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.05, Y:-180.75, Z:2.25 [[-6.75081209e-01 7.37665352e-01 -1.07326028e-02 2.30490025e+01] [ 7.37567917e-01 6.75166495e-01 1.19904973e-02 -1.80751463e+02] [ 1.60912683e-02 1.78535936e-04 -9.99870511e-01 2.24751155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.3 meters Centerline goodness [0,1] 0.9999792930652476 Centerline is valid? [True, True] Translation: X:23.05, Y:-180.74, Z:2.25 [[-7.29681423e-01 6.83701873e-01 -1.08059897e-02 2.30495786e+01] [ 6.83624029e-01 7.29761419e-01 1.03178411e-02 -1.80741531e+02] [ 1.49401217e-02 1.41502772e-04 -9.99888380e-01 2.24783445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.33 meters Centerline goodness [0,1] 0.9999791974371243 Centerline is valid? [True, True] Translation: X:23.38, Y:-180.39, Z:1.44 [[-6.68709875e-01 -7.43470586e-01 -8.86517301e-03 2.33797166e+01] [ 7.43405719e-01 -6.68768635e-01 9.82088483e-03 -1.80393287e+02] [-1.32302887e-02 -2.30976524e-05 9.99912476e-01 1.43918173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.36 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.36, Y:-180.37, Z:1.44 [[-6.69244346e-01 -7.42996489e-01 -8.25970299e-03 2.33618349e+01] [ 7.42941753e-01 -6.69295306e-01 9.01911922e-03 -1.80373266e+02] [-1.22293544e-02 -1.00483677e-04 9.99925214e-01 1.43930748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.39 meters Centerline goodness [0,1] 0.9999791978698619 Centerline is valid? [True, True] Translation: X:23.34, Y:-180.35, Z:1.44 [[-6.69347129e-01 -7.42910695e-01 -7.62367501e-03 2.33444211e+01] [ 7.42864121e-01 -6.69390537e-01 8.31909920e-03 -1.80354035e+02] [-1.12835637e-02 -9.49894728e-05 9.99936334e-01 1.43897125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.41999999999996 meters Centerline goodness [0,1] 0.9999791978698619 Centerline is valid? [True, True] Translation: X:23.33, Y:-180.33, Z:1.44 [[-6.69578463e-01 -7.42702176e-01 -7.62626574e-03 2.33262781e+01] [ 7.42655616e-01 -6.69621885e-01 8.31672430e-03 -1.80334403e+02] [-1.12835637e-02 -9.49896066e-05 9.99936334e-01 1.43897105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.45 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.31, Y:-180.31, Z:1.44 [[-6.70089648e-01 -7.42249866e-01 -6.70818221e-03 2.33089365e+01] [ 7.42213866e-01 -6.70123220e-01 7.31073104e-03 -1.80314706e+02] [-9.92169780e-03 -8.00606607e-05 9.99950776e-01 1.43844715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.47999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.29, Y:-180.29, Z:1.44 [[-6.69255601e-01 -7.43017052e-01 -4.75414740e-03 2.32919187e+01] [ 7.42999011e-01 -6.69272483e-01 5.17818086e-03 -1.80292856e+02] [-7.02929671e-03 -6.68002746e-05 9.99975292e-01 1.43655592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.51 meters Centerline goodness [0,1] 0.9999792086824542 Centerline is valid? [True, True] Translation: X:23.27, Y:-180.27, Z:1.44 [[-6.69193356e-01 -7.43078218e-01 -3.87477656e-03 2.32737168e+01] [ 7.43066250e-01 -6.69204571e-01 4.21788056e-03 -1.80271304e+02] [-5.72723336e-03 -5.66380416e-05 9.99983598e-01 1.43591226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.53999999999996 meters Centerline goodness [0,1] 0.9999168433744958 Centerline is valid? [True, True] Translation: X:23.26, Y:-180.25, Z:1.44 [[-6.68923195e-01 -7.43327046e-01 -2.58100082e-03 2.32551072e+01] [ 7.43321744e-01 -6.68928174e-01 2.80779342e-03 -1.80251075e+02] [-3.81361295e-03 -4.03158851e-05 9.99992727e-01 1.43597274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.24, Y:-180.23, Z:1.44 [[-6.68399645e-01 -7.43801185e-01 -1.30853312e-03 2.32368383e+01] [ 7.43799824e-01 -6.68400926e-01 1.42268877e-03 -1.80230331e+02] [-1.93282234e-03 -2.23620339e-05 9.99998132e-01 1.43544282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.59999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.22, Y:-180.21, Z:1.44 [[-6.65851512e-01 -7.46083588e-01 1.02199611e-03 2.32176135e+01] [ 7.46082761e-01 -6.65852296e-01 -1.11053198e-03 -1.80209066e+02] [ 1.50904814e-03 2.30442832e-05 9.99998861e-01 1.43552003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.63 meters Centerline goodness [0,1] 0.9999375260308205 Centerline is valid? [True, True] Translation: X:23.20, Y:-180.19, Z:1.44 [[-6.64275577e-01 -7.47485806e-01 1.71115503e-03 2.31982351e+01] [ 7.47483497e-01 -6.64277780e-01 -1.85835841e-03 -1.80188756e+02] [ 2.52577879e-03 4.45980415e-05 9.99996809e-01 1.43579322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.65999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.18, Y:-180.17, Z:1.44 [[-6.62312692e-01 -7.49224890e-01 1.99049199e-03 2.31789181e+01] [ 7.49221777e-01 -6.62315680e-01 -2.16052043e-03 -1.80169606e+02] [ 2.93704974e-03 6.03798400e-05 9.99995685e-01 1.43640872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.69 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.16, Y:-180.15, Z:1.44 [[-6.60366780e-01 -7.50939402e-01 2.39385302e-03 2.31589551e+01] [ 7.50934916e-01 -6.60371114e-01 -2.59690505e-03 -1.80148991e+02] [ 3.53094971e-03 8.27179869e-05 9.99993763e-01 1.43705906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.71999999999997 meters Centerline goodness [0,1] 0.999895870212633 Centerline is valid? [True, True] Translation: X:23.14, Y:-180.13, Z:1.44 [[-6.57587492e-01 -7.53371615e-01 3.14644722e-03 2.31393208e+01] [ 7.53363897e-01 -6.57595007e-01 -3.41237476e-03 -1.80130349e+02] [ 4.63987427e-03 1.26484781e-04 9.99989228e-01 1.43740323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.75 meters Centerline goodness [0,1] 0.9999586358089801 Centerline is valid? [True, True] Translation: X:23.12, Y:-180.11, Z:1.44 [[-6.53050329e-01 -7.57303080e-01 4.16091519e-03 2.31193822e+01] [ 7.57289676e-01 -6.53063552e-01 -4.51035446e-03 -1.80112551e+02] [ 6.13304738e-03 2.05529651e-04 9.99981172e-01 1.43743238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.78 meters Centerline goodness [0,1] 0.9999792401909903 Centerline is valid? [True, True] Translation: X:23.10, Y:-180.09, Z:1.44 [[-6.50393734e-01 -7.59578719e-01 5.30657390e-03 2.30997078e+01] [ 7.59557021e-01 -6.50415317e-01 -5.74868635e-03 -1.80094089e+02] [ 7.81805676e-03 2.91735880e-04 9.99969396e-01 1.43710775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.81 meters Centerline goodness [0,1] 0.9999584734853204 Centerline is valid? [True, True] Translation: X:23.08, Y:-180.07, Z:1.44 [[-6.48369840e-01 -7.61300386e-01 6.18658733e-03 2.30813430e+01] [ 7.61271008e-01 -6.48399251e-01 -6.69805007e-03 -1.80073147e+02] [ 9.11060669e-03 3.66855930e-04 9.99958430e-01 1.43719322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.84 meters Centerline goodness [0,1] 0.9998758072528564 Centerline is valid? [True, True] Translation: X:23.06, Y:-180.06, Z:1.44 [[-6.46570427e-01 -7.62826853e-01 6.47108795e-03 2.30609371e+01] [ 7.62794807e-01 -6.46602680e-01 -7.00397800e-03 -1.80055491e+02] [ 9.52704531e-03 4.07547243e-04 9.99954534e-01 1.43644939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.87 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:23.04, Y:-180.04, Z:1.44 [[-6.44892184e-01 -7.64238710e-01 7.29836981e-03 2.30417709e+01] [ 7.64198088e-01 -6.44933298e-01 -7.89460607e-03 -1.80036568e+02] [ 1.07403253e-02 4.86230510e-04 9.99942203e-01 1.43580958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.9 meters Centerline goodness [0,1] 0.9999585139704205 Centerline is valid? [True, True] Translation: X:23.03, Y:-180.01, Z:1.44 [[-6.42017034e-01 -7.66640937e-01 8.70638978e-03 2.30258646e+01] [ 7.66583394e-01 -6.42075756e-01 -9.41402515e-03 -1.80013474e+02] [ 1.28073389e-02 6.30209328e-04 9.99917784e-01 1.43678929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.93 meters Centerline goodness [0,1] 0.9999171842650103 Centerline is valid? [True, True] Translation: X:23.00, Y:-180.00, Z:1.44 [[-6.41110517e-01 -7.67394032e-01 9.14905749e-03 2.30048396e+01] [ 7.67330646e-01 -6.41175432e-01 -9.88657898e-03 -1.79996089e+02] [ 1.34530526e-02 6.81962433e-04 9.99909271e-01 1.43566807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.96 meters Centerline goodness [0,1] 0.9999585929897932 Centerline is valid? [True, True] Translation: X:22.99, Y:-179.98, Z:1.43 [[-6.40691369e-01 -7.67737521e-01 9.67829550e-03 2.29863272e+01] [ 7.67666716e-01 -6.40764046e-01 -1.04523338e-02 -1.79976698e+02] [ 1.42261526e-02 7.32985287e-04 9.99898535e-01 1.43490817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.99 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.97, Y:-179.95, Z:1.44 [[-6.39923887e-01 -7.68365261e-01 1.05945035e-02 2.29716310e+01] [ 7.68280565e-01 -6.40011056e-01 -1.14377014e-02 -1.79952135e+02] [ 1.55689318e-02 8.20292779e-04 9.99878460e-01 1.43604132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.02 meters Centerline goodness [0,1] 0.9999585217138828 Centerline is valid? [True, True] Translation: X:22.95, Y:-179.93, Z:1.43 [[-6.40191461e-01 -7.68127912e-01 1.15932912e-02 2.29525254e+01] [ 7.68026544e-01 -6.40295800e-01 -1.25106527e-02 -1.79932518e+02] [ 1.70329172e-02 8.94742338e-04 9.99854529e-01 1.43467861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.05 meters Centerline goodness [0,1] 0.9999792789059262 Centerline is valid? [True, True] Translation: X:22.93, Y:-179.91, Z:1.43 [[-6.41068748e-01 -7.67397342e-01 1.14969052e-02 2.29318669e+01] [ 7.67297654e-01 -6.41171239e-01 -1.23996783e-02 -1.79914168e+02] [ 1.68869651e-02 8.72502088e-04 9.99857024e-01 1.43296353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.08 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.92, Y:-179.89, Z:1.44 [[-6.42191515e-01 -7.66444189e-01 1.23839592e-02 2.29219643e+01] [ 7.66328488e-01 -6.42310254e-01 -1.33486585e-02 -1.79885020e+02] [ 1.81853457e-02 9.17785522e-04 9.99834212e-01 1.43681262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.11 meters Centerline goodness [0,1] 0.9999791644963018 Centerline is valid? [True, True] Translation: X:22.90, Y:-179.86, Z:1.44 [[-6.43860954e-01 -7.65039250e-01 1.25705412e-02 2.29044738e+01] [ 7.64919906e-01 -6.43983030e-01 -1.35422801e-02 -1.79862043e+02] [ 1.84555910e-02 8.96111827e-04 9.99829280e-01 1.43715131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.14 meters Centerline goodness [0,1] 0.9999791592855803 Centerline is valid? [True, True] Translation: X:22.89, Y:-179.84, Z:1.44 [[-6.46173914e-01 -7.63080008e-01 1.29681783e-02 2.28879385e+01] [ 7.62952749e-01 -6.46303444e-01 -1.39628661e-02 -1.79838536e+02] [ 1.90361622e-02 8.71667417e-04 9.99818416e-01 1.43748052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.16999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.87, Y:-179.82, Z:1.44 [[-6.49276419e-01 -7.60442410e-01 1.29411003e-02 2.28716230e+01] [ 7.60315264e-01 -6.49404887e-01 -1.39280995e-02 -1.79817251e+02] [ 1.89955313e-02 7.96129465e-04 9.99819252e-01 1.43722923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.2 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.86, Y:-179.79, Z:1.44 [[-6.55878000e-01 -7.54745622e-01 1.35313000e-02 2.28596819e+01] [ 7.54605568e-01 -6.56017229e-01 -1.45544866e-02 -1.79790004e+02] [ 1.98617010e-02 6.64826695e-04 9.99802516e-01 1.43830694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.22999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.84, Y:-179.77, Z:1.44 [[-6.59482672e-01 -7.51593409e-01 1.37823543e-02 2.28439894e+01] [ 7.51447598e-01 -6.59626412e-01 -1.48156345e-02 -1.79766796e+02] [ 2.02265382e-02 5.86062863e-04 9.99795251e-01 1.43894142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.26 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.83, Y:-179.74, Z:1.44 [[-6.62945593e-01 -7.48540263e-01 1.38063685e-02 2.28277365e+01] [ 7.48393447e-01 -6.63089154e-01 -1.48331629e-02 -1.79742948e+02] [ 2.02580729e-02 4.99015706e-04 9.99794660e-01 1.43936110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.28999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.81, Y:-179.72, Z:1.44 [[-6.65904662e-01 -7.45903825e-01 1.40877667e-02 2.28118584e+01] [ 7.45750547e-01 -6.66053524e-01 -1.51269534e-02 -1.79719540e+02] [ 2.06664591e-02 4.32850953e-04 9.99786332e-01 1.44003741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.32 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.80, Y:-179.69, Z:1.44 [[-6.69295009e-01 -7.42855647e-01 1.44802814e-02 2.27973089e+01] [ 7.42693179e-01 -6.69451539e-01 -1.55396273e-02 -1.79693854e+02] [ 2.12375466e-02 3.53811251e-04 9.99774395e-01 1.44195876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.34999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.78, Y:-179.67, Z:1.44 [[-6.69982728e-01 -7.42235532e-01 1.44761615e-02 2.27791943e+01] [ 7.42073215e-01 -6.70139015e-01 -1.55256063e-02 -1.79673866e+02] [ 2.12246972e-02 3.40483622e-04 9.99774673e-01 1.44081179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.38 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.76, Y:-179.65, Z:1.44 [[-6.69802753e-01 -7.42399549e-01 1.43938370e-02 2.27605354e+01] [ 7.42239297e-01 -6.69957303e-01 -1.54284775e-02 -1.79652215e+02] [ 2.10973510e-02 3.49634793e-04 9.99777365e-01 1.44156988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.40999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.74, Y:-179.63, Z:1.44 [[-6.68838642e-01 -7.43256005e-01 1.50127542e-02 2.27413990e+01] [ 7.43082086e-01 -6.69006990e-01 -1.60829338e-02 -1.79630811e+02] [ 2.19973746e-02 3.98821071e-04 9.99757949e-01 1.44300624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.44 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.72, Y:-179.61, Z:1.44 [[-6.67323182e-01 -7.44614987e-01 1.51093325e-02 2.27214691e+01] [ 7.44439302e-01 -6.67494059e-01 -1.61804566e-02 -1.79611135e+02] [ 2.21336001e-02 4.50387163e-04 9.99754920e-01 1.44282773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.46999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.70, Y:-179.59, Z:1.44 [[-6.65665590e-01 -7.46094874e-01 1.52236769e-02 2.27012545e+01] [ 7.45917110e-01 -6.65839454e-01 -1.62937334e-02 -1.79591704e+02] [ 2.22931957e-02 5.09423418e-04 9.99751346e-01 1.44279080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.68, Y:-179.57, Z:1.44 [[-6.61272259e-01 -7.50003162e-01 1.46374716e-02 2.26798639e+01] [ 7.49839903e-01 -6.61433951e-01 -1.56604077e-02 -1.79573560e+02] [ 2.14270760e-02 6.19967075e-04 9.99770222e-01 1.44353374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.53 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.66, Y:-179.55, Z:1.44 [[-6.59344251e-01 -7.51706036e-01 1.42546187e-02 2.26597891e+01] [ 7.51551788e-01 -6.59497988e-01 -1.52418498e-02 -1.79554120e+02] [ 2.08582828e-02 6.63458133e-04 9.99782222e-01 1.44401105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.56 meters Centerline goodness [0,1] 0.9999792569852103 Centerline is valid? [True, True] Translation: X:22.64, Y:-179.54, Z:1.44 [[-6.55401886e-01 -7.55151196e-01 1.39656630e-02 2.26377575e+01] [ 7.55004032e-01 -6.55550221e-01 -1.49271503e-02 -1.79537422e+02] [ 2.04274488e-02 7.60849438e-04 9.99791048e-01 1.44346001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.59 meters Centerline goodness [0,1] 0.9999792168925098 Centerline is valid? [True, True] Translation: X:22.62, Y:-179.52, Z:1.44 [[-6.53778924e-01 -7.56550646e-01 1.42911837e-02 2.26173691e+01] [ 7.56397048e-01 -6.53934578e-01 -1.52667166e-02 -1.79517050e+02] [ 2.08955435e-02 8.28751637e-04 9.99781321e-01 1.44369455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.62 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.60, Y:-179.50, Z:1.44 [[-6.52404685e-01 -7.57732405e-01 1.44820441e-02 2.25972616e+01] [ 7.57575147e-01 -6.52564803e-01 -1.54620261e-02 -1.79496378e+02] [ 2.11665505e-02 8.83738408e-04 9.99775573e-01 1.44414169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.65 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.58, Y:-179.48, Z:1.44 [[-6.51171177e-01 -7.58797672e-01 1.42193817e-02 2.25750944e+01] [ 7.58646435e-01 -6.51325781e-01 -1.51760765e-02 -1.79478962e+02] [ 2.07770214e-02 9.05259625e-04 9.99783725e-01 1.44291764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.68 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.56, Y:-179.46, Z:1.44 [[-6.50021566e-01 -7.59785797e-01 1.40537135e-02 2.25553551e+01] [ 7.59638463e-01 -6.50172805e-01 -1.49910106e-02 -1.79458020e+02] [ 2.05272992e-02 9.31261146e-04 9.99788859e-01 1.44356826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.71 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.53, Y:-179.44, Z:1.44 [[-6.48923287e-01 -7.60724901e-01 1.40068775e-02 2.25335237e+01] [ 7.60578943e-01 -6.49073722e-01 -1.49323574e-02 -1.79440657e+02] [ 2.04509122e-02 9.63381622e-04 9.99790394e-01 1.44257808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.74 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.51, Y:-179.42, Z:1.44 [[-6.46905670e-01 -7.62434448e-01 1.43794041e-02 2.25115594e+01] [ 7.62281228e-01 -6.47064610e-01 -1.53205736e-02 -1.79422615e+02] [ 2.09853366e-02 1.05018388e-03 9.99779232e-01 1.44142359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.77 meters Centerline goodness [0,1] 0.9999792793352811 Centerline is valid? [True, True] Translation: X:22.49, Y:-179.41, Z:1.44 [[-6.46313110e-01 -7.62922379e-01 1.51263896e-02 2.24913397e+01] [ 7.62753121e-01 -6.46489114e-01 -1.61090233e-02 -1.79405126e+02] [ 2.20689806e-02 1.12622794e-03 9.99755816e-01 1.43980926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.8 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.47, Y:-179.38, Z:1.44 [[-6.46335479e-01 -7.62886251e-01 1.59692408e-02 2.24745455e+01] [ 7.62697810e-01 -6.46531626e-01 -1.69972949e-02 -1.79382225e+02] [ 2.32916218e-02 1.19375021e-03 9.99728001e-01 1.44038175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.83 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.46, Y:-179.36, Z:1.44 [[-6.46894097e-01 -7.62393885e-01 1.68401500e-02 2.24558229e+01] [ 7.62184431e-01 -6.47112052e-01 -1.79132517e-02 -1.79363174e+02] [ 2.45544176e-02 1.24732333e-03 9.99697717e-01 1.43900690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.86 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.44, Y:-179.35, Z:1.44 [[-6.47568411e-01 -7.61808434e-01 1.74087129e-02 2.24353584e+01] [ 7.61584668e-01 -6.47801117e-01 -1.85068994e-02 -1.79345823e+02] [ 2.53760957e-02 1.27372542e-03 9.99677164e-01 1.43658389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.42, Y:-179.33, Z:1.44 [[-6.50305049e-01 -7.59475298e-01 1.73382521e-02 2.24191817e+01] [ 7.59252781e-01 -6.50535063e-01 -1.84213348e-02 -1.79325276e+02] [ 2.52696897e-02 1.18462910e-03 9.99679969e-01 1.43670574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.91999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.40, Y:-179.30, Z:1.44 [[-6.51623264e-01 -7.58351406e-01 1.70372359e-02 2.24039697e+01] [ 7.58136423e-01 -6.51844976e-01 -1.80911934e-02 -1.79301616e+02] [ 2.48251186e-02 1.12790661e-03 9.99691173e-01 1.43942782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.95 meters Centerline goodness [0,1] 0.9999580078945158 Centerline is valid? [True, True] Translation: X:22.39, Y:-179.28, Z:1.44 [[-6.52888551e-01 -7.57273033e-01 1.65557398e-02 2.23860652e+01] [ 7.57069914e-01 -6.53097561e-01 -1.75704754e-02 -1.79279477e+02] [ 2.41181605e-02 1.06229033e-03 9.99708551e-01 1.44070793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.97999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.37, Y:-179.26, Z:1.44 [[-6.53845952e-01 -7.56461397e-01 1.58627091e-02 2.23681405e+01] [ 7.56274901e-01 -6.54037587e-01 -1.68258777e-02 -1.79258899e+02] [ 2.31029349e-02 9.95036706e-04 9.99732596e-01 1.44165746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.01 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.35, Y:-179.24, Z:1.44 [[-6.54731112e-01 -7.55703104e-01 1.54915902e-02 2.23497673e+01] [ 7.55525228e-01 -6.54913668e-01 -1.64230605e-02 -1.79237449e+02] [ 2.25566120e-02 9.51598523e-04 9.99745114e-01 1.44207532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.03999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.33, Y:-179.21, Z:1.44 [[-6.56503863e-01 -7.54171280e-01 1.51115280e-02 2.23343400e+01] [ 7.54001750e-01 -6.56677170e-01 -1.60142401e-02 -1.79213116e+02] [ 2.20008754e-02 8.80708055e-04 9.99757564e-01 1.44372415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.07 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.32, Y:-179.19, Z:1.44 [[-6.57389880e-01 -7.53392833e-01 1.54203043e-02 2.23164799e+01] [ 7.53216337e-01 -6.57570123e-01 -1.63304237e-02 -1.79193589e+02] [ 2.24431556e-02 8.79369892e-04 9.99747734e-01 1.44287049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.09999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.30, Y:-179.17, Z:1.44 [[-6.58193458e-01 -7.52688692e-01 1.55275484e-02 2.22986394e+01] [ 7.52509749e-01 -6.58376017e-01 -1.64346312e-02 -1.79171639e+02] [ 2.25931266e-02 8.67464819e-04 9.99744366e-01 1.44304991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.13 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.28, Y:-179.15, Z:1.44 [[-6.58503809e-01 -7.52411765e-01 1.57882665e-02 2.22805771e+01] [ 7.52226902e-01 -6.58692465e-01 -1.67010036e-02 -1.79150206e+02] [ 2.29656438e-02 8.78684350e-04 9.99735869e-01 1.44337241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.15999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.26, Y:-179.13, Z:1.44 [[-6.59081879e-01 -7.51910550e-01 1.55435275e-02 2.22604575e+01] [ 7.51731487e-01 -6.59264585e-01 -1.64310120e-02 -1.79133667e+02] [ 2.26019485e-02 8.55176764e-04 9.99744178e-01 1.44114054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.19 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.25, Y:-179.11, Z:1.44 [[-6.59571981e-01 -7.51492689e-01 1.49512322e-02 2.22453665e+01] [ 7.51327104e-01 -6.59740914e-01 -1.57958435e-02 -1.79109923e+02] [ 2.17344005e-02 8.14770183e-04 9.99763448e-01 1.44407684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.21999999999997 meters Centerline goodness [0,1] 0.9999788815678324 Centerline is valid? [True, True] Translation: X:22.23, Y:-179.09, Z:1.44 [[-6.59963942e-01 -7.51148868e-01 1.49323151e-02 2.22275283e+01] [ 7.50983810e-01 -6.60132354e-01 -1.57668383e-02 -1.79088281e+02] [ 2.17005470e-02 8.08382132e-04 9.99764189e-01 1.44461904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.25 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.21, Y:-179.07, Z:1.44 [[-6.60142680e-01 -7.50995222e-01 1.47586951e-02 2.22097522e+01] [ 7.50834166e-01 -6.60307153e-01 -1.55730177e-02 -1.79069504e+02] [ 2.14405338e-02 8.00918859e-04 9.99769805e-01 1.44474215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.28 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.19, Y:-179.05, Z:1.45 [[-6.60731233e-01 -7.50486839e-01 1.42738136e-02 2.21917937e+01] [ 7.50336274e-01 -6.60884951e-01 -1.50518210e-02 -1.79049537e+02] [ 2.07295422e-02 7.64951894e-04 9.99784827e-01 1.44500122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.31 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.17, Y:-179.03, Z:1.45 [[-6.60969110e-01 -7.50277254e-01 1.42785854e-02 2.21732914e+01] [ 7.50126737e-01 -6.61122876e-01 -1.50472944e-02 -1.79030190e+02] [ 2.07295422e-02 7.64951894e-04 9.99784827e-01 1.44500103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.34 meters Centerline goodness [0,1] 0.9999788748758899 Centerline is valid? [True, True] Translation: X:22.15, Y:-179.01, Z:1.45 [[-6.61167897e-01 -7.50107342e-01 1.39995306e-02 2.21549932e+01] [ 7.49962813e-01 -6.61315667e-01 -1.47434069e-02 -1.79011358e+02] [ 2.03172467e-02 7.51259996e-04 9.99793301e-01 1.44510301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.37 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.14, Y:-178.99, Z:1.45 [[-6.61500032e-01 -7.49829755e-01 1.31547339e-02 2.21387157e+01] [ 7.49702246e-01 -6.61630444e-01 -1.38455376e-02 -1.78987883e+02] [ 1.90853685e-02 7.03310043e-04 9.99817610e-01 1.44745342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.4 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.12, Y:-178.97, Z:1.45 [[-6.61902192e-01 -7.49483720e-01 1.26349656e-02 2.21192258e+01] [ 7.49366173e-01 -6.62022434e-01 -1.32904198e-02 -1.78969139e+02] [ 1.83255839e-02 6.71257814e-04 9.99831847e-01 1.44691663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.43 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.10, Y:-178.95, Z:1.45 [[-6.62304574e-01 -7.49146334e-01 1.15074533e-02 2.21007079e+01] [ 7.49048867e-01 -6.62404259e-01 -1.20992955e-02 -1.78949875e+02] [ 1.66867289e-02 6.06226120e-04 9.99860583e-01 1.44711074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.46 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.08, Y:-178.93, Z:1.45 [[-6.62916072e-01 -7.48608425e-01 1.13007601e-02 2.20823753e+01] [ 7.48514474e-01 -6.63012127e-01 -1.18744024e-02 -1.78929528e+02] [ 1.63818187e-02 5.87050284e-04 9.99865637e-01 1.44694679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.49 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.06, Y:-178.91, Z:1.45 [[-6.63716348e-01 -7.47903344e-01 1.10089668e-02 2.20644021e+01] [ 7.47814191e-01 -6.63807408e-01 -1.15611337e-02 -1.78907378e+02] [ 1.59544442e-02 5.59348158e-04 9.99872563e-01 1.44721010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.52 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.05, Y:-178.89, Z:1.45 [[-6.64522578e-01 -7.47180408e-01 1.14534308e-02 2.20465808e+01] [ 7.47083920e-01 -6.64621030e-01 -1.20208901e-02 -1.78885926e+02] [ 1.65939645e-02 5.68521129e-04 9.99862149e-01 1.44701221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.55 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.03, Y:-178.87, Z:1.45 [[-6.65631168e-01 -7.46192292e-01 1.14983548e-02 2.20273385e+01] [ 7.46095015e-01 -6.65730246e-01 -1.20610615e-02 -1.78866299e+02] [ 1.66546736e-02 5.50646735e-04 9.99861150e-01 1.44557370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.58 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:22.01, Y:-178.85, Z:1.44 [[-6.68146674e-01 -7.43936606e-01 1.17621316e-02 2.20097387e+01] [ 7.43834574e-01 -6.68250003e-01 -1.23312784e-02 -1.78845697e+02] [ 1.70337339e-02 5.09977494e-04 9.99854785e-01 1.44398948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.61 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.99, Y:-178.82, Z:1.44 [[-6.69577555e-01 -7.42652138e-01 1.15628558e-02 2.19924197e+01] [ 7.42553457e-01 -6.69677219e-01 -1.21155458e-02 -1.78823367e+02] [ 1.67410171e-02 4.73741052e-04 9.99859747e-01 1.44448740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.64 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.98, Y:-178.80, Z:1.45 [[-6.70957695e-01 -7.41407736e-01 1.14167030e-02 2.19753268e+01] [ 7.41311464e-01 -6.71054673e-01 -1.19557115e-02 -1.78800707e+02] [ 1.65252889e-02 4.41556135e-04 9.99863351e-01 1.44565242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.66999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.96, Y:-178.78, Z:1.45 [[-6.72383330e-01 -7.40123825e-01 1.08342893e-02 2.19571610e+01] [ 7.40037023e-01 -6.72470498e-01 -1.13416853e-02 -1.78780629e+02] [ 1.56799914e-02 3.91815040e-04 9.99876985e-01 1.44582941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.7 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.94, Y:-178.76, Z:1.45 [[-6.74921447e-01 -7.37830736e-01 9.31909517e-03 2.19403704e+01] [ 7.37766363e-01 -6.74985718e-01 -9.75059371e-03 -1.78759216e+02] [ 1.34845439e-02 2.94430139e-04 9.99909036e-01 1.44682840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.72999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.92, Y:-178.74, Z:1.45 [[-6.76258668e-01 -7.36613026e-01 8.68698519e-03 2.19212744e+01] [ 7.36557054e-01 -6.76314413e-01 -9.08414683e-03 -1.78740225e+02] [ 1.25666342e-02 2.55227181e-04 9.99921004e-01 1.44621864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.76 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.90, Y:-178.72, Z:1.45 [[-6.77334605e-01 -7.35630668e-01 8.08413693e-03 2.19040376e+01] [ 7.35582180e-01 -6.77382809e-01 -8.44904002e-03 -1.78717673e+02] [ 1.16914283e-02 2.23719882e-04 9.99931628e-01 1.44776161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.78999999999996 meters Centerline goodness [0,1] 0.9999789726012995 Centerline is valid? [True, True] Translation: X:21.89, Y:-178.70, Z:1.45 [[-6.78122441e-01 -7.34908171e-01 7.74180901e-03 2.18854294e+01] [ 7.34863708e-01 -6.78166601e-01 -8.08652536e-03 -1.78696613e+02] [ 1.11930899e-02 2.05520162e-04 9.99937334e-01 1.44813042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.82 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.87, Y:-178.68, Z:1.45 [[-6.78729145e-01 -7.34352026e-01 7.33826516e-03 2.18666722e+01] [ 7.34312094e-01 -6.78768787e-01 -7.66043208e-03 -1.78675423e+02] [ 1.06064392e-02 1.89218344e-04 9.99943732e-01 1.44870390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.84999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.85, Y:-178.66, Z:1.45 [[-6.79083688e-01 -7.34027765e-01 6.97029390e-03 2.18473214e+01] [ 7.33991766e-01 -6.79119437e-01 -7.27173840e-03 -1.78656511e+02] [ 1.00713199e-02 1.78019398e-04 9.99949267e-01 1.44794487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.88 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.83, Y:-178.64, Z:1.45 [[-6.78279211e-01 -7.34769882e-01 7.10864312e-03 2.18275751e+01] [ 7.34732523e-01 -6.78316432e-01 -7.41193305e-03 -1.78636421e+02] [ 1.02679746e-02 1.95591200e-04 9.99947264e-01 1.44796444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.90999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.81, Y:-178.62, Z:1.45 [[-6.77416481e-01 -7.35561506e-01 7.49547289e-03 2.18071629e+01] [ 7.35520050e-01 -6.77457912e-01 -7.81241994e-03 -1.78617632e+02] [ 1.08243828e-02 2.20808569e-04 9.99941390e-01 1.44716174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.94 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.79, Y:-178.60, Z:1.45 [[-6.76380433e-01 -7.36508395e-01 8.05571064e-03 2.17861946e+01] [ 7.36460630e-01 -6.76428354e-01 -8.39176873e-03 -1.78598035e+02] [ 1.16297192e-02 2.56685578e-04 9.99932340e-01 1.44636056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.96999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.77, Y:-178.58, Z:1.45 [[-6.74907859e-01 -7.37852399e-01 8.55682828e-03 2.17654563e+01] [ 7.37798674e-01 -6.74962034e-01 -8.90893547e-03 -1.78578764e+02] [ 1.23490136e-02 3.00505996e-04 9.99923703e-01 1.44598522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.0 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.74, Y:-178.56, Z:1.44 [[-6.71732959e-01 -7.40734079e-01 9.37309477e-03 2.17435024e+01] [ 7.40669943e-01 -6.71798238e-01 -9.75519230e-03 -1.78562898e+02] [ 1.35228319e-02 3.89485374e-04 9.99908487e-01 1.44456591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.03 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.72, Y:-178.54, Z:1.44 [[-6.70392033e-01 -7.41950194e-01 9.18867341e-03 2.17225957e+01] [ 7.41888739e-01 -6.70454877e-01 -9.55806284e-03 -1.78542935e+02] [ 1.32521975e-02 4.09324156e-04 9.99912102e-01 1.44491557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.06 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.70, Y:-178.53, Z:1.44 [[-6.69024391e-01 -7.43188639e-01 8.77555620e-03 2.17014409e+01] [ 7.43132747e-01 -6.69081813e-01 -9.12406206e-03 -1.78526340e+02] [ 1.26524643e-02 4.17183113e-04 9.99919867e-01 1.44444623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.09 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.68, Y:-178.51, Z:1.45 [[-6.67989730e-01 -7.44125920e-01 8.14460467e-03 2.16813759e+01] [ 7.44077903e-01 -6.68039257e-01 -8.46321064e-03 -1.78506370e+02] [ 1.17386101e-02 4.06882568e-04 9.99931017e-01 1.44546547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.12 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.66, Y:-178.49, Z:1.45 [[-6.67163921e-01 -7.44871287e-01 7.68564956e-03 2.16601950e+01] [ 7.44828615e-01 -6.67208069e-01 -7.98293165e-03 -1.78489835e+02] [ 1.10741840e-02 3.98567740e-04 9.99938600e-01 1.44502164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.15 meters Centerline goodness [0,1] 0.9999790065919302 Centerline is valid? [True, True] Translation: X:21.64, Y:-178.47, Z:1.45 [[-6.66646218e-01 -7.45341456e-01 6.99534983e-03 2.16426284e+01] [ 7.45306158e-01 -6.66682815e-01 -7.26326715e-03 -1.78467961e+02] [ 1.00772936e-02 3.71647729e-04 9.99949154e-01 1.44651172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.18 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.62, Y:-178.45, Z:1.45 [[-6.66607891e-01 -7.45379132e-01 6.62342479e-03 2.16218388e+01] [ 7.45347530e-01 -6.66640700e-01 -6.87288181e-03 -1.78449738e+02] [ 9.53834722e-03 3.55236062e-04 9.99954446e-01 1.44558725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.21 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.60, Y:-178.43, Z:1.45 [[-6.67096395e-01 -7.44941892e-01 6.63153543e-03 2.16032669e+01] [ 7.44910229e-01 -6.67129263e-01 -6.87730524e-03 -1.78428399e+02] [ 9.54728413e-03 3.52073045e-04 9.99954362e-01 1.44588601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.24 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.58, Y:-178.41, Z:1.45 [[-6.67532321e-01 -7.44553027e-01 6.43358268e-03 2.15840514e+01] [ 7.44523234e-01 -6.67563238e-01 -6.66918744e-03 -1.78409748e+02] [ 9.26038698e-03 3.38053610e-04 9.99957065e-01 1.44552681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.27 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.56, Y:-178.39, Z:1.45 [[-6.68448839e-01 -7.43733597e-01 6.04038393e-03 2.15640859e+01] [ 7.43707333e-01 -6.68476058e-01 -6.25800000e-03 -1.78389805e+02] [ 8.69213690e-03 3.09124992e-04 9.99962175e-01 1.44592819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.3 meters Centerline goodness [0,1] 0.9999790856234576 Centerline is valid? [True, True] Translation: X:21.55, Y:-178.37, Z:1.45 [[-6.68920503e-01 -7.43312113e-01 5.69763645e-03 2.15452970e+01] [ 7.43288762e-01 -6.68944706e-01 -5.89892126e-03 -1.78371869e+02] [ 8.19614337e-03 2.89079765e-04 9.99966369e-01 1.44581246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.33 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.53, Y:-178.35, Z:1.45 [[-6.69412698e-01 -7.42868894e-01 5.69620373e-03 2.15251900e+01] [ 7.42845568e-01 -6.69436871e-01 -5.89390731e-03 -1.78352702e+02] [ 8.19164921e-03 2.85943299e-04 9.99966407e-01 1.44564346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.36 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.51, Y:-178.33, Z:1.45 [[-6.69756646e-01 -7.42560024e-01 5.53589233e-03 2.15056535e+01] [ 7.42538007e-01 -6.69779467e-01 -5.72476367e-03 -1.78332473e+02] [ 7.95880766e-03 2.76411940e-04 9.99968290e-01 1.44583798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.39 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.49, Y:-178.31, Z:1.45 [[-6.70018709e-01 -7.42323604e-01 5.53146685e-03 2.14867176e+01] [ 7.42301641e-01 -6.70041485e-01 -5.71685623e-03 -1.78312156e+02] [ 7.95006958e-03 2.75616291e-04 9.99968360e-01 1.44605669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.41999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.47, Y:-178.30, Z:1.44 [[-6.70327250e-01 -7.42039916e-01 6.17589277e-03 2.14657616e+01] [ 7.42012549e-01 -6.70355630e-01 -6.38017446e-03 -1.78295021e+02] [ 8.87438861e-03 3.05785138e-04 9.99960575e-01 1.44418252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.45 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.45, Y:-178.28, Z:1.44 [[-6.70712710e-01 -7.41687890e-01 6.59812764e-03 2.14454894e+01] [ 7.41656673e-01 -6.70745085e-01 -6.81250286e-03 -1.78276029e+02] [ 9.47841256e-03 3.24313147e-04 9.99955026e-01 1.44311627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.47999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.43, Y:-178.26, Z:1.44 [[-6.71265325e-01 -7.41184638e-01 6.94235850e-03 2.14259600e+01] [ 7.41150098e-01 -6.71301139e-01 -7.16335667e-03 -1.78257025e+02] [ 9.96978308e-03 3.36816738e-04 9.99950244e-01 1.44229237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.51 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.41, Y:-178.24, Z:1.44 [[-6.71951617e-01 -7.40558327e-01 7.37485279e-03 2.14067525e+01] [ 7.40519362e-01 -6.71991995e-01 -7.60480420e-03 -1.78237839e+02] [ 1.05876431e-02 3.51160801e-04 9.99943888e-01 1.44177967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.53999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.39, Y:-178.22, Z:1.44 [[-6.73029548e-01 -7.39577389e-01 7.51757128e-03 2.13889931e+01] [ 7.39536887e-01 -6.73071442e-01 -7.74763190e-03 -1.78215962e+02] [ 1.07898359e-02 3.45136067e-04 9.99941729e-01 1.44248124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.57 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.37, Y:-178.20, Z:1.44 [[-6.74558160e-01 -7.38183325e-01 7.52781063e-03 2.13684746e+01] [ 7.38142656e-01 -6.74600084e-01 -7.75538728e-03 -1.78197535e+02] [ 1.08031592e-02 3.25138360e-04 9.99941591e-01 1.44153433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.59999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.35, Y:-178.17, Z:1.44 [[-6.78535232e-01 -7.34535057e-01 6.94189747e-03 2.13525348e+01] [ 7.34500321e-01 -6.78570695e-01 -7.14770182e-03 -1.78173339e+02] [ 9.96080576e-03 2.48858407e-04 9.99950359e-01 1.44394555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.63 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.33, Y:-178.15, Z:1.44 [[-6.80987957e-01 -7.32263129e-01 6.79059623e-03 2.13339668e+01] [ 7.32229801e-01 -6.81021780e-01 -6.98949774e-03 -1.78153581e+02] [ 9.74269541e-03 2.12513141e-04 9.99952516e-01 1.44435371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.65999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.31, Y:-178.13, Z:1.44 [[-6.83252958e-01 -7.30153564e-01 6.41628274e-03 2.13147870e+01] [ 7.30123741e-01 -6.83283062e-01 -6.60147275e-03 -1.78134681e+02] [ 9.20422617e-03 1.74204579e-04 9.99957625e-01 1.44434539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.69 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.30, Y:-178.11, Z:1.45 [[-6.85442257e-01 -7.28100722e-01 6.18481925e-03 2.12979820e+01] [ 7.28072960e-01 -6.85470144e-01 -6.35976581e-03 -1.78111867e+02] [ 8.87005902e-03 1.43747425e-04 9.99960650e-01 1.44630187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.71999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.28, Y:-178.09, Z:1.45 [[-6.89210302e-01 -7.24536801e-01 5.96509671e-03 2.12788855e+01] [ 7.24510872e-01 -6.89236109e-01 -6.13041990e-03 -1.78091177e+02] [ 8.55307487e-03 9.66288711e-05 9.99963417e-01 1.44700349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.75 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.26, Y:-178.07, Z:1.45 [[-6.91067326e-01 -7.22766299e-01 5.90158421e-03 2.12589380e+01] [ 7.22740884e-01 -6.91092521e-01 -6.06162210e-03 -1.78071312e+02] [ 8.45967687e-03 7.63272063e-05 9.99964213e-01 1.44695942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.78 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.24, Y:-178.05, Z:1.45 [[-6.92642966e-01 -7.21256571e-01 5.88900796e-03 2.12393049e+01] [ 7.21231240e-01 -6.92667998e-01 -6.04513504e-03 -1.78051363e+02] [ 8.43922072e-03 6.02162508e-05 9.99964387e-01 1.44728480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.81 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.22, Y:-178.03, Z:1.45 [[-6.94287664e-01 -7.19676331e-01 5.53334355e-03 2.12193004e+01] [ 7.19653943e-01 -6.94309713e-01 -5.67669257e-03 -1.78031842e+02] [ 7.92723545e-03 4.08348803e-05 9.99968578e-01 1.44735087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.84 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.20, Y:-178.01, Z:1.45 [[-6.95770725e-01 -7.18239827e-01 5.88638185e-03 2.11993121e+01] [ 7.18214470e-01 -6.95795624e-01 -6.03534755e-03 -1.78012821e+02] [ 8.43054571e-03 2.84664788e-05 9.99964462e-01 1.44691617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.87 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.18, Y:-177.99, Z:1.45 [[-6.97498831e-01 -7.16561105e-01 5.96355348e-03 2.11788686e+01] [ 7.16535048e-01 -6.97524324e-01 -6.11090447e-03 -1.77993018e+02] [ 8.53856007e-03 1.07463548e-05 9.99963546e-01 1.44694537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.9 meters Centerline goodness [0,1] 0.999979227685341 Centerline is valid? [True, True] Translation: X:21.16, Y:-177.97, Z:1.45 [[-7.01017706e-01 -7.13113437e-01 6.58795593e-03 2.11581674e+01] [ 7.13081511e-01 -7.01048661e-01 -6.74786604e-03 -1.77974970e+02] [ 9.43047163e-03 -3.26240014e-05 9.99955532e-01 1.44663108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.93 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.14, Y:-177.96, Z:1.45 [[-7.02964676e-01 -7.11193182e-01 6.70236140e-03 2.11372125e+01] [ 7.11160090e-01 -7.02996625e-01 -6.86092028e-03 -1.77956019e+02] [ 9.59117717e-03 -5.65326671e-05 9.99954002e-01 1.44714067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.96 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.12, Y:-177.94, Z:1.45 [[-7.04966934e-01 -7.09206941e-01 6.86560468e-03 2.11174747e+01] [ 7.09172160e-01 -7.05000360e-01 -7.02428196e-03 -1.77936890e+02] [ 9.82192330e-03 -8.29908161e-05 9.99951760e-01 1.44598884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.99 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.10, Y:-177.92, Z:1.45 [[-7.06944589e-01 -7.07236024e-01 6.82311520e-03 2.10965466e+01] [ 7.07201618e-01 -7.06977507e-01 -6.97685736e-03 -1.77917704e+02] [ 9.75807383e-03 -1.06933448e-04 9.99952383e-01 1.44618863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.02 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.07, Y:-177.90, Z:1.45 [[-7.09015403e-01 -7.05159758e-01 6.84647111e-03 2.10748347e+01] [ 7.05125057e-01 -7.09048445e-01 -6.99686667e-03 -1.77899117e+02] [ 9.78838850e-03 -1.33267911e-04 9.99952084e-01 1.44700526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.05 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.06, Y:-177.88, Z:1.45 [[-7.10520439e-01 -7.03646015e-01 6.55684093e-03 2.10555882e+01] [ 7.03614139e-01 -7.10550677e-01 -6.69915670e-03 -1.77880308e+02] [ 9.37280267e-03 -1.46401767e-04 9.99956064e-01 1.44656136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.08 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.03, Y:-177.86, Z:1.45 [[-7.13490104e-01 -7.00634779e-01 6.54049505e-03 2.10317367e+01] [ 7.00602968e-01 -7.13520058e-01 -6.67890526e-03 -1.77864040e+02] [ 9.34624772e-03 -1.83042566e-04 9.99956306e-01 1.44751937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.11 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:21.01, Y:-177.85, Z:1.45 [[-7.14914725e-01 -6.99181811e-01 6.45995535e-03 2.10085018e+01] [ 6.99150753e-01 -7.14943883e-01 -6.59303105e-03 -1.77846676e+02] [ 9.22823295e-03 -1.96972335e-04 9.99957400e-01 1.44810316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.14 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.99, Y:-177.83, Z:1.45 [[-7.16204197e-01 -6.97862960e-01 6.23192355e-03 2.09867775e+01] [ 6.97834036e-01 -7.16231280e-01 -6.35697093e-03 -1.77829077e+02] [ 8.89979314e-03 -2.04040898e-04 9.99960375e-01 1.44773385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.16999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.96, Y:-177.81, Z:1.45 [[-7.17752596e-01 -6.96271204e-01 6.13365213e-03 2.09642001e+01] [ 6.96243156e-01 -7.17778771e-01 -6.25335707e-03 -1.77811844e+02] [ 8.75663774e-03 -2.17849951e-04 9.99961636e-01 1.44777468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.2 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.94, Y:-177.79, Z:1.45 [[-7.19262831e-01 -6.94714294e-01 5.74716589e-03 2.09427442e+01] [ 6.94689645e-01 -7.19285758e-01 -5.85624084e-03 -1.77794659e+02] [ 8.20226879e-03 -2.19679738e-04 9.99966337e-01 1.44806595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.22999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.92, Y:-177.78, Z:1.45 [[-7.19460392e-01 -6.94509679e-01 5.74883145e-03 2.09233831e+01] [ 6.94485037e-01 -7.19483327e-01 -5.85460583e-03 -1.77775025e+02] [ 8.20226880e-03 -2.19679588e-04 9.99966337e-01 1.44806575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.26 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.90, Y:-177.76, Z:1.45 [[-7.21069001e-01 -6.92841263e-01 5.52089279e-03 2.09007225e+01] [ 6.92818511e-01 -7.21090100e-01 -5.61946700e-03 -1.77757701e+02] [ 7.87445975e-03 -2.27046737e-04 9.99968970e-01 1.44876414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.28999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.87, Y:-177.74, Z:1.45 [[-7.24063399e-01 -6.89718293e-01 4.56843256e-03 2.08735727e+01] [ 6.89702663e-01 -7.24077779e-01 -4.64829116e-03 -1.77744967e+02] [ 6.51391194e-03 -2.14797397e-04 9.99978761e-01 1.45062195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.32 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.85, Y:-177.73, Z:1.45 [[-7.25379835e-01 -6.88337516e-01 3.94438868e-03 2.08521102e+01] [ 6.88325852e-01 -7.25390533e-01 -4.01190313e-03 -1.77727654e+02] [ 5.62276565e-03 -1.95128936e-04 9.99984173e-01 1.45038820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.34999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.83, Y:-177.71, Z:1.45 [[-7.26343704e-01 -6.87321976e-01 3.65025484e-03 2.08276494e+01] [ 6.87311985e-01 -7.26352852e-01 -3.71065948e-03 -1.77711972e+02] [ 5.20179082e-03 -1.86350252e-04 9.99986453e-01 1.45045293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.38 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.80, Y:-177.70, Z:1.45 [[-7.26819614e-01 -6.86819291e-01 3.53691313e-03 2.07980663e+01] [ 6.86809915e-01 -7.26828197e-01 -3.59344472e-03 -1.77702141e+02] [ 5.03877535e-03 -1.82599097e-04 9.99987289e-01 1.45016071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.40999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.77, Y:-177.69, Z:1.45 [[-7.26574011e-01 -6.87078842e-01 3.58762749e-03 2.07702503e+01] [ 6.87069209e-01 -7.26582846e-01 -3.64284693e-03 -1.77690526e+02] [ 5.10963164e-03 -1.81849525e-04 9.99986929e-01 1.45029830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.44 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.74, Y:-177.68, Z:1.45 [[-7.25868226e-01 -6.87826476e-01 3.17130414e-03 2.07449247e+01] [ 6.87818964e-01 -7.25875137e-01 -3.21833043e-03 -1.77676420e+02] [ 4.51562370e-03 -1.54800672e-04 9.99989793e-01 1.45024737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.46999999999997 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.72, Y:-177.66, Z:1.45 [[-7.25212408e-01 -6.88519406e-01 2.82682326e-03 2.07174189e+01] [ 6.88513449e-01 -7.25217905e-01 -2.86711454e-03 -1.77664261e+02] [ 4.02412684e-03 -1.32961204e-04 9.99991894e-01 1.45043698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.5 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.70, Y:-177.65, Z:1.45 [[-7.24111556e-01 -6.89679076e-01 2.28603426e-03 2.06953140e+01] [ 6.89675189e-01 -7.24115158e-01 -2.31777024e-03 -1.77647251e+02] [ 3.25386970e-03 -1.01703100e-04 9.99994701e-01 1.44994230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.53 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.66, Y:-177.64, Z:1.45 [[-7.22419071e-01 -6.91453951e-01 1.45593962e-03 2.06581590e+01] [ 6.91452380e-01 -7.22420536e-01 -1.47530465e-03 -1.77644075e+02] [ 2.07190591e-03 -5.90752948e-05 9.99997852e-01 1.45071868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.56 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.63, Y:-177.63, Z:1.45 [[-7.21732794e-01 -6.92170016e-01 1.56287056e-03 2.06315223e+01] [ 6.92168209e-01 -7.21734484e-01 -1.58277645e-03 -1.77630648e+02] [ 2.22352798e-03 -6.05723588e-05 9.99997526e-01 1.45077247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.59 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.61, Y:-177.62, Z:1.45 [[-7.21277650e-01 -6.92643945e-01 1.70776669e-03 2.06055969e+01] [ 6.92641791e-01 -7.21279669e-01 -1.72852792e-03 -1.77617626e+02] [ 2.42903179e-03 -6.38779746e-05 9.99997048e-01 1.45064952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.62 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.58, Y:-177.60, Z:1.45 [[-7.20773154e-01 -6.93167818e-01 2.10621056e-03 2.05788000e+01] [ 6.93164548e-01 -7.20776227e-01 -2.13068146e-03 -1.77604009e+02] [ 2.99502632e-03 -7.57875098e-05 9.99995512e-01 1.45043496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.65 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.55, Y:-177.59, Z:1.45 [[-7.20520077e-01 -6.93430685e-01 2.16860508e-03 2.05519294e+01] [ 6.93427223e-01 -7.20523337e-01 -2.19254662e-03 -1.77591124e+02] [ 3.08290967e-03 -7.60040629e-05 9.99995245e-01 1.45041123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.68 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.52, Y:-177.59, Z:1.45 [[-7.19314633e-01 -6.94680850e-01 2.23078815e-03 2.05191854e+01] [ 6.94677196e-01 -7.19318088e-01 -2.25415250e-03 -1.77585452e+02] [ 3.17056285e-03 -7.17672209e-05 9.99994971e-01 1.45131785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.71 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.49, Y:-177.57, Z:1.45 [[-7.18618443e-01 -6.95401514e-01 2.06590332e-03 2.04932639e+01] [ 6.95398388e-01 -7.18621410e-01 -2.08622380e-03 -1.77573367e+02] [ 2.93536554e-03 -6.25730611e-05 9.99995690e-01 1.45168258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.74 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.47, Y:-177.56, Z:1.45 [[-7.17853998e-01 -6.96191095e-01 1.89636495e-03 2.04668919e+01] [ 6.96188467e-01 -7.17856501e-01 -1.91381518e-03 -1.77560876e+02] [ 2.69369899e-03 -5.36124714e-05 9.99996371e-01 1.45211386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.77 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.43, Y:-177.56, Z:1.45 [[-7.14995294e-01 -6.99127102e-01 1.73931304e-03 2.04320163e+01] [ 6.99124902e-01 -7.14997408e-01 -1.75431724e-03 -1.77555950e+02] [ 2.47009505e-03 -3.83315131e-05 9.99996949e-01 1.45341464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.8 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.41, Y:-177.54, Z:1.45 [[-7.13243879e-01 -7.00913961e-01 1.66998061e-03 2.04057134e+01] [ 7.00911940e-01 -7.13245834e-01 -1.68344231e-03 -1.77543766e+02] [ 2.37105493e-03 -3.01955723e-05 9.99997189e-01 1.45363897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.83 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.38, Y:-177.53, Z:1.45 [[-7.11057997e-01 -7.03131510e-01 1.61372627e-03 2.03778436e+01] [ 7.03129631e-01 -7.11059828e-01 -1.62582654e-03 -1.77531786e+02] [ 2.29062579e-03 -2.13982051e-05 9.99997376e-01 1.45379241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.86 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.35, Y:-177.52, Z:1.45 [[-7.08635895e-01 -7.05571880e-01 1.86837107e-03 2.03518175e+01] [ 7.05569371e-01 -7.08638358e-01 -1.88146721e-03 -1.77521126e+02] [ 2.65150976e-03 -1.50097971e-05 9.99996485e-01 1.45308523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.89 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.32, Y:-177.52, Z:1.45 [[-7.02882918e-01 -7.11300722e-01 2.62411637e-03 2.03175146e+01] [ 7.11295820e-01 -7.02887816e-01 -2.64081207e-03 -1.77518830e+02] [ 3.72287096e-03 1.03413068e-05 9.99993070e-01 1.45256168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.91999999999996 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.29, Y:-177.51, Z:1.45 [[-6.99866686e-01 -7.14267876e-01 2.83247004e-03 2.02900218e+01] [ 7.14262195e-01 -6.99872417e-01 -2.84887968e-03 -1.77506091e+02] [ 4.01723089e-03 2.92902836e-05 9.99991931e-01 1.45265944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.95 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:20.26, Y:-177.49, Z:1.45 [[-6.96582346e-01 -7.17470102e-01 3.11270068e-03 2.02628124e+01] [ 7.17463281e-01 -6.96589298e-01 -3.12901847e-03 -1.77492910e+02] [ 4.41325118e-03 5.36294124e-05 9.99990260e-01 1.45281213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.97999999999996 meters Centerline goodness [0,1] 0.9999790672360378 Centerline is valid? [True, True] Translation: X:20.24, Y:-177.48, Z:1.45 [[-6.93581119e-01 -7.20372370e-01 2.98000054e-03 2.02353609e+01] [ 7.20366151e-01 -6.93587517e-01 -2.99398471e-03 -1.77479768e+02] [ 4.22367504e-03 7.01202541e-05 9.99991078e-01 1.45306351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.01 meters Centerline goodness [0,1] 0.9999167897484971 Centerline is valid? [True, True] Translation: X:20.21, Y:-177.47, Z:1.45 [[-6.90439770e-01 -7.23384486e-01 2.79469836e-03 2.02060285e+01] [ 7.23379046e-01 -6.90445421e-01 -2.80648787e-03 -1.77471578e+02] [ 3.95975647e-03 8.39153930e-05 9.99992157e-01 1.45215088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.03999999999996 meters Centerline goodness [0,1] 0.9999376688136298 Centerline is valid? [True, True] Translation: X:20.18, Y:-177.46, Z:1.45 [[-6.84569683e-01 -7.28945389e-01 1.72305863e-03 2.01761115e+01] [ 7.28943342e-01 -6.84571847e-01 -1.72931101e-03 -1.77461865e+02] [ 2.44013071e-03 7.21782250e-05 9.99997020e-01 1.45371074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.07 meters Centerline goodness [0,1] 0.9999582236704683 Centerline is valid? [True, True] Translation: X:20.15, Y:-177.45, Z:1.45 [[-6.81799987e-01 -7.31537457e-01 1.31379872e-03 2.01502471e+01] [ 7.31536273e-01 -6.81801250e-01 -1.31774512e-03 -1.77449896e+02] [ 1.85972952e-03 6.26528164e-05 9.99998269e-01 1.45376352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.09999999999997 meters Centerline goodness [0,1] 0.9998117548629993 Centerline is valid? [True, True] Translation: X:20.12, Y:-177.44, Z:1.45 [[-6.79671946e-01 -7.33515628e-01 9.32122037e-04 2.01245031e+01] [ 7.33515035e-01 -6.79672583e-01 -9.34349358e-04 -1.77436638e+02] [ 1.31889765e-03 4.86744820e-05 9.99999129e-01 1.45309931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.13 meters Centerline goodness [0,1] 0.999937260806826 Centerline is valid? [True, True] Translation: X:20.10, Y:-177.42, Z:1.45 [[-6.77577370e-01 -7.35451122e-01 7.44939312e-04 2.01000144e+01] [ 7.35450745e-01 -6.77577778e-01 -7.46281540e-04 -1.77421710e+02] [ 1.05360792e-03 4.22026895e-05 9.99999444e-01 1.45289325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.15999999999997 meters Centerline goodness [0,1] 0.9999375845209612 Centerline is valid? [True, True] Translation: X:20.07, Y:-177.41, Z:1.45 [[-6.74591316e-01 -7.38191226e-01 5.21036094e-04 2.00703052e+01] [ 7.38191042e-01 -6.74591516e-01 -5.21644533e-04 -1.77412459e+02] [ 7.36559946e-04 3.27273050e-05 9.99999728e-01 1.45233508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.19 meters Centerline goodness [0,1] 0.9998541970422828 Centerline is valid? [True, True] Translation: X:20.05, Y:-177.40, Z:1.45 [[-6.73090435e-01 -7.39560022e-01 4.90543682e-04 2.00455991e+01] [ 7.39559860e-01 -6.73090613e-01 -4.90828255e-04 -1.77397181e+02] [ 6.93177303e-04 3.24146129e-05 9.99999759e-01 1.45165496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.21999999999997 meters Centerline goodness [0,1] 0.9998334547725617 Centerline is valid? [True, True] Translation: X:20.02, Y:-177.39, Z:1.45 [[-6.71968001e-01 -7.40579731e-01 8.16846594e-04 2.00201179e+01] [ 7.40579282e-01 -6.71968496e-01 -8.16916214e-04 -1.77385025e+02] [ 1.15388677e-03 5.59981086e-05 9.99999333e-01 1.45113940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.25 meters Centerline goodness [0,1] 0.999625600599039 Centerline is valid? [True, True] Translation: X:19.99, Y:-177.37, Z:1.45 [[-6.69804669e-01 -7.42536444e-01 1.15574497e-03 1.99936354e+01] [ 7.42535550e-01 -6.69805661e-01 -1.15514836e-03 -1.77372102e+02] [ 1.63186427e-03 8.44579638e-05 9.99998665e-01 1.45007563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.28 meters Centerline goodness [0,1] 0.9995646134389319 Centerline is valid? [True, True] Translation: X:20.10, Y:-177.18, Z:2.24 [[-7.90041409e-01 6.13051754e-01 1.45532177e-03 2.01041201e+01] [ 6.13050471e-01 7.90042743e-01 -1.25848056e-03 -1.77183389e+02] [-1.92128011e-03 -1.02066058e-04 -9.99998149e-01 2.23832546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.31 meters Centerline goodness [0,1] 0.9994372420692818 Centerline is valid? [True, True] Translation: X:20.08, Y:-177.12, Z:2.24 [[-8.33006561e-01 5.53260311e-01 1.75990320e-03 2.00800496e+01] [ 5.53258767e-01 8.33008412e-01 -1.31273518e-03 -1.77122526e+02] [-2.19229844e-03 -1.19835142e-04 -9.99997590e-01 2.23900400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.34 meters Centerline goodness [0,1] 0.9995404315765286 Centerline is valid? [True, True] Translation: X:20.05, Y:-177.07, Z:2.24 [[-8.71250554e-01 4.90835427e-01 1.74823237e-03 2.00535632e+01] [ 4.90834168e-01 8.71252300e-01 -1.11767634e-03 -1.77065465e+02] [-2.07174662e-03 -1.15683945e-04 -9.99997847e-01 2.23907588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.37 meters Centerline goodness [0,1] 0.9992494683734312 Centerline is valid? [True, True] Translation: X:20.02, Y:-177.00, Z:2.24 [[-9.04514087e-01 4.26439456e-01 1.91242367e-03 2.00249502e+01] [ 4.26438213e-01 9.04516100e-01 -1.03702577e-03 -1.76999851e+02] [-2.17204671e-03 -1.22473884e-04 -9.99997634e-01 2.23960780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.4 meters Centerline goodness [0,1] 0.9990012900004162 Centerline is valid? [True, True] Translation: X:19.99, Y:-176.95, Z:2.24 [[-9.32864320e-01 3.60226252e-01 1.09903302e-03 1.99931893e+01] [ 3.60225915e-01 9.32864965e-01 -4.97458363e-04 -1.76954507e+02] [-1.20444697e-03 -6.81609798e-05 -9.99999272e-01 2.23976482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.43 meters Centerline goodness [0,1] 0.9991865000730064 Centerline is valid? [True, True] Translation: X:19.96, Y:-176.91, Z:2.24 [[-9.56289829e-01 2.92419328e-01 8.35981453e-04 1.99560538e+01] [ 2.92419170e-01 9.56290193e-01 -3.08191177e-04 -1.76907130e+02] [-8.89561923e-04 -5.02630851e-05 -9.99999603e-01 2.23986686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.46 meters Centerline goodness [0,1] 0.9986425528360204 Centerline is valid? [True, True] Translation: X:19.92, Y:-176.86, Z:2.24 [[-9.74228929e-01 2.25559574e-01 9.33667850e-04 1.99182271e+01] [ 2.25559418e-01 9.74229375e-01 -2.69978207e-04 -1.76857946e+02] [-9.70502816e-04 -5.24230019e-05 -9.99999528e-01 2.24117601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.49 meters Centerline goodness [0,1] 0.9985600701183247 Centerline is valid? [True, True] Translation: X:19.88, Y:-176.82, Z:2.24 [[-9.87614339e-01 1.56896559e-01 1.17790890e-03 1.98785404e+01] [ 1.56896371e-01 9.87615039e-01 -2.50903412e-04 -1.76820373e+02] [-1.20268642e-03 -6.29861763e-05 -9.99999275e-01 2.24194026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.52 meters Centerline goodness [0,1] 0.9988319462695284 Centerline is valid? [True, True] Translation: X:19.85, Y:-176.79, Z:2.24 [[-9.96162682e-01 8.75046496e-02 1.68762992e-03 1.98481225e+01] [ 8.75043772e-02 9.96164107e-01 -2.34749730e-04 -1.76785820e+02] [-1.70169805e-03 -8.61739154e-05 -9.99998548e-01 2.24249587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.55 meters Centerline goodness [0,1] 0.9986850069924231 Centerline is valid? [True, True] Translation: X:19.82, Y:-176.75, Z:2.24 [[-9.99849357e-01 1.72441386e-02 1.97543275e-03 1.98162862e+01] [ 1.72439113e-02 9.99851304e-01 -1.32050618e-04 -1.76753953e+02] [-1.97741611e-03 -9.79665382e-05 -9.99998040e-01 2.24317797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.58 meters Centerline goodness [0,1] 0.9987839906073758 Centerline is valid? [True, True] Translation: X:19.78, Y:-176.72, Z:2.24 [[-9.98647753e-01 -5.19656332e-02 1.49607735e-03 1.97752981e+01] [-5.19656813e-02 9.98648871e-01 6.69468900e-06 -1.76719201e+02] [-1.49440385e-03 -7.10590426e-05 -9.99998881e-01 2.24382021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.61 meters Centerline goodness [0,1] 0.9985404199420338 Centerline is valid? [True, True] Translation: X:19.73, Y:-176.69, Z:2.24 [[-9.92670266e-01 -1.20845314e-01 1.46754040e-03 1.97340920e+01] [-1.20845281e-01 9.92671348e-01 1.11294514e-04 -1.76690853e+02] [-1.47023473e-03 -6.68665767e-05 -9.99998917e-01 2.24388033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.64 meters Centerline goodness [0,1] 0.9984285953737848 Centerline is valid? [True, True] Translation: X:19.71, Y:-177.03, Z:1.44 [[-9.99350186e-01 -3.60166748e-02 1.41576551e-03 1.97143795e+01] [ 3.60167247e-02 -9.99351187e-01 9.74388500e-06 -1.77030405e+02] [ 1.41449600e-03 6.07287899e-05 9.99998998e-01 1.44407821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.66999999999996 meters Centerline goodness [0,1] 0.9979908752249801 Centerline is valid? [True, True] Translation: X:19.70, Y:-177.06, Z:1.44 [[-9.94734507e-01 -1.02479161e-01 1.13223521e-03 1.96998005e+01] [ 1.02479128e-01 -9.94735151e-01 -8.66663980e-05 -1.77061829e+02] [ 1.13515566e-03 2.98204203e-05 9.99999355e-01 1.44374381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.7 meters Centerline goodness [0,1] 0.9980324437467295 Centerline is valid? [True, True] Translation: X:19.72, Y:-176.71, Z:2.24 [[-9.98318033e-01 -5.79691655e-02 8.24835683e-04 1.97218842e+01] [-5.79691756e-02 9.98318373e-01 1.17592916e-05 -1.76707310e+02] [-8.24130294e-04 -3.60755317e-05 -9.99999660e-01 2.24435828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.72999999999996 meters Centerline goodness [0,1] 0.997110794740809 Centerline is valid? [True, True] Translation: X:19.70, Y:-177.07, Z:1.44 [[-9.95398343e-01 -9.58216450e-02 5.92478369e-04 1.96965129e+01] [ 9.58216345e-02 -9.95398519e-01 -4.61288730e-05 -1.77072909e+02] [ 5.94172235e-04 1.08556420e-05 9.99999823e-01 1.44304831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.76 meters Centerline goodness [0,1] 0.9964398734177216 Centerline is valid? [True, True] Translation: X:19.66, Y:-177.11, Z:1.44 [[-9.86822969e-01 -1.61800169e-01 1.06452105e-03 1.96574908e+01] [ 1.61800143e-01 -9.86823541e-01 -1.11158121e-04 -1.77105869e+02] [ 1.06847984e-03 6.25462717e-05 9.99999427e-01 1.44285415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.78999999999996 meters Centerline goodness [0,1] 0.9963465011520977 Centerline is valid? [True, True] Translation: X:19.66, Y:-176.72, Z:2.25 [[-9.99975914e-01 6.80639989e-03 1.35808986e-03 1.96565835e+01] [ 6.80631568e-03 9.99976835e-01 -6.66156770e-05 -1.76721907e+02] [-1.35851181e-03 -5.73704842e-05 -9.99999076e-01 2.24514886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.82 meters Centerline goodness [0,1] 0.9963020671029397 Centerline is valid? [True, True] Translation: X:19.61, Y:-176.69, Z:2.25 [[-9.97890452e-01 -6.49115906e-02 1.06399207e-03 1.96088899e+01] [-6.49116022e-02 9.97891018e-01 2.36072267e-05 -1.76690536e+02] [-1.06328052e-03 -4.55080042e-05 -9.99999434e-01 2.24508401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.84999999999997 meters Centerline goodness [0,1] 0.9957715380769872 Centerline is valid? [True, True] Translation: X:19.56, Y:-176.66, Z:2.25 [[-9.90639436e-01 -1.36501141e-01 9.72317108e-04 1.95649078e+01] [-1.36501118e-01 9.90639913e-01 9.10266563e-05 -1.76662155e+02] [-9.75641378e-04 -4.25477763e-05 -9.99999523e-01 2.24509361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.88 meters Centerline goodness [0,1] 0.9956486604090259 Centerline is valid? [True, True] Translation: X:19.51, Y:-176.63, Z:2.24 [[-9.78357725e-01 -2.06920073e-01 4.96101951e-04 1.95119291e+01] [-2.06920058e-01 9.78357850e-01 8.21497006e-05 -1.76634370e+02] [-5.02363661e-04 -2.22816502e-05 -9.99999874e-01 2.24499052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.90999999999997 meters Centerline goodness [0,1] 0.9956400780633642 Centerline is valid? [True, True] Translation: X:19.55, Y:-177.05, Z:1.44 [[-9.98580967e-01 5.32543031e-02 1.80360981e-04 1.95548770e+01] [-5.32543046e-02 -9.98580983e-01 -3.55571884e-06 -1.77052052e+02] [ 1.79915689e-04 -1.31556718e-05 9.99999984e-01 1.44282717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.94 meters Centerline goodness [0,1] 0.9957505907715268 Centerline is valid? [True, True] Translation: X:19.52, Y:-177.09, Z:1.44 [[-9.99894249e-01 -1.45422402e-02 -1.19920848e-04 1.95226865e+01] [ 1.45422456e-02 -9.99894255e-01 -4.44560182e-05 -1.77089377e+02] [-1.19261676e-04 -4.61952353e-05 9.99999992e-01 1.44288552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.96999999999997 meters Centerline goodness [0,1] 0.9955268906688859 Centerline is valid? [True, True] Translation: X:19.46, Y:-177.13, Z:1.44 [[-9.96434238e-01 -8.43723660e-02 -3.37275708e-04 1.94642011e+01] [ 8.43723849e-02 -9.96434292e-01 -4.19202523e-05 -1.77128171e+02] [-3.32536171e-04 -7.02275305e-05 9.99999942e-01 1.44309937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.0 meters Centerline goodness [0,1] 0.9955788370874804 Centerline is valid? [True, True] Translation: X:19.44, Y:-176.68, Z:2.24 [[-9.96538686e-01 -8.31301217e-02 1.75809643e-04 1.94384803e+01] [-8.31301219e-02 9.96538701e-01 6.12414186e-06 -1.76678156e+02] [-1.75710214e-04 -8.51213280e-06 -9.99999985e-01 2.24432893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.03 meters Centerline goodness [0,1] 0.9952394811242309 Centerline is valid? [True, True] Translation: X:19.38, Y:-176.65, Z:2.24 [[-9.88078434e-01 -1.53950661e-01 4.49751939e-04 1.93751350e+01] [-1.53950655e-01 9.88078536e-01 4.76016284e-05 -1.76646745e+02] [-4.51718539e-04 -2.22054631e-05 -9.99999898e-01 2.24499050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.06 meters Centerline goodness [0,1] 0.9957615673890009 Centerline is valid? [True, True] Translation: X:19.36, Y:-176.61, Z:2.25 [[-9.73777820e-01 -2.27499343e-01 8.98001996e-04 1.93590098e+01] [-2.27499291e-01 9.73778233e-01 1.60253841e-04 -1.76607983e+02] [-9.10912440e-04 -4.82431816e-05 -9.99999584e-01 2.24552224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.09 meters Centerline goodness [0,1] 0.9954423816691754 Centerline is valid? [True, True] Translation: X:19.31, Y:-176.59, Z:2.25 [[-9.54256825e-01 -2.98987240e-01 7.36773489e-04 1.93141372e+01] [-2.98987185e-01 9.54257108e-01 1.86360338e-04 -1.76585221e+02] [-7.58790702e-04 -4.24502075e-05 -9.99999711e-01 2.24528184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.12 meters Centerline goodness [0,1] 0.9954423816691754 Centerline is valid? [True, True] Translation: X:19.40, Y:-177.08, Z:1.44 [[-9.92319519e-01 1.23698858e-01 7.52036364e-04 1.94011660e+01] [-1.23698789e-01 -9.92319803e-01 1.37064710e-04 -1.77081713e+02] [ 7.63215324e-04 4.29859988e-05 9.99999708e-01 1.44244796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.15 meters Centerline goodness [0,1] 0.9954758713136729 Centerline is valid? [True, True] Translation: X:19.26, Y:-176.59, Z:2.25 [[-9.52224597e-01 -3.05397594e-01 7.90839052e-04 1.92641663e+01] [-3.05397531e-01 9.52224925e-01 2.03189748e-04 -1.76594291e+02] [-8.15110317e-04 -4.80380172e-05 -9.99999667e-01 2.24522891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.18 meters Centerline goodness [0,1] 0.9966277778941416 Centerline is valid? [True, True] Translation: X:19.36, Y:-177.11, Z:1.44 [[-9.92910253e-01 1.18862556e-01 9.60023742e-04 1.93637601e+01] [-1.18862433e-01 -9.92910715e-01 1.84268328e-04 -1.77109116e+02] [ 9.75120464e-04 6.88511551e-05 9.99999522e-01 1.44351462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.21 meters Centerline goodness [0,1] 0.995484815372245 Centerline is valid? [True, True] Translation: X:19.33, Y:-177.16, Z:1.44 [[-9.98718788e-01 5.05951699e-02 9.54779199e-04 1.93278576e+01] [-5.05950827e-02 -9.98719242e-01 1.15240169e-04 -1.77156698e+02] [ 9.59386953e-04 6.67853892e-05 9.99999538e-01 1.44323281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.24 meters Centerline goodness [0,1] 0.9961588242662102 Centerline is valid? [True, True] Translation: X:19.30, Y:-177.19, Z:1.44 [[-9.99772475e-01 -2.12984866e-02 1.17181227e-03 1.92977513e+01] [ 2.12985840e-02 -9.99773157e-01 7.06672804e-05 -1.77191080e+02] [ 1.17004135e-03 9.56091439e-05 9.99999311e-01 1.44383770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.27 meters Centerline goodness [0,1] 0.9967513536026655 Centerline is valid? [True, True] Translation: X:19.26, Y:-177.23, Z:1.44 [[-9.95637926e-01 -9.32907794e-02 1.39661026e-03 1.92592972e+01] [ 9.32908658e-02 -9.95638898e-01 -3.33683458e-06 -1.77233888e+02] [ 1.39083080e-03 1.26968702e-04 9.99999025e-01 1.44443830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.3 meters Centerline goodness [0,1] 0.9965944015283661 Centerline is valid? [True, True] Translation: X:19.22, Y:-176.65, Z:2.24 [[-9.91532631e-01 -1.29849683e-01 1.44994900e-03 1.92174060e+01] [-1.29849709e-01 9.91533684e-01 7.69473218e-05 -1.76650696e+02] [-1.44766486e-03 -1.11979675e-04 -9.99998946e-01 2.24340489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.33 meters Centerline goodness [0,1] 0.9969660828991693 Centerline is valid? [True, True] Translation: X:19.16, Y:-176.62, Z:2.24 [[-9.79166181e-01 -2.03056000e-01 1.36071504e-03 1.91623881e+01] [-2.03055959e-01 9.79167120e-01 1.70006389e-04 -1.76621753e+02] [-1.36688824e-03 -1.09836790e-04 -9.99999060e-01 2.24320594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.36 meters Centerline goodness [0,1] 0.9975615908517615 Centerline is valid? [True, True] Translation: X:19.11, Y:-176.60, Z:2.24 [[-9.61494995e-01 -2.74818632e-01 1.44740679e-03 1.91107073e+01] [-2.74818509e-01 9.61496076e-01 2.86635280e-04 -1.76599103e+02] [-1.47044866e-03 -1.22175788e-04 -9.99998911e-01 2.24342380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.39 meters Centerline goodness [0,1] 0.9975442247658689 Centerline is valid? [True, True] Translation: X:19.06, Y:-176.57, Z:2.24 [[-9.38458801e-01 -3.45385440e-01 1.99395055e-03 1.90552616e+01] [-3.45385056e-01 9.38460903e-01 5.44671538e-04 -1.76572479e+02] [-2.05936626e-03 -1.77528925e-04 -9.99997864e-01 2.24344947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.41999999999996 meters Centerline goodness [0,1] 0.9974022709180039 Centerline is valid? [True, True] Translation: X:19.18, Y:-177.19, Z:1.44 [[-9.93891494e-01 1.10338781e-01 2.24766610e-03 1.91821716e+01] [-1.10338013e-01 -9.93894013e-01 4.63159736e-04 -1.77190240e+02] [ 2.28504636e-03 2.12327510e-04 9.99997367e-01 1.44448140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.45 meters Centerline goodness [0,1] 0.9955649946904866 Centerline is valid? [True, True] Translation: X:19.15, Y:-177.24, Z:1.44 [[-9.99139359e-01 4.14168435e-02 2.27758875e-03 1.91489343e+01] [-4.14162494e-02 -9.99141932e-01 3.07441269e-04 -1.77236743e+02] [ 2.28836767e-03 2.12847489e-04 9.99997359e-01 1.44429816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.47999999999996 meters Centerline goodness [0,1] 0.9980867883273064 Centerline is valid? [True, True] Translation: X:19.11, Y:-177.27, Z:1.44 [[-9.99564632e-01 -2.93677847e-02 2.84235558e-03 1.91104453e+01] [ 2.93685199e-02 -9.99568628e-01 2.17285788e-04 -1.77270692e+02] [ 2.83474827e-03 3.00666965e-04 9.99995937e-01 1.44429599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.51 meters Centerline goodness [0,1] 0.998018549747049 Centerline is valid? [True, True] Translation: X:19.02, Y:-176.63, Z:2.24 [[-9.72561675e-01 -2.32624540e-01 3.10035642e-03 1.90172091e+01] [-2.32624361e-01 9.72566567e-01 4.23284181e-04 -1.76628301e+02] [-3.11376928e-03 -3.09548459e-04 -9.99995104e-01 2.24396931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.53999999999996 meters Centerline goodness [0,1] 0.9964683624132857 Centerline is valid? [True, True] Translation: X:18.96, Y:-176.60, Z:2.24 [[-9.52979398e-01 -3.03020821e-01 2.94103609e-03 1.89609343e+01] [-3.03020344e-01 9.52983888e-01 6.17153946e-04 -1.76597618e+02] [-2.98977050e-03 -3.03058770e-04 -9.99995485e-01 2.24446901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.57 meters Centerline goodness [0,1] 0.9982316534040672 Centerline is valid? [True, True] Translation: X:19.05, Y:-177.26, Z:1.44 [[-9.99323384e-01 3.66446862e-02 3.15297328e-03 1.90461763e+01] [-3.66434503e-02 -9.99328302e-01 4.48901222e-04 -1.77264954e+02] [ 3.16730528e-03 3.33061669e-04 9.99994929e-01 1.44326588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.59999999999997 meters Centerline goodness [0,1] 0.9982533302468486 Centerline is valid? [True, True] Translation: X:19.02, Y:-177.30, Z:1.44 [[-9.99469000e-01 -3.23848299e-02 3.59726718e-03 1.90161097e+01] [ 3.23860761e-02 -9.99475392e-01 2.88688653e-04 -1.77303380e+02] [ 3.58603090e-03 4.05036728e-04 9.99993488e-01 1.44287966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.63 meters Centerline goodness [0,1] 0.9969325153374233 Centerline is valid? [True, True] Translation: X:18.98, Y:-177.34, Z:1.44 [[-9.95030887e-01 -9.95128751e-02 3.27439688e-03 1.89786428e+01] [ 9.95134817e-02 -9.95036214e-01 2.24401834e-05 -1.77340841e+02] [ 3.25591039e-03 3.48175310e-04 9.99994639e-01 1.44234433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.65999999999997 meters Centerline goodness [0,1] 0.9963335229786965 Centerline is valid? [True, True] Translation: X:18.92, Y:-176.66, Z:2.25 [[-9.83605981e-01 -1.80297541e-01 3.47442916e-03 1.89155865e+01] [-1.80297719e-01 9.83612049e-01 2.64507628e-04 -1.76655864e+02] [-3.46518046e-03 -3.66260369e-04 -9.99993929e-01 2.24536857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.69 meters Centerline goodness [0,1] 0.993459667952373 Centerline is valid? [True, True] Translation: X:18.92, Y:-177.35, Z:1.44 [[-9.95295858e-01 -9.68277591e-02 3.24666294e-03 1.89186063e+01] [ 9.68283057e-02 -9.95301100e-01 1.12384844e-05 -1.77354017e+02] [ 3.23031900e-03 3.25554488e-04 9.99994730e-01 1.44271289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.71999999999997 meters Centerline goodness [0,1] 0.9975250120603226 Centerline is valid? [True, True] Translation: X:18.86, Y:-176.66, Z:2.24 [[-9.82659484e-01 -1.85390140e-01 3.29171015e-03 1.88561296e+01] [-1.85390284e-01 9.82664934e-01 2.63914866e-04 -1.76658011e+02] [-3.28357535e-03 -3.50912633e-04 -9.99994548e-01 2.24488690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.75 meters Centerline goodness [0,1] 0.9962357271320423 Centerline is valid? [True, True] Translation: X:18.87, Y:-177.36, Z:1.44 [[-9.95564581e-01 -9.40183832e-02 3.42174420e-03 1.88657192e+01] [ 9.40191041e-02 -9.95570392e-01 5.00848878e-05 -1.77359052e+02] [ 3.40187832e-03 3.71572065e-04 9.99994145e-01 1.44269379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.78 meters Centerline goodness [0,1] 0.9972339221726284 Centerline is valid? [True, True] Translation: X:18.83, Y:-177.39, Z:1.44 [[-9.86824696e-01 -1.61752088e-01 3.64436939e-03 1.88258959e+01] [ 1.61752509e-01 -9.86831340e-01 -1.80887443e-04 -1.77389127e+02] [ 3.62563685e-03 4.10981696e-04 9.99993343e-01 1.44268011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.81 meters Centerline goodness [0,1] 0.9987411090828979 Centerline is valid? [True, True] Translation: X:18.80, Y:-176.69, Z:2.25 [[-9.92108992e-01 -1.25276223e-01 5.06125241e-03 1.87962834e+01] [-1.25277397e-01 9.92121750e-01 8.57189147e-05 -1.76692724e+02] [-5.03211714e-03 -5.49018022e-04 -9.99987188e-01 2.24515429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.84 meters Centerline goodness [0,1] 0.9977629570780456 Centerline is valid? [True, True] Translation: X:18.73, Y:-176.66, Z:2.25 [[-9.80646643e-01 -1.95705782e-01 5.60423528e-03 1.87338210e+01] [-1.95706104e-01 9.80662467e-01 4.96236233e-04 -1.76662761e+02] [-5.59297949e-03 -6.10150657e-04 -9.99984173e-01 2.24554805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.87 meters Centerline goodness [0,1] 0.9986785804178203 Centerline is valid? [True, True] Translation: X:18.68, Y:-176.64, Z:2.25 [[-9.64254571e-01 -2.64919046e-01 5.56968287e-03 1.86774745e+01] [-2.64918235e-01 9.64270463e-01 8.96278291e-04 -1.76643381e+02] [-5.60812187e-03 -6.11270119e-04 -9.99984088e-01 2.24546546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.9 meters Centerline goodness [0,1] 0.9982208267922553 Centerline is valid? [True, True] Translation: X:18.61, Y:-176.63, Z:2.25 [[-9.43756470e-01 -3.30595681e-01 5.49734556e-03 1.86122231e+01] [-3.30593703e-01 9.43772291e-01 1.29099834e-03 -1.76625683e+02] [-5.61504088e-03 -5.98999789e-04 -9.99984056e-01 2.24550413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.93 meters Centerline goodness [0,1] 0.9971637122002085 Centerline is valid? [True, True] Translation: X:18.55, Y:-176.61, Z:2.25 [[-9.18495548e-01 -3.95398655e-01 5.08244052e-03 1.85479532e+01] [-3.95395884e-01 9.18509441e-01 1.58176007e-03 -1.76608817e+02] [-5.29369540e-03 -5.56736477e-04 -9.99985833e-01 2.24533839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.96 meters Centerline goodness [0,1] 0.9988282312569312 Centerline is valid? [True, True] Translation: X:18.72, Y:-177.29, Z:1.44 [[-9.91377429e-01 1.30945765e-01 4.89898596e-03 1.87169789e+01] [-1.30941614e-01 -9.91389403e-01 1.16016379e-03 -1.77288023e+02] [ 5.00872130e-03 5.08679066e-04 9.99987327e-01 1.44317095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.99 meters Centerline goodness [0,1] 0.9983345823965359 Centerline is valid? [True, True] Translation: X:18.50, Y:-176.63, Z:2.24 [[-9.18839206e-01 -3.94609897e-01 4.18835241e-03 1.85005352e+01] [-3.94607933e-01 9.18848647e-01 1.32046189e-03 -1.76629691e+02] [-4.36952928e-03 -4.39464933e-04 -9.99990357e-01 2.24488106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.02 meters Centerline goodness [0,1] 0.9983956996416368 Centerline is valid? [True, True] Translation: X:18.45, Y:-176.62, Z:2.24 [[-8.89174544e-01 -4.57546880e-01 4.41393113e-03 1.84462838e+01] [-4.57543794e-01 8.89185376e-01 1.74451545e-03 -1.76619925e+02] [-4.72300062e-03 -4.68388070e-04 -9.99988737e-01 2.24478860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.05 meters Centerline goodness [0,1] 0.9982759708176524 Centerline is valid? [True, True] Translation: X:18.39, Y:-176.61, Z:2.24 [[-8.55101203e-01 -5.18445508e-01 4.02334915e-03 1.83864071e+01] [-5.18442096e-01 8.55110558e-01 1.93067393e-03 -1.76614768e+02] [-4.44135756e-03 -4.34951964e-04 -9.99990043e-01 2.24477529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.08 meters Centerline goodness [0,1] 0.9985673050586773 Centerline is valid? [True, True] Translation: X:18.33, Y:-176.63, Z:2.24 [[-8.17755727e-01 -5.75554327e-01 3.57605119e-03 1.83296722e+01] [-5.75550844e-01 8.17763453e-01 2.03994202e-03 -1.76627047e+02] [-4.09846143e-03 -3.90025018e-04 -9.99991525e-01 2.24315190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.11 meters Centerline goodness [0,1] 0.9982136101887268 Centerline is valid? [True, True] Translation: X:18.26, Y:-176.62, Z:2.24 [[-7.75701607e-01 -6.31093061e-01 2.92658157e-03 1.82643505e+01] [-6.31090113e-01 7.75707058e-01 1.95667378e-03 -1.76618788e+02] [-3.50501323e-03 -3.29141698e-04 -9.99993803e-01 2.24326273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.14 meters Centerline goodness [0,1] 0.9986632691424037 Centerline is valid? [True, True] Translation: X:18.21, Y:-176.63, Z:2.24 [[-7.30083162e-01 -6.83354434e-01 2.30092382e-03 1.82056468e+01] [-6.83352151e-01 7.30086739e-01 1.78648482e-03 -1.76631666e+02] [-2.90067629e-03 -2.68058752e-04 -9.99995757e-01 2.24285313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.16999999999996 meters Centerline goodness [0,1] 0.9987814870060295 Centerline is valid? [True, True] Translation: X:18.15, Y:-176.64, Z:2.24 [[-6.80817343e-01 -7.32451462e-01 1.61279472e-03 1.81523961e+01] [-7.32450060e-01 6.80819225e-01 1.44644876e-03 -1.76644664e+02] [-2.15747516e-03 -1.96524186e-04 -9.99997653e-01 2.24226953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.2 meters Centerline goodness [0,1] 0.9985977689876729 Centerline is valid? [True, True] Translation: X:18.10, Y:-176.66, Z:2.24 [[-6.29259342e-01 -7.77194221e-01 1.35051779e-03 1.81009979e+01] [-7.77192986e-01 6.29260768e-01 1.39593609e-03 -1.76655519e+02] [-1.93474132e-03 -1.71207128e-04 -9.99998114e-01 2.24250109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.22999999999996 meters Centerline goodness [0,1] 0.9982736842105263 Centerline is valid? [True, True] Translation: X:18.05, Y:-176.68, Z:2.24 [[-5.73449918e-01 -8.19240142e-01 8.83995830e-04 1.80455488e+01] [-8.19239474e-01 5.73450587e-01 1.05352160e-03 -1.76675230e+02] [-1.37001511e-03 -1.20062405e-04 -9.99999054e-01 2.24263012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.26 meters Centerline goodness [0,1] 0.998423342933423 Centerline is valid? [True, True] Translation: X:18.53, Y:-177.13, Z:1.45 [[-7.52281223e-01 6.58841355e-01 1.01516216e-03 1.85288101e+01] [-6.58840504e-01 -7.52281896e-01 1.06768374e-03 -1.77125582e+02] [ 1.46712231e-03 1.34368475e-04 9.99998915e-01 1.44504505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.28999999999996 meters Centerline goodness [0,1] 0.9983438849524129 Centerline is valid? [True, True] Translation: X:18.02, Y:-176.71, Z:2.24 [[-5.71350507e-01 -8.20704204e-01 1.79122227e-03 1.80203409e+01] [-8.20701421e-01 5.71353264e-01 2.15066040e-03 -1.76712750e+02] [-2.78847672e-03 -2.41277750e-04 -9.99996083e-01 2.24309920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.32 meters Centerline goodness [0,1] 0.9988085782366958 Centerline is valid? [True, True] Translation: X:17.97, Y:-176.73, Z:2.24 [[-5.11388866e-01 -8.59347077e-01 2.00725053e-03 1.79695625e+01] [-8.59342598e-01 5.11392719e-01 2.79052563e-03 -1.76730670e+02] [-3.42452335e-03 -2.97872148e-04 -9.99994092e-01 2.24313909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.34999999999997 meters Centerline goodness [0,1] 0.9985919932751918 Centerline is valid? [True, True] Translation: X:17.92, Y:-176.75, Z:2.24 [[-4.48806300e-01 -8.93626180e-01 2.27032827e-03 1.79208780e+01] [-8.93618681e-01 4.48811884e-01 3.68046588e-03 -1.76749976e+02] [-4.30791098e-03 -3.76991473e-04 -9.99990650e-01 2.24401496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.38 meters Centerline goodness [0,1] 0.9987536611204586 Centerline is valid? [True, True] Translation: X:18.46, Y:-177.13, Z:1.44 [[-6.50415168e-01 7.59571757e-01 3.29472396e-03 1.84638608e+01] [-7.59557087e-01 -6.50423244e-01 4.75768305e-03 -1.77132589e+02] [ 5.75676672e-03 5.91938287e-04 9.99983255e-01 1.44267822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.40999999999997 meters Centerline goodness [0,1] 0.9990778194622011 Centerline is valid? [True, True] Translation: X:17.90, Y:-176.79, Z:2.25 [[-4.43064516e-01 -8.96483060e-01 3.45798412e-03 1.78963041e+01] [-8.96465455e-01 4.43077608e-01 5.64981033e-03 -1.76786805e+02] [-6.59711459e-03 -5.96732836e-04 -9.99978061e-01 2.24515459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.44 meters Centerline goodness [0,1] 0.9986964931460769 Centerline is valid? [True, True] Translation: X:17.85, Y:-176.82, Z:2.24 [[-3.77933560e-01 -9.25828512e-01 2.79127303e-03 1.78504453e+01] [-9.25813033e-01 3.77943467e-01 5.38180959e-03 -1.76820381e+02] [-6.03757617e-03 -5.50230490e-04 -9.99981622e-01 2.24457023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.46999999999997 meters Centerline goodness [0,1] 0.9984051036682615 Centerline is valid? [True, True] Translation: X:17.81, Y:-176.84, Z:2.24 [[-3.11045845e-01 -9.50392982e-01 1.91364691e-03 1.78067066e+01] [-9.50382755e-01 3.11051419e-01 4.43104042e-03 -1.76842724e+02] [-4.80647231e-03 -4.40440308e-04 -9.99988352e-01 2.24324044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.5 meters Centerline goodness [0,1] 0.9989057699591768 Centerline is valid? [True, True] Translation: X:17.75, Y:-176.88, Z:2.24 [[-2.43388286e-01 -9.69928091e-01 1.28064873e-03 1.77537330e+01] [-9.69921263e-01 2.43391400e-01 3.65640359e-03 -1.76876845e+02] [-3.85814744e-03 -3.52202636e-04 -9.99992495e-01 2.24269780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.53 meters Centerline goodness [0,1] 0.9985390796201608 Centerline is valid? [True, True] Translation: X:17.72, Y:-176.91, Z:2.24 [[-1.74395221e-01 -9.84675212e-01 1.01706073e-03 1.77150644e+01] [-9.84668207e-01 1.74397834e-01 3.73056542e-03 -1.76914397e+02] [-3.85076848e-03 -3.50874581e-04 -9.99992524e-01 2.24253182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.56 meters Centerline goodness [0,1] 0.9986546142526802 Centerline is valid? [True, True] Translation: X:17.67, Y:-176.95, Z:2.24 [[-1.05251414e-01 -9.94445397e-01 7.02302988e-04 1.76716683e+01] [-9.94439118e-01 1.05253256e-01 3.54858497e-03 -1.76951222e+02] [-3.60279366e-03 -3.24903977e-04 -9.99993457e-01 2.24292185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.59 meters Centerline goodness [0,1] 0.9985913716255992 Centerline is valid? [True, True] Translation: X:17.64, Y:-177.00, Z:2.24 [[-3.58904478e-02 -9.99355633e-01 4.41382467e-04 1.76388977e+01] [-9.99349469e-01 3.58917828e-02 3.52400373e-03 -1.76995078e+02] [-3.53757498e-03 -3.14617263e-04 -9.99993693e-01 2.24337665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.62 meters Centerline goodness [0,1] 0.9982174314235382 Centerline is valid? [True, True] Translation: X:17.61, Y:-177.04, Z:2.24 [[ 3.19773268e-02 -9.99488572e-01 2.11802873e-04 1.76087943e+01] [-9.99480901e-01 -3.19762485e-02 3.93036121e-03 -1.77044981e+02] [-3.92157845e-03 -3.37375372e-04 -9.99992254e-01 2.24402366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.65 meters Centerline goodness [0,1] 0.9988269303280406 Centerline is valid? [True, True] Translation: X:17.58, Y:-177.09, Z:2.24 [[ 1.00848508e-01 -9.94901791e-01 -6.64263834e-05 1.75777716e+01] [-9.94894161e-01 -1.00847996e-01 3.91021741e-03 -1.77089871e+02] [-3.89698127e-03 -3.28252372e-04 -9.99992353e-01 2.24385965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.68 meters Centerline goodness [0,1] 0.9985071802527281 Centerline is valid? [True, True] Translation: X:18.25, Y:-177.13, Z:1.44 [[-1.28758925e-01 9.91675908e-01 1.79673423e-04 1.82453354e+01] [-9.91669957e-01 -1.28758777e-01 3.44597283e-03 -1.77125203e+02] [ 3.44042277e-03 2.65523021e-04 9.99994047e-01 1.44374954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.71 meters Centerline goodness [0,1] 0.9986384297953456 Centerline is valid? [True, True] Translation: X:17.58, Y:-177.14, Z:2.24 [[ 9.69539487e-02 -9.95288866e-01 -7.09714429e-05 1.75776054e+01] [-9.95282838e-01 -9.69536092e-02 3.47421730e-03 -1.77142513e+02] [-3.46473074e-03 -2.66202427e-04 -9.99993962e-01 2.24386163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.74 meters Centerline goodness [0,1] 0.9989987275495943 Centerline is valid? [True, True] Translation: X:17.55, Y:-177.19, Z:2.24 [[ 1.64034586e-01 -9.86454540e-01 -3.09743383e-04 1.75487750e+01] [-9.86448749e-01 -1.64034687e-01 3.38915275e-03 -1.77191975e+02] [-3.39405377e-03 -2.50392294e-04 -9.99994209e-01 2.24393278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.77 meters Centerline goodness [0,1] 0.9989079301075269 Centerline is valid? [True, True] Translation: X:17.53, Y:-177.24, Z:2.24 [[ 2.26538101e-01 -9.74002137e-01 -5.70805101e-04 1.75293813e+01] [-9.73995898e-01 -2.26538698e-01 3.49414596e-03 -1.77244739e+02] [-3.53261507e-03 -2.35595364e-04 -9.99993733e-01 2.24452587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.8 meters Centerline goodness [0,1] 0.9988654747147929 Centerline is valid? [True, True] Translation: X:17.52, Y:-177.30, Z:2.24 [[ 2.91166658e-01 -9.56671983e-01 -8.33124522e-04 1.75154878e+01] [-9.56665554e-01 -2.91167762e-01 3.51461909e-03 -1.77296876e+02] [-3.60491662e-03 -2.26318362e-04 -9.99993477e-01 2.24467670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.83 meters Centerline goodness [0,1] 0.9991036437922122 Centerline is valid? [True, True] Translation: X:17.50, Y:-177.35, Z:2.25 [[ 3.54328793e-01 -9.35120028e-01 -1.28073610e-03 1.74993610e+01] [-9.35111124e-01 -3.54331019e-01 4.08834696e-03 -1.77354904e+02] [-4.27689965e-03 -2.50988474e-04 -9.99990823e-01 2.24541535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.86 meters Centerline goodness [0,1] 0.9991831434316354 Centerline is valid? [True, True] Translation: X:17.49, Y:-177.41, Z:2.25 [[ 4.11259134e-01 -9.11517086e-01 -1.58974466e-03 1.74871732e+01] [-9.11508131e-01 -4.11262150e-01 4.04604363e-03 -1.77414181e+02] [-4.34183971e-03 -2.14907220e-04 -9.99990551e-01 2.24637961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.89 meters Centerline goodness [0,1] 0.9990941647356225 Centerline is valid? [True, True] Translation: X:17.49, Y:-177.47, Z:2.25 [[ 4.70386887e-01 -8.82458270e-01 -1.89147172e-03 1.74876616e+01] [-8.82449387e-01 -4.70390649e-01 3.96440651e-03 -1.77468925e+02] [-4.38815392e-03 -1.95676777e-04 -9.99990353e-01 2.24557337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.91999999999996 meters Centerline goodness [0,1] 0.9992013954563604 Centerline is valid? [True, True] Translation: X:17.49, Y:-177.53, Z:2.25 [[ 5.27642861e-01 -8.49463623e-01 -2.13630755e-03 1.74852236e+01] [-8.49455293e-01 -5.27647158e-01 3.76590924e-03 -1.77528893e+02] [-4.32621951e-03 -1.72357372e-04 -9.99990627e-01 2.24554392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.95 meters Centerline goodness [0,1] 0.9990969042718528 Centerline is valid? [True, True] Translation: X:17.48, Y:-177.59, Z:2.25 [[ 5.78887893e-01 -8.15403005e-01 -2.59729748e-03 1.74849229e+01] [-8.15393664e-01 -5.78893702e-01 3.90576098e-03 -1.77593356e+02] [-4.68832839e-03 -1.43177840e-04 -9.99989000e-01 2.24540081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.97999999999996 meters Centerline goodness [0,1] 0.9991992413865768 Centerline is valid? [True, True] Translation: X:17.50, Y:-177.65, Z:2.24 [[ 6.31685111e-01 -7.75219410e-01 -2.96432485e-03 1.74951354e+01] [-7.75209920e-01 -6.31692054e-01 3.83787909e-03 -1.77648266e+02] [-4.84773882e-03 -1.26357049e-04 -9.99988242e-01 2.24430812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.01 meters Centerline goodness [0,1] 0.999073625702676 Centerline is valid? [True, True] Translation: X:17.51, Y:-177.71, Z:2.24 [[ 6.82053755e-01 -7.31294208e-01 -3.38483116e-03 1.75054202e+01] [-7.31284376e-01 -6.82062144e-01 3.79375107e-03 -1.77706333e+02] [-5.08301338e-03 -1.12268017e-04 -9.99987075e-01 2.24379137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.03999999999996 meters Centerline goodness [0,1] 0.999073625702676 Centerline is valid? [True, True] Translation: X:17.52, Y:-177.76, Z:2.24 [[ 7.32124982e-01 -6.81160572e-01 -3.64495588e-03 1.75182203e+01] [-6.81151359e-01 -7.32134047e-01 3.54452138e-03 -1.77759828e+02] [-5.08298451e-03 -1.12266007e-04 -9.99987075e-01 2.24379107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.07 meters Centerline goodness [0,1] 0.9990734306231179 Centerline is valid? [True, True] Translation: X:17.55, Y:-177.81, Z:2.24 [[ 7.80710985e-01 -6.24882508e-01 -3.49405749e-03 1.75478674e+01] [-6.24875775e-01 -7.80718800e-01 2.90198118e-03 -1.77806504e+02] [-4.54127365e-03 -8.22566962e-05 -9.99989685e-01 2.24354538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.09999999999997 meters Centerline goodness [0,1] 0.9992408906882592 Centerline is valid? [True, True] Translation: X:17.98, Y:-177.33, Z:1.45 [[ 7.62355413e-01 6.47154071e-01 -2.41515970e-03 1.79826182e+01] [-6.47150967e-01 7.62359238e-01 2.00472616e-03 -1.77325818e+02] [ 3.13858600e-03 3.46590979e-05 9.99995074e-01 1.44550259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.13 meters Centerline goodness [0,1] 0.9994080838829698 Centerline is valid? [True, True] Translation: X:18.01, Y:-177.34, Z:1.45 [[ 7.64471030e-01 6.44654969e-01 -2.00375515e-03 1.80067803e+01] [-6.44652826e-01 7.64473656e-01 1.66238805e-03 -1.77342117e+02] [ 2.60348474e-03 2.08789167e-05 9.99996611e-01 1.44624781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.15999999999997 meters Centerline goodness [0,1] 0.9995755968169762 Centerline is valid? [True, True] Translation: X:18.03, Y:-177.35, Z:1.45 [[ 7.67512110e-01 6.41031251e-01 -2.02391723e-03 1.80332225e+01] [-6.41029054e-01 7.67514779e-01 1.67826592e-03 -1.77354660e+02] [ 2.62920729e-03 9.30032880e-06 9.99996544e-01 1.44611625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.19 meters Centerline goodness [0,1] 0.9993618786293152 Centerline is valid? [True, True] Translation: X:18.06, Y:-177.37, Z:1.45 [[ 7.68517815e-01 6.39823393e-01 -2.52851547e-03 1.80574307e+01] [-6.39819962e-01 7.68521975e-01 2.09547748e-03 -1.77368720e+02] [ 3.28395521e-03 7.38289095e-06 9.99994608e-01 1.44554654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.21999999999997 meters Centerline goodness [0,1] 0.9993843279621255 Centerline is valid? [True, True] Translation: X:18.08, Y:-177.38, Z:1.44 [[ 7.68914083e-01 6.39343519e-01 -3.31630997e-03 1.80820407e+01] [-6.39337615e-01 7.68921234e-01 2.74766969e-03 -1.77381699e+02] [ 4.30668596e-03 7.51978794e-06 9.99990726e-01 1.44444964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.25 meters Centerline goodness [0,1] 0.9995693645974636 Centerline is valid? [True, True] Translation: X:18.11, Y:-177.39, Z:1.44 [[ 7.68438693e-01 6.39908226e-01 -4.40866554e-03 1.81126708e+01] [-6.39897812e-01 7.68451340e-01 3.65088369e-03 -1.77390432e+02] [ 5.72407545e-03 1.56151339e-05 9.99983617e-01 1.44377989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.28 meters Centerline goodness [0,1] 0.9996319390317832 Centerline is valid? [True, True] Translation: X:18.14, Y:-177.40, Z:1.44 [[ 7.67380147e-01 6.41172319e-01 -5.07615886e-03 1.81396697e+01] [-6.41158554e-01 7.67396935e-01 4.20154335e-03 -1.77402324e+02] [ 6.58934205e-03 3.04417195e-05 9.99978290e-01 1.44343675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.31 meters Centerline goodness [0,1] 0.9997172253279099 Centerline is valid? [True, True] Translation: X:18.17, Y:-177.41, Z:1.44 [[ 7.65662134e-01 6.43218765e-01 -5.57826502e-03 1.81673128e+01] [-6.43202212e-01 7.65682452e-01 4.61484157e-03 -1.77413536e+02] [ 7.23953234e-03 5.45429536e-05 9.99973793e-01 1.44328224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.34 meters Centerline goodness [0,1] 0.9998018057696543 Centerline is valid? [True, True] Translation: X:18.20, Y:-177.42, Z:1.44 [[ 7.60269561e-01 6.49575098e-01 -6.51047742e-03 1.82028289e+01] [-6.49552803e-01 7.60297425e-01 5.38356168e-03 -1.77416690e+02] [ 8.44692682e-03 1.35940781e-04 9.99964315e-01 1.44317324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.37 meters Centerline goodness [0,1] 0.9997355546740712 Centerline is valid? [True, True] Translation: X:18.23, Y:-177.43, Z:1.44 [[ 7.56872761e-01 6.53530633e-01 -6.42929756e-03 1.82316289e+01] [-6.53509054e-01 7.56900046e-01 5.31388535e-03 -1.77427804e+02] [ 8.33912248e-03 1.79669088e-04 9.99965213e-01 1.44374586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.4 meters Centerline goodness [0,1] 0.9997360142552302 Centerline is valid? [True, True] Translation: X:18.26, Y:-177.44, Z:1.44 [[ 7.53062334e-01 6.57915346e-01 -6.67222017e-03 1.82608392e+01] [-6.57892298e-01 7.53091854e-01 5.51213600e-03 -1.77438471e+02] [ 8.65131352e-03 2.38620268e-04 9.99962548e-01 1.44375754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.43 meters Centerline goodness [0,1] 0.9997339953892534 Centerline is valid? [True, True] Translation: X:18.29, Y:-177.45, Z:1.44 [[ 7.49112633e-01 6.62408873e-01 -6.68936421e-03 1.82902388e+01] [-6.62385907e-01 7.49142442e-01 5.52377041e-03 -1.77448812e+02] [ 8.67028117e-03 2.93014381e-04 9.99962370e-01 1.44385997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.46 meters Centerline goodness [0,1] 0.9991722409897313 Centerline is valid? [True, True] Translation: X:18.33, Y:-177.45, Z:1.44 [[ 7.40657695e-01 6.71858572e-01 -5.67778895e-03 1.83262395e+01] [-6.71842309e-01 7.40679378e-01 4.68723117e-03 -1.77449444e+02] [ 7.35457763e-03 3.42945003e-04 9.99972896e-01 1.44456728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.49 meters Centerline goodness [0,1] 0.9993463168334685 Centerline is valid? [True, True] Translation: X:18.35, Y:-177.46, Z:1.45 [[ 7.36905985e-01 6.75976337e-01 -5.05585790e-03 1.83543886e+01] [-6.75963551e-01 7.36923249e-01 4.17176781e-03 -1.77459987e+02] [ 6.54579555e-03 3.43374989e-04 9.99978517e-01 1.44580811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.52 meters Centerline goodness [0,1] 0.9992730411867603 Centerline is valid? [True, True] Translation: X:18.38, Y:-177.47, Z:1.45 [[ 7.33603731e-01 6.79566697e-01 -3.83029069e-03 1.83821307e+01] [-6.79559414e-01 7.33613674e-01 3.15896067e-03 -1.77470856e+02] [ 4.95667810e-03 2.85484769e-04 9.99987675e-01 1.44665238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.55 meters Centerline goodness [0,1] 0.9993772057297073 Centerline is valid? [True, True] Translation: X:18.41, Y:-177.47, Z:1.45 [[ 7.28791820e-01 6.84731825e-01 -2.19346851e-03 1.84141092e+01] [-6.84729461e-01 7.28795097e-01 1.80867960e-03 -1.77474974e+02] [ 2.83704958e-03 1.83781616e-04 9.99995959e-01 1.44829411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.58 meters Centerline goodness [0,1] 0.9996983058714319 Centerline is valid? [True, True] Translation: X:18.44, Y:-177.49, Z:1.45 [[ 7.27899489e-01 6.85682387e-01 -1.41394381e-03 1.84370441e+01] [-6.85681407e-01 7.27900852e-01 1.16533429e-03 -1.77492345e+02] [ 1.82826010e-03 1.21268744e-04 9.99998321e-01 1.44878568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.61 meters Centerline goodness [0,1] 0.9995587347298992 Centerline is valid? [True, True] Translation: X:18.46, Y:-177.51, Z:1.45 [[ 7.28123273e-01 6.85445077e-01 -1.24338759e-03 1.84617220e+01] [-6.85444320e-01 7.28124327e-01 1.02417147e-03 -1.77506465e+02] [ 1.60735404e-03 1.06549878e-04 9.99998703e-01 1.44903060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.64 meters Centerline goodness [0,1] 0.9995547848908052 Centerline is valid? [True, True] Translation: X:18.49, Y:-177.52, Z:1.45 [[ 7.29073457e-01 6.84434808e-01 -9.42115710e-04 1.84864149e+01] [-6.84434373e-01 7.29074062e-01 7.75649214e-04 -1.77522170e+02] [ 1.21775345e-03 7.93111214e-05 9.99999255e-01 1.44896132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.66999999999996 meters Centerline goodness [0,1] 0.9994629932290451 Centerline is valid? [True, True] Translation: X:18.51, Y:-177.54, Z:1.45 [[ 7.35956856e-01 6.77028361e-01 3.21337358e-04 1.85085697e+01] [-6.77028310e-01 7.35956926e-01 -2.64501583e-04 -1.77539666e+02] [-4.15565527e-04 -2.28927350e-05 9.99999913e-01 1.44908610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.7 meters Centerline goodness [0,1] 0.9996504311349336 Centerline is valid? [True, True] Translation: X:18.53, Y:-177.56, Z:1.45 [[ 7.39978499e-01 6.72630472e-01 2.62305242e-04 1.85322950e+01] [-6.72630437e-01 7.39978546e-01 -2.15872237e-04 -1.77555169e+02] [-3.39302496e-04 -1.66936758e-05 9.99999942e-01 1.44994090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.72999999999996 meters Centerline goodness [0,1] 0.999530284882219 Centerline is valid? [True, True] Translation: X:18.55, Y:-177.58, Z:1.45 [[ 7.43643673e-01 6.68576073e-01 -3.51304416e-04 1.85519033e+01] [-6.68576010e-01 7.43643755e-01 2.88971004e-04 -1.77576246e+02] [ 4.54444434e-04 1.99822464e-05 9.99999897e-01 1.44962851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.76 meters Centerline goodness [0,1] 0.9995308358159938 Centerline is valid? [True, True] Translation: X:18.57, Y:-177.60, Z:1.45 [[ 7.47347363e-01 6.64433146e-01 -7.16403352e-04 1.85717511e+01] [-6.64432886e-01 7.47347706e-01 5.89005881e-04 -1.77597151e+02] [ 9.26757432e-04 3.58099542e-05 9.99999570e-01 1.44894224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.78999999999996 meters Centerline goodness [0,1] 0.9992776586820766 Centerline is valid? [True, True] Translation: X:18.59, Y:-177.62, Z:1.45 [[ 7.52260474e-01 6.58863886e-01 -1.59969374e-03 1.85925444e+01] [-6.58862577e-01 7.52262172e-01 1.31500514e-03 -1.77616076e+02] [ 2.06979849e-03 6.47519490e-05 9.99997856e-01 1.44766473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.82 meters Centerline goodness [0,1] 0.9993448146761512 Centerline is valid? [True, True] Translation: X:18.61, Y:-177.64, Z:1.45 [[ 7.53741351e-01 6.57168806e-01 -1.77109484e-03 1.86133940e+01] [-6.57167198e-01 7.53743428e-01 1.45516687e-03 -1.77635492e+02] [ 2.29124137e-03 6.70859875e-05 9.99997373e-01 1.44697640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.84999999999997 meters Centerline goodness [0,1] 0.9991569678945273 Centerline is valid? [True, True] Translation: X:18.63, Y:-177.65, Z:1.45 [[ 7.54470710e-01 6.56329571e-01 -2.33268187e-03 1.86348088e+01] [-6.56326780e-01 7.54474311e-01 1.91623985e-03 -1.77652904e+02] [ 3.01763343e-03 8.52547401e-05 9.99995443e-01 1.44580594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.88 meters Centerline goodness [0,1] 0.9992788685214479 Centerline is valid? [True, True] Translation: X:18.66, Y:-177.67, Z:1.45 [[ 7.53496967e-01 6.57443892e-01 -3.13850433e-03 1.86570702e+01] [-6.57438850e-01 7.53503493e-01 2.57775213e-03 -1.77669645e+02] [ 4.05960136e-03 1.21046264e-04 9.99991752e-01 1.44544144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.90999999999997 meters Centerline goodness [0,1] 0.9992996544962182 Centerline is valid? [True, True] Translation: X:18.68, Y:-177.69, Z:1.45 [[ 7.52173336e-01 6.58956807e-01 -3.34657692e-03 1.86804545e+01] [-6.58951094e-01 7.52180768e-01 2.74730763e-03 -1.77686514e+02] [ 4.32758786e-03 1.38778976e-04 9.99990626e-01 1.44564680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.94 meters Centerline goodness [0,1] 0.9991341586127817 Centerline is valid? [True, True] Translation: X:18.70, Y:-177.70, Z:1.45 [[ 7.50871209e-01 6.60439657e-01 -3.44787055e-03 1.87021468e+01] [-6.60433615e-01 7.50879109e-01 2.82903897e-03 -1.77704892e+02] [ 4.45734350e-03 1.52845704e-04 9.99990054e-01 1.44633043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.96999999999997 meters Centerline goodness [0,1] 0.9991788856304985 Centerline is valid? [True, True] Translation: X:18.73, Y:-177.72, Z:1.45 [[ 7.48129830e-01 6.63546513e-01 -2.78974715e-03 1.87257371e+01] [-6.63542581e-01 7.48135018e-01 2.28855680e-03 -1.77721684e+02] [ 3.60567142e-03 1.38978416e-04 9.99993490e-01 1.44732755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.0 meters Centerline goodness [0,1] 0.999271719212517 Centerline is valid? [True, True] Translation: X:18.75, Y:-177.74, Z:1.45 [[ 7.46375051e-01 6.65517223e-01 -3.33302572e-03 1.87474176e+01] [-6.65511632e-01 7.46382472e-01 2.73381756e-03 -1.77740230e+02] [ 4.30711465e-03 1.77714165e-04 9.99990709e-01 1.44742781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.03 meters Centerline goodness [0,1] 0.9994365138993239 Centerline is valid? [True, True] Translation: X:18.77, Y:-177.76, Z:1.45 [[ 7.44698085e-01 6.67392587e-01 -3.44906004e-03 1.87700369e+01] [-6.67386622e-01 7.44706047e-01 2.82856558e-03 -1.77756681e+02] [ 4.45629957e-03 1.95429157e-04 9.99990052e-01 1.44647260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.06 meters Centerline goodness [0,1] 0.9995067991263299 Centerline is valid? [True, True] Translation: X:18.79, Y:-177.78, Z:1.45 [[ 7.43395306e-01 6.68841796e-01 -3.75106670e-03 1.87917575e+01] [-6.68834766e-01 7.43404736e-01 3.07472126e-03 -1.77775888e+02] [ 4.84506285e-03 2.23110464e-04 9.99988238e-01 1.44621787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.09 meters Centerline goodness [0,1] 0.9996009202309968 Centerline is valid? [True, True] Translation: X:18.81, Y:-177.79, Z:1.45 [[ 7.41048658e-01 6.71438473e-01 -4.15494493e-03 1.88144607e+01] [-6.71429891e-01 7.41060258e-01 3.40520474e-03 -1.77792184e+02] [ 5.36545004e-03 2.66331812e-04 9.99985570e-01 1.44548803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.12 meters Centerline goodness [0,1] 0.9995779007597786 Centerline is valid? [True, True] Translation: X:18.84, Y:-177.81, Z:1.45 [[ 7.40682165e-01 6.71842906e-01 -4.12797016e-03 1.88369840e+01] [-6.71834450e-01 7.40693619e-01 3.38137966e-03 -1.77810271e+02] [ 5.32931709e-03 2.68784956e-04 9.99985763e-01 1.44566310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.15 meters Centerline goodness [0,1] 0.9996251610636054 Centerline is valid? [True, True] Translation: X:18.86, Y:-177.83, Z:1.45 [[ 7.40500391e-01 6.72045058e-01 -3.82235970e-03 1.88591500e+01] [-6.72037814e-01 7.40510214e-01 3.13036944e-03 -1.77826257e+02] [ 4.93424571e-03 2.50730462e-04 9.99987795e-01 1.44595190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.18 meters Centerline goodness [0,1] 0.9995524356920757 Centerline is valid? [True, True] Translation: X:18.88, Y:-177.84, Z:1.45 [[ 7.41153437e-01 6.71327079e-01 -3.39662162e-03 1.88814009e+01] [-6.71321357e-01 7.41161187e-01 2.78031473e-03 -1.77844606e+02] [ 4.38394468e-03 2.19584814e-04 9.99990366e-01 1.44657125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.21 meters Centerline goodness [0,1] 0.9995301414274304 Centerline is valid? [True, True] Translation: X:18.90, Y:-177.86, Z:1.45 [[ 7.41853367e-01 6.70554575e-01 -3.18488869e-03 1.89032167e+01] [-6.70549540e-01 7.41860176e-01 2.60632316e-03 -1.77861303e+02] [ 4.11042400e-03 2.02116031e-04 9.99991532e-01 1.44699109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.24 meters Centerline goodness [0,1] 0.9995531934907347 Centerline is valid? [True, True] Translation: X:18.92, Y:-177.88, Z:1.45 [[ 7.43144401e-01 6.69123263e-01 -3.23383054e-03 1.89230546e+01] [-6.69118064e-01 7.43151411e-01 2.64512329e-03 -1.77881909e+02] [ 4.17313925e-03 1.98105862e-04 9.99991273e-01 1.44691059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.27 meters Centerline goodness [0,1] 0.999390629760705 Centerline is valid? [True, True] Translation: X:18.94, Y:-177.90, Z:1.45 [[ 7.44438275e-01 6.67681542e-01 -3.60744325e-03 1.89444583e+01] [-6.67675058e-01 7.44446985e-01 2.95019550e-03 -1.77899236e+02] [ 4.65534133e-03 2.12361430e-04 9.99989141e-01 1.44638006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.3 meters Centerline goodness [0,1] 0.9993242456017709 Centerline is valid? [True, True] Translation: X:18.96, Y:-177.92, Z:1.45 [[ 7.48702394e-01 6.62896721e-01 -3.55855423e-03 1.89644894e+01] [-6.62890364e-01 7.48710829e-01 2.90877688e-03 -1.77919861e+02] [ 4.59254674e-03 1.81123091e-04 9.99989438e-01 1.44551351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.33 meters Centerline goodness [0,1] 0.9992056445960469 Centerline is valid? [True, True] Translation: X:18.99, Y:-177.94, Z:1.45 [[ 7.51141277e-01 6.60128315e-01 -4.17019381e-03 1.89864034e+01] [-6.60119550e-01 7.51152828e-01 3.40715840e-03 -1.77939372e+02] [ 5.38161461e-03 1.93569152e-04 9.99985500e-01 1.44550388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.36 meters Centerline goodness [0,1] 0.9990626391395028 Centerline is valid? [True, True] Translation: X:19.01, Y:-177.96, Z:1.45 [[ 7.53346379e-01 6.57608034e-01 -4.57240323e-03 1.90079467e+01] [-6.57597460e-01 7.53360230e-01 3.73425769e-03 -1.77958553e+02] [ 5.90034461e-03 1.93611244e-04 9.99982574e-01 1.44553213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.39 meters Centerline goodness [0,1] 0.9988975417526741 Centerline is valid? [True, True] Translation: X:19.03, Y:-177.98, Z:1.44 [[ 7.57789791e-01 6.52478711e-01 -5.11512785e-03 1.90294951e+01] [-6.52465368e-01 7.57807035e-01 4.17627256e-03 -1.77975558e+02] [ 6.60120880e-03 1.72707065e-04 9.99978197e-01 1.44460376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.41999999999996 meters Centerline goodness [0,1] 0.9989228427584592 Centerline is valid? [True, True] Translation: X:19.05, Y:-178.00, Z:1.44 [[ 7.59990189e-01 6.49912042e-01 -5.40832535e-03 1.90491878e+01] [-6.49897077e-01 7.60009415e-01 4.41343287e-03 -1.77996381e+02] [ 6.97872136e-03 1.60689149e-04 9.99975636e-01 1.44474778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.45 meters Centerline goodness [0,1] 0.998852217094938 Centerline is valid? [True, True] Translation: X:19.07, Y:-178.02, Z:1.45 [[ 7.61791640e-01 6.47803414e-01 -4.92287432e-03 1.90698955e+01] [-6.47790983e-01 7.61807535e-01 4.01520388e-03 -1.78016080e+02] [ 6.35134553e-03 1.30244845e-04 9.99979822e-01 1.44524267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.47999999999996 meters Centerline goodness [0,1] 0.9986710808542385 Centerline is valid? [True, True] Translation: X:19.09, Y:-178.03, Z:1.45 [[ 7.62620266e-01 6.46825675e-01 -5.18419090e-03 1.90920702e+01] [-6.46811872e-01 7.62637876e-01 4.22756747e-03 -1.78032679e+02] [ 6.68815952e-03 1.29167593e-04 9.99977626e-01 1.44505941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.51 meters Centerline goodness [0,1] 0.9985472949225614 Centerline is valid? [True, True] Translation: X:19.11, Y:-178.05, Z:1.45 [[ 7.64392473e-01 6.44733678e-01 -4.75734923e-03 1.91132184e+01] [-6.44722018e-01 7.64407270e-01 3.87879161e-03 -1.78050742e+02] [ 6.13733991e-03 1.02248689e-04 9.99981161e-01 1.44640394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.53999999999996 meters Centerline goodness [0,1] 0.9985765954964415 Centerline is valid? [True, True] Translation: X:19.14, Y:-178.07, Z:1.45 [[ 7.65273830e-01 6.43691461e-01 -4.15553964e-03 1.91354085e+01] [-6.43682559e-01 7.65285108e-01 3.38641105e-03 -1.78069125e+02] [ 5.35997648e-03 8.33166300e-05 9.99985632e-01 1.44682489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.57 meters Centerline goodness [0,1] 0.998183173390478 Centerline is valid? [True, True] Translation: X:19.16, Y:-178.09, Z:1.45 [[ 7.66067771e-01 6.42747744e-01 -3.93786567e-03 1.91577944e+01] [-6.42739746e-01 7.66077889e-01 3.20741660e-03 -1.78087309e+02] [ 5.07827161e-03 7.39242951e-05 9.99987103e-01 1.44842688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.59999999999997 meters Centerline goodness [0,1] 0.9984316479400749 Centerline is valid? [True, True] Translation: X:19.18, Y:-178.11, Z:1.45 [[ 7.66548747e-01 6.42174848e-01 -3.80554418e-03 1.91792400e+01] [-6.42167380e-01 7.66558191e-01 3.09785284e-03 -1.78105510e+02] [ 4.90653424e-03 6.91411215e-05 9.99987961e-01 1.44887380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.63 meters Centerline goodness [0,1] 0.9983582719639758 Centerline is valid? [True, True] Translation: X:19.20, Y:-178.12, Z:1.45 [[ 7.66811819e-01 6.41860687e-01 -3.80677034e-03 1.91993113e+01] [-6.41853214e-01 7.66821266e-01 3.09807953e-03 -1.78123093e+02] [ 4.90764791e-03 6.77437771e-05 9.99987955e-01 1.44846268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.65999999999997 meters Centerline goodness [0,1] 0.9983137383484004 Centerline is valid? [True, True] Translation: X:19.22, Y:-178.14, Z:1.45 [[ 7.66812194e-01 6.41857623e-01 -4.22499203e-03 1.92197938e+01] [-6.41848422e-01 7.66823830e-01 3.43760669e-03 -1.78140022e+02] [ 5.44627863e-03 7.58057384e-05 9.99985166e-01 1.44780540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.69 meters Centerline goodness [0,1] 0.997911288429946 Centerline is valid? [True, True] Translation: X:19.24, Y:-178.16, Z:1.45 [[ 7.66460134e-01 6.42273843e-01 -4.81384836e-03 1.92416250e+01] [-6.42261919e-01 7.66475246e-01 3.91478033e-03 -1.78157990e+02] [ 6.20405661e-03 9.12284295e-05 9.99980751e-01 1.44690775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.71999999999997 meters Centerline goodness [0,1] 0.9975900795507721 Centerline is valid? [True, True] Translation: X:19.26, Y:-178.18, Z:1.45 [[ 7.66658960e-01 6.42032402e-01 -5.33238179e-03 1.92616946e+01] [-6.42017781e-01 7.66677497e-01 4.33400371e-03 -1.78177013e+02] [ 6.87078794e-03 1.00781151e-04 9.99976391e-01 1.44617792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.75 meters Centerline goodness [0,1] 0.9978696507163592 Centerline is valid? [True, True] Translation: X:19.28, Y:-178.20, Z:1.45 [[ 7.66493587e-01 6.42225961e-01 -5.77890274e-03 1.92828129e+01] [-6.42208813e-01 7.66515363e-01 4.69453766e-03 -1.78195966e+02] [ 7.44457169e-03 1.12929256e-04 9.99972282e-01 1.44670513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.78 meters Centerline goodness [0,1] 0.9975409836065574 Centerline is valid? [True, True] Translation: X:19.30, Y:-178.21, Z:1.45 [[ 7.66530287e-01 6.42175980e-01 -6.42885032e-03 1.93043638e+01] [-6.42154767e-01 7.66557235e-01 5.22111184e-03 -1.78214058e+02] [ 8.28095433e-03 1.26176523e-04 9.99965704e-01 1.44630124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.81 meters Centerline goodness [0,1] 0.9977375037902643 Centerline is valid? [True, True] Translation: X:19.32, Y:-178.23, Z:1.45 [[ 7.66301282e-01 6.42433395e-01 -7.85357653e-03 1.93242138e+01] [-6.42401784e-01 7.66341509e-01 6.37494317e-03 -1.78234582e+02] [ 1.01139981e-02 1.60024446e-04 9.99948839e-01 1.44520710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.84 meters Centerline goodness [0,1] 0.9974119841454885 Centerline is valid? [True, True] Translation: X:19.35, Y:-178.25, Z:1.44 [[ 7.65753100e-01 6.43073129e-01 -8.89606599e-03 1.93458682e+01] [-6.43032627e-01 7.65804749e-01 7.21986028e-03 -1.78252613e+02] [ 1.14555477e-02 1.91830294e-04 9.99934365e-01 1.44451457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.87 meters Centerline goodness [0,1] 0.9963762224441916 Centerline is valid? [True, True] Translation: X:19.37, Y:-178.27, Z:1.44 [[ 7.66227834e-01 6.42497901e-01 -9.55790072e-03 1.93666068e+01] [-6.42451159e-01 7.66287418e-01 7.75252308e-03 -1.78270959e+02] [ 1.23050789e-02 2.00285423e-04 9.99924270e-01 1.44377040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.9 meters Centerline goodness [0,1] 0.9961432122859599 Centerline is valid? [True, True] Translation: X:19.39, Y:-178.29, Z:1.44 [[ 7.65852599e-01 6.42937759e-01 -1.00416649e-02 1.93883034e+01] [-6.42886231e-01 7.65918397e-01 8.14274102e-03 -1.78288606e+02] [ 1.29263716e-02 2.19508749e-04 9.99916427e-01 1.44257529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.93 meters Centerline goodness [0,1] 0.9961432122859599 Centerline is valid? [True, True] Translation: X:19.41, Y:-178.31, Z:1.44 [[ 7.66019874e-01 6.42738419e-01 -1.00437845e-02 1.94096226e+01] [-6.42686908e-01 7.66085685e-01 8.14012641e-03 -1.78305766e+02] [ 1.29263715e-02 2.19510235e-04 9.99916427e-01 1.44257497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.96 meters Centerline goodness [0,1] 0.996492857972361 Centerline is valid? [True, True] Translation: X:19.43, Y:-178.33, Z:1.44 [[ 7.65958221e-01 6.42802457e-01 -1.06303656e-02 1.94298763e+01] [-6.42744819e-01 7.66031948e-01 8.61117512e-03 -1.78326287e+02] [ 1.36784842e-02 2.36812019e-04 9.99906417e-01 1.44475601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.99 meters Centerline goodness [0,1] 0.9962222170718705 Centerline is valid? [True, True] Translation: X:19.45, Y:-178.34, Z:1.44 [[ 7.64618525e-01 6.44382051e-01 -1.14142407e-02 1.94529583e+01] [-6.44315842e-01 7.64703662e-01 9.24151767e-03 -1.78342974e+02] [ 1.46835798e-02 2.88140514e-04 9.99892149e-01 1.44479033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.02 meters Centerline goodness [0,1] 0.9955746061167748 Centerline is valid? [True, True] Translation: X:19.48, Y:-178.36, Z:1.44 [[ 7.61958294e-01 6.47522066e-01 -1.16074608e-02 1.94759248e+01] [-6.47453986e-01 7.62046618e-01 9.39618417e-03 -1.78358423e+02] [ 1.49296628e-02 3.55796299e-04 9.99888483e-01 1.44295379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.05 meters Centerline goodness [0,1] 0.9959778085991678 Centerline is valid? [True, True] Translation: X:19.50, Y:-178.38, Z:1.44 [[ 7.60661531e-01 6.49043783e-01 -1.16706571e-02 1.94974260e+01] [-6.48975210e-01 7.60750955e-01 9.44256074e-03 -1.78377062e+02] [ 1.50070989e-02 3.91374446e-04 9.99887311e-01 1.44372947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.08 meters Centerline goodness [0,1] 0.9955362332318136 Centerline is valid? [True, True] Translation: X:19.52, Y:-178.39, Z:1.44 [[ 7.60114672e-01 6.49687778e-01 -1.14663383e-02 1.95196872e+01] [-6.49621727e-01 7.60201047e-01 9.27259006e-03 -1.78394803e+02] [ 1.47410108e-02 4.00550726e-04 9.99891265e-01 1.44377295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.11 meters Centerline goodness [0,1] 0.9953850791957515 Centerline is valid? [True, True] Translation: X:19.55, Y:-178.41, Z:1.44 [[ 7.57706367e-01 6.52475000e-01 -1.25473028e-02 1.95455121e+01] [-6.52396314e-01 7.57810085e-01 1.01451529e-02 -1.78408479e+02] [ 1.61279313e-02 4.98767126e-04 9.99869812e-01 1.44449265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.14 meters Centerline goodness [0,1] 0.995434645189989 Centerline is valid? [True, True] Translation: X:19.57, Y:-178.42, Z:1.44 [[ 7.56114399e-01 6.54303756e-01 -1.33270628e-02 1.95701743e+01] [-6.54215357e-01 7.56231621e-01 1.07704707e-02 -1.78423986e+02] [ 1.71255057e-02 5.75061203e-04 9.99853182e-01 1.44441689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.16999999999996 meters Centerline goodness [0,1] 0.9949920434334925 Centerline is valid? [True, True] Translation: X:19.59, Y:-178.44, Z:1.44 [[ 7.54600945e-01 6.56043014e-01 -1.36006420e-02 1.95942890e+01] [-6.55951261e-01 7.54723240e-01 1.09897459e-02 -1.78438240e+02] [ 1.74744666e-02 6.28485652e-04 9.99847112e-01 1.44405791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.2 meters Centerline goodness [0,1] 0.9953434773406081 Centerline is valid? [True, True] Translation: X:19.62, Y:-178.46, Z:1.44 [[ 7.53834395e-01 6.56933207e-01 -1.31326584e-02 1.96174973e+01] [-6.56847885e-01 7.53948515e-01 1.06062588e-02 -1.78455299e+02] [ 1.68689519e-02 6.30796189e-04 9.99857510e-01 1.44343083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.22999999999996 meters Centerline goodness [0,1] 0.9951410731890522 Centerline is valid? [True, True] Translation: X:19.64, Y:-178.47, Z:1.44 [[ 7.54760232e-01 6.55895153e-01 -1.17703280e-02 1.96403073e+01] [-6.55826515e-01 7.54851807e-01 9.50431608e-03 -1.78471798e+02] [ 1.51186882e-02 5.45813380e-04 9.99885557e-01 1.44262677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.26 meters Centerline goodness [0,1] 0.9956263079925695 Centerline is valid? [True, True] Translation: X:19.66, Y:-178.49, Z:1.44 [[ 7.55837268e-01 6.54661355e-01 -1.13373336e-02 1.96629197e+01] [-6.54597601e-01 7.55922122e-01 9.15021123e-03 -1.78489799e+02] [ 1.45604310e-02 5.05320736e-04 9.99893864e-01 1.44307841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.28999999999996 meters Centerline goodness [0,1] 0.9958893169219205 Centerline is valid? [True, True] Translation: X:19.69, Y:-178.51, Z:1.44 [[ 7.57769306e-01 6.52439068e-01 -1.04374542e-02 1.96860613e+01] [-6.52384873e-01 7.57841064e-01 8.42014504e-03 -1.78507874e+02] [ 1.34035630e-02 4.28709760e-04 9.99910076e-01 1.44358981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.32 meters Centerline goodness [0,1] 0.9963633804138707 Centerline is valid? [True, True] Translation: X:19.71, Y:-178.53, Z:1.45 [[ 7.59843475e-01 6.50032182e-01 -9.80081256e-03 1.97077030e+01] [-6.49984237e-01 7.59906592e-01 7.90338000e-03 -1.78527149e+02] [ 1.25851534e-02 3.65041950e-04 9.99920737e-01 1.44539988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.34999999999997 meters Centerline goodness [0,1] 0.9981266391907081 Centerline is valid? [True, True] Translation: X:19.73, Y:-178.55, Z:1.45 [[ 7.65201012e-01 6.43723770e-01 -9.33374770e-03 1.97287444e+01] [-6.43679828e-01 7.65257895e-01 7.52558154e-03 -1.78545246e+02] [ 1.19871198e-02 2.49362500e-04 9.99928121e-01 1.44620371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.38 meters Centerline goodness [0,1] 0.9984349085472681 Centerline is valid? [True, True] Translation: X:19.75, Y:-178.56, Z:1.45 [[ 7.67993110e-01 6.40392578e-01 -9.16123849e-03 1.97510002e+01] [-6.40350027e-01 7.68047725e-01 7.38478147e-03 -1.78564449e+02] [ 1.17654276e-02 1.94938022e-04 9.99930766e-01 1.44599222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.40999999999997 meters Centerline goodness [0,1] 0.9986170686543375 Centerline is valid? [True, True] Translation: X:19.77, Y:-178.58, Z:1.44 [[ 7.70307222e-01 6.37602194e-01 -9.49876436e-03 1.97720223e+01] [-6.37556252e-01 7.70365769e-01 7.65554519e-03 -1.78583079e+02] [ 1.21987153e-02 1.58874858e-04 9.99925580e-01 1.44441344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.44 meters Centerline goodness [0,1] 0.9984944010539193 Centerline is valid? [True, True] Translation: X:19.79, Y:-178.60, Z:1.45 [[ 7.74649186e-01 6.32329475e-01 -8.83596631e-03 1.97928741e+01] [-6.32289415e-01 7.74699574e-01 7.11803044e-03 -1.78603928e+02] [ 1.13461598e-02 7.29114765e-05 9.99935628e-01 1.44525293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.46999999999997 meters Centerline goodness [0,1] 0.9984755382522632 Centerline is valid? [True, True] Translation: X:19.81, Y:-178.62, Z:1.45 [[ 7.77249396e-01 6.29142008e-01 -7.98189340e-03 1.98139792e+01] [-6.29109161e-01 7.77290379e-01 6.42886641e-03 -1.78622155e+02] [ 1.02489189e-02 2.46497211e-05 9.99947478e-01 1.44512962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.5 meters Centerline goodness [0,1] 0.9981927003872785 Centerline is valid? [True, True] Translation: X:19.84, Y:-178.64, Z:1.45 [[ 7.79206057e-01 6.26713823e-01 -8.22834398e-03 1.98354985e+01] [-6.26678820e-01 7.79249501e-01 6.62357916e-03 -1.78639695e+02] [ 1.05630216e-02 -4.60410336e-06 9.99944210e-01 1.44608429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.53 meters Centerline goodness [0,1] 0.99845700659279 Centerline is valid? [True, True] Translation: X:19.85, Y:-178.66, Z:1.44 [[ 7.83566695e-01 6.21256561e-01 -7.96995753e-03 1.98549860e+01] [-6.21223450e-01 7.83607223e-01 6.41445487e-03 -1.78660063e+02] [ 1.02303385e-02 -7.50286974e-05 9.99947666e-01 1.44484571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.56 meters Centerline goodness [0,1] 0.9986047160597181 Centerline is valid? [True, True] Translation: X:19.88, Y:-178.68, Z:1.44 [[ 7.85603752e-01 6.18675012e-01 -8.24469104e-03 1.98758961e+01] [-6.18639448e-01 7.85647006e-01 6.63443889e-03 -1.78679107e+02] [ 1.05819784e-02 -1.11548970e-04 9.99944003e-01 1.44392984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.59 meters Centerline goodness [0,1] 0.9984769670556258 Centerline is valid? [True, True] Translation: X:19.90, Y:-178.70, Z:1.44 [[ 7.86542474e-01 6.17475944e-01 -8.62524900e-03 1.98983834e+01] [-6.17436988e-01 7.86589754e-01 6.93718042e-03 -1.78697146e+02] [ 1.10680745e-02 -1.30839281e-04 9.99938738e-01 1.44438852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.62 meters Centerline goodness [0,1] 0.998411214953271 Centerline is valid? [True, True] Translation: X:19.92, Y:-178.72, Z:1.44 [[ 7.88621631e-01 6.14819046e-01 -8.57111126e-03 1.99185357e+01] [-6.14780433e-01 7.88668190e-01 6.89241642e-03 -1.78715984e+02] [ 1.09973517e-02 -1.66157190e-04 9.99939514e-01 1.44312021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.65 meters Centerline goodness [0,1] 0.9982938344318235 Centerline is valid? [True, True] Translation: X:19.94, Y:-178.73, Z:1.44 [[ 7.89911361e-01 6.13164002e-01 -8.36354666e-03 1.99408394e+01] [-6.13127180e-01 7.89955615e-01 6.72218595e-03 -1.78734234e+02] [ 1.07286331e-02 -1.82013276e-04 9.99942430e-01 1.44390653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.68 meters Centerline goodness [0,1] 0.9980408163265306 Centerline is valid? [True, True] Translation: X:19.96, Y:-178.75, Z:1.44 [[ 7.91156349e-01 6.11560117e-01 -8.11506508e-03 1.99607084e+01] [-6.11525384e-01 7.91197943e-01 6.52076507e-03 -1.78753190e+02] [ 1.04084626e-02 -1.96376397e-04 9.99945811e-01 1.44365950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.71 meters Centerline goodness [0,1] 0.9981088463963017 Centerline is valid? [True, True] Translation: X:19.98, Y:-178.77, Z:1.45 [[ 7.92607938e-01 6.09690804e-01 -7.05545806e-03 1.99822568e+01] [-6.09664500e-01 7.92639317e-01 5.66659610e-03 -1.78771868e+02] [ 9.04730499e-03 -1.89926743e-04 9.99959054e-01 1.44504258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.74 meters Centerline goodness [0,1] 0.9982342827935505 Centerline is valid? [True, True] Translation: X:20.00, Y:-178.79, Z:1.45 [[ 7.93491762e-01 6.08545335e-01 -6.58779711e-03 2.00046901e+01] [-6.08522385e-01 7.93519086e-01 5.28836561e-03 -1.78789443e+02] [ 8.44575296e-03 -1.87452541e-04 9.99964316e-01 1.44550197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.77 meters Centerline goodness [0,1] 0.998204709722546 Centerline is valid? [True, True] Translation: X:20.03, Y:-178.81, Z:1.45 [[ 7.93651646e-01 6.08334046e-01 -6.83757484e-03 2.00255346e+01] [-6.08309342e-01 7.93681076e-01 5.48577280e-03 -1.78807269e+02] [ 8.76403612e-03 -1.94431963e-04 9.99961576e-01 1.44526894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.8 meters Centerline goodness [0,1] 0.9981471616833036 Centerline is valid? [True, True] Translation: X:20.05, Y:-178.83, Z:1.44 [[ 7.94556899e-01 6.07151516e-01 -6.80953667e-03 2.00463051e+01] [-6.07126980e-01 7.94586052e-01 5.46232276e-03 -1.78826015e+02] [ 8.72722040e-03 -2.05872806e-04 9.99961896e-01 1.44427259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.83 meters Centerline goodness [0,1] 0.9983320205717463 Centerline is valid? [True, True] Translation: X:20.07, Y:-178.84, Z:1.44 [[ 7.95275532e-01 6.06197795e-01 -7.81417412e-03 2.00676940e+01] [-6.06165469e-01 7.95313883e-01 6.26512431e-03 -1.78844640e+02] [ 1.00126257e-02 -2.45817548e-04 9.99949842e-01 1.44282523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.86 meters Centerline goodness [0,1] 0.99809209148654 Centerline is valid? [True, True] Translation: X:20.09, Y:-178.86, Z:1.44 [[ 7.95089724e-01 6.06430888e-01 -8.59705887e-03 2.00901179e+01] [-6.06391816e-01 7.95136157e-01 6.88885155e-03 -1.78861399e+02] [ 1.10134447e-02 -2.64068937e-04 9.99939315e-01 1.44223933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.89 meters Centerline goodness [0,1] 0.998486330399143 Centerline is valid? [True, True] Translation: X:20.11, Y:-178.88, Z:1.44 [[ 7.94806016e-01 6.06792844e-01 -9.26504812e-03 2.01117401e+01] [-6.06747540e-01 7.94859968e-01 7.41986056e-03 -1.78878617e+02] [ 1.18667341e-02 -2.75804647e-04 9.99929550e-01 1.44159885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.91999999999996 meters Centerline goodness [0,1] 0.9982776277813984 Centerline is valid? [True, True] Translation: X:20.13, Y:-178.89, Z:1.44 [[ 7.93149108e-01 6.08947844e-01 -9.84965164e-03 2.01348423e+01] [-6.08896833e-01 7.93210223e-01 7.88598092e-03 -1.78894175e+02] [ 1.26149954e-02 -2.57337041e-04 9.99920395e-01 1.44108808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.95 meters Centerline goodness [0,1] 0.9984370990692575 Centerline is valid? [True, True] Translation: X:20.16, Y:-178.91, Z:1.44 [[ 7.91718965e-01 6.10806510e-01 -9.82283122e-03 2.01583957e+01] [-6.10755968e-01 7.91779867e-01 7.86063802e-03 -1.78910537e+02] [ 1.25788489e-02 -2.24063403e-04 9.99920858e-01 1.44116013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.97999999999996 meters Centerline goodness [0,1] 0.9984823012982161 Centerline is valid? [True, True] Translation: X:20.18, Y:-178.93, Z:1.44 [[ 7.89966238e-01 6.13069264e-01 -9.97100841e-03 2.01826133e+01] [-6.13017415e-01 7.90029140e-01 7.97533081e-03 -1.78926814e+02] [ 1.27668174e-02 -1.87840267e-04 9.99918483e-01 1.44068912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.01 meters Centerline goodness [0,1] 0.9986437190159948 Centerline is valid? [True, True] Translation: X:20.21, Y:-178.94, Z:1.44 [[ 7.87761426e-01 6.15918249e-01 -8.75478510e-03 2.02064673e+01] [-6.15878492e-01 7.87810063e-01 6.99907875e-03 -1.78942659e+02] [ 1.12079681e-02 -1.21720413e-04 9.99937181e-01 1.44156032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.03999999999996 meters Centerline goodness [0,1] 0.9979596095434626 Centerline is valid? [True, True] Translation: X:20.23, Y:-178.96, Z:1.44 [[ 7.87587608e-01 6.16154758e-01 -7.68601615e-03 2.02276881e+01] [-6.16124137e-01 7.87625104e-01 6.14357408e-03 -1.78960079e+02] [ 9.83909166e-03 -1.03062744e-04 9.99951590e-01 1.44165188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.07 meters Centerline goodness [0,1] 0.9983181892504263 Centerline is valid? [True, True] Translation: X:20.25, Y:-178.98, Z:1.44 [[ 7.85661529e-01 6.18616866e-01 -7.00969555e-03 2.02496647e+01] [-6.18591504e-01 7.85692796e-01 5.60202816e-03 -1.78977555e+02] [ 8.97297640e-03 -6.51598939e-05 9.99959740e-01 1.44065403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.09999999999997 meters Centerline goodness [0,1] 0.9985752989536621 Centerline is valid? [True, True] Translation: X:20.27, Y:-178.99, Z:1.44 [[ 7.85132241e-01 6.19292310e-01 -6.66323034e-03 2.02739205e+01] [-6.19269439e-01 7.85160514e-01 5.32253437e-03 -1.78992422e+02] [ 8.52790996e-03 -5.25584190e-05 9.99963635e-01 1.44399964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.13 meters Centerline goodness [0,1] 0.9987145327910999 Centerline is valid? [True, True] Translation: X:20.30, Y:-179.01, Z:1.44 [[ 7.84343787e-01 6.20284377e-01 -7.21907832e-03 2.02962355e+01] [-6.20257604e-01 7.84377007e-01 5.76330339e-03 -1.79008610e+02] [ 9.23736610e-03 -4.27229850e-05 9.99957334e-01 1.44484377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.15999999999997 meters Centerline goodness [0,1] 0.9986499697407011 Centerline is valid? [True, True] Translation: X:20.32, Y:-179.03, Z:1.44 [[ 7.84660385e-01 6.19880958e-01 -7.46173065e-03 2.03172591e+01] [-6.19852358e-01 7.84695862e-01 5.95475169e-03 -1.79025432e+02] [ 9.54642634e-03 -4.72864176e-05 9.99954431e-01 1.44378659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.19 meters Centerline goodness [0,1] 0.9987142923932862 Centerline is valid? [True, True] Translation: X:20.34, Y:-179.04, Z:1.44 [[ 7.84465736e-01 6.20123427e-01 -7.77458411e-03 2.03390785e+01] [-6.20092424e-01 7.84504260e-01 6.20091810e-03 -1.79042417e+02] [ 9.94452893e-03 -4.34470747e-05 9.99950551e-01 1.44392474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.21999999999997 meters Centerline goodness [0,1] 0.9987382882777635 Centerline is valid? [True, True] Translation: X:20.36, Y:-179.06, Z:1.44 [[ 7.84551748e-01 6.20015006e-01 -7.74249069e-03 2.03593288e+01] [-6.19984269e-01 7.84589950e-01 6.17381318e-03 -1.79059605e+02] [ 9.90253720e-03 -4.34534924e-05 9.99950968e-01 1.44353453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.25 meters Centerline goodness [0,1] 0.9988136500034893 Centerline is valid? [True, True] Translation: X:20.38, Y:-179.08, Z:1.44 [[ 7.85241690e-01 6.19137397e-01 -8.02316391e-03 2.03812313e+01] [-6.19104382e-01 7.85282676e-01 6.39404652e-03 -1.79077260e+02] [ 1.02592449e-02 -5.36959616e-05 9.99947371e-01 1.44364067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.28 meters Centerline goodness [0,1] 0.998810384642299 Centerline is valid? [True, True] Translation: X:20.40, Y:-179.09, Z:1.44 [[ 7.85605910e-01 6.18676553e-01 -7.91685168e-03 2.04011512e+01] [-6.18644399e-01 7.85645798e-01 6.30779380e-03 -1.79094988e+02] [ 1.01223254e-02 -5.77241393e-05 9.99948766e-01 1.44158163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.31 meters Centerline goodness [0,1] 0.9983908206814525 Centerline is valid? [True, True] Translation: X:20.42, Y:-179.11, Z:1.44 [[ 7.86330589e-01 6.17754604e-01 -7.96573772e-03 2.04231242e+01] [-6.17722041e-01 7.86370933e-01 6.34315462e-03 -1.79112190e+02] [ 1.01825376e-02 -6.72047405e-05 9.99948154e-01 1.44340276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.34 meters Centerline goodness [0,1] 0.9983647152268373 Centerline is valid? [True, True] Translation: X:20.44, Y:-179.13, Z:1.44 [[ 7.87892965e-01 6.15761642e-01 -7.89156713e-03 2.04438961e+01] [-6.15729593e-01 7.87932480e-01 6.28299526e-03 -1.79130143e+02] [ 1.00868495e-02 -9.12563418e-05 9.99949122e-01 1.44403581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.37 meters Centerline goodness [0,1] 0.9984385560138899 Centerline is valid? [True, True] Translation: X:20.47, Y:-179.15, Z:1.45 [[ 7.89216246e-01 6.14071128e-01 -7.37339669e-03 2.04658305e+01] [-6.14043104e-01 7.89250682e-01 5.86751097e-03 -1.79148280e+02] [ 9.42252744e-03 -1.03151590e-04 9.99955602e-01 1.44530119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.4 meters Centerline goodness [0,1] 0.9984831159132809 Centerline is valid? [True, True] Translation: X:20.49, Y:-179.17, Z:1.45 [[ 7.90229650e-01 6.12771070e-01 -6.97967012e-03 2.04864662e+01] [-6.12745923e-01 7.90260466e-01 5.55246345e-03 -1.79166152e+02] [ 8.91814633e-03 -1.10956836e-04 9.99960226e-01 1.44561932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.43 meters Centerline goodness [0,1] 0.998699156774838 Centerline is valid? [True, True] Translation: X:20.51, Y:-179.19, Z:1.45 [[ 7.92578044e-01 6.09737413e-01 -6.35070966e-03 2.05081422e+01] [-6.09716516e-01 7.92603476e-01 5.04965829e-03 -1.79185543e+02] [ 8.11256013e-03 -1.30115723e-04 9.99967084e-01 1.44690283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.46 meters Centerline goodness [0,1] 0.9982887403741646 Centerline is valid? [True, True] Translation: X:20.53, Y:-179.20, Z:1.45 [[ 7.93944437e-01 6.07958824e-01 -6.18864413e-03 2.05289444e+01] [-6.07938933e-01 7.93968544e-01 4.91995048e-03 -1.79204399e+02] [ 7.90471607e-03 -1.43849609e-04 9.99968747e-01 1.44667950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.49 meters Centerline goodness [0,1] 0.9986262456924653 Centerline is valid? [True, True] Translation: X:20.55, Y:-179.22, Z:1.45 [[ 7.94484927e-01 6.07256042e-01 -5.81377909e-03 2.05505258e+01] [-6.07238489e-01 7.94506186e-01 4.61930031e-03 -1.79221245e+02] [ 7.42418147e-03 -1.39614041e-04 9.99972431e-01 1.44739051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.52 meters Centerline goodness [0,1] 0.9985355988935636 Centerline is valid? [True, True] Translation: X:20.57, Y:-179.24, Z:1.45 [[ 7.95767055e-01 6.05575389e-01 -5.76567908e-03 2.05716484e+01] [-6.05558087e-01 7.95787927e-01 4.58027458e-03 -1.79240207e+02] [ 7.36195937e-03 -1.53378021e-04 9.99972889e-01 1.44655294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.55 meters Centerline goodness [0,1] 0.9982781888408022 Centerline is valid? [True, True] Translation: X:20.59, Y:-179.26, Z:1.45 [[ 7.96035608e-01 6.05221349e-01 -5.86764070e-03 2.05930563e+01] [-6.05203439e-01 7.96057218e-01 4.65863203e-03 -1.79257312e+02] [ 7.49048130e-03 -1.57320652e-04 9.99971934e-01 1.44626220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.58 meters Centerline goodness [0,1] 0.9982663368854164 Centerline is valid? [True, True] Translation: X:20.61, Y:-179.28, Z:1.45 [[ 7.96367361e-01 6.04786298e-01 -5.70618918e-03 2.06140115e+01] [-6.04769355e-01 7.96387788e-01 4.52965775e-03 -1.79275290e+02] [ 7.28381432e-03 -1.56343241e-04 9.99973460e-01 1.44546741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.61 meters Centerline goodness [0,1] 0.9982117559627488 Centerline is valid? [True, True] Translation: X:20.64, Y:-179.29, Z:1.45 [[ 7.95793532e-01 6.05543807e-01 -5.41776451e-03 2.06371532e+01] [-6.05528566e-01 7.95811961e-01 4.29861419e-03 -1.79292301e+02] [ 6.91452100e-03 -1.40198196e-04 9.99976085e-01 1.44565993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.64 meters Centerline goodness [0,1] 0.9985606500290192 Centerline is valid? [True, True] Translation: X:20.66, Y:-179.31, Z:1.45 [[ 7.95431283e-01 6.06020342e-01 -5.33098724e-03 2.06595121e+01] [-6.06005609e-01 7.95449136e-01 4.22772345e-03 -1.79310023e+02] [ 6.80261560e-03 -1.32255314e-04 9.99976853e-01 1.44587088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.66999999999996 meters Centerline goodness [0,1] 0.9985105887828718 Centerline is valid? [True, True] Translation: X:20.68, Y:-179.33, Z:1.45 [[ 7.94698303e-01 6.06981388e-01 -5.31050760e-03 2.06828999e+01] [-6.06966804e-01 7.94716037e-01 4.20938249e-03 -1.79326050e+02] [ 6.77536238e-03 -1.21887297e-04 9.99977040e-01 1.44672817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.7 meters Centerline goodness [0,1] 0.9985816922039573 Centerline is valid? [True, True] Translation: X:20.71, Y:-179.34, Z:1.45 [[ 7.93053108e-01 6.09133599e-01 -4.79854148e-03 2.07050370e+01] [-6.09121735e-01 7.93067620e-01 3.80290359e-03 -1.79342204e+02] [ 6.12204422e-03 -9.30085987e-05 9.99981256e-01 1.44692329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.72999999999996 meters Centerline goodness [0,1] 0.998419082602934 Centerline is valid? [True, True] Translation: X:20.73, Y:-179.36, Z:1.45 [[ 7.92249614e-01 6.10178235e-01 -4.80310421e-03 2.07282054e+01] [-6.10166379e-01 7.92264170e-01 3.80463728e-03 -1.79359157e+02] [ 6.12683423e-03 -8.35297130e-05 9.99981227e-01 1.44717142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.76 meters Centerline goodness [0,1] 0.998302680834244 Centerline is valid? [True, True] Translation: X:20.75, Y:-179.38, Z:1.45 [[ 7.91561937e-01 6.11074861e-01 -4.14905095e-03 2.07515107e+01] [-6.11066035e-01 7.91572808e-01 3.28488689e-03 -1.79376444e+02] [ 5.29158771e-03 -6.48473112e-05 9.99985997e-01 1.44761726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.78999999999996 meters Centerline goodness [0,1] 0.9982352667997957 Centerline is valid? [True, True] Translation: X:20.77, Y:-179.39, Z:1.45 [[ 7.90326948e-01 6.12669153e-01 -4.45237202e-03 2.07734743e+01] [-6.12659020e-01 7.90339488e-01 3.52409293e-03 -1.79393132e+02] [ 5.67798845e-03 -5.73997275e-05 9.99983878e-01 1.44751196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.82 meters Centerline goodness [0,1] 0.9985125618797499 Centerline is valid? [True, True] Translation: X:20.79, Y:-179.41, Z:1.45 [[ 7.89665897e-01 6.13517872e-01 -4.85723967e-03 2.07949958e+01] [-6.13505842e-01 7.89680833e-01 3.84237177e-03 -1.79409982e+02] [ 6.19303282e-03 -5.42450374e-05 9.99980822e-01 1.44678866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.84999999999997 meters Centerline goodness [0,1] 0.9985125618797499 Centerline is valid? [True, True] Translation: X:20.82, Y:-179.43, Z:1.45 [[ 7.89833493e-01 6.13302088e-01 -4.85828931e-03 2.08165041e+01] [-6.13290062e-01 7.89848433e-01 3.84104452e-03 -1.79426886e+02] [ 6.19303282e-03 -5.42450628e-05 9.99980822e-01 1.44678835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.88 meters Centerline goodness [0,1] 0.9986059479553904 Centerline is valid? [True, True] Translation: X:20.84, Y:-179.44, Z:1.45 [[ 7.88379898e-01 6.15160411e-01 -5.89966309e-03 2.08388690e+01] [-6.15142748e-01 7.88401970e-01 4.66176599e-03 -1.79443161e+02] [ 7.51903989e-03 -4.61076204e-05 9.99971731e-01 1.44517693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.90999999999997 meters Centerline goodness [0,1] 0.9985358371293112 Centerline is valid? [True, True] Translation: X:20.86, Y:-179.46, Z:1.44 [[ 7.87936458e-01 6.15723281e-01 -6.40147709e-03 2.08598524e+01] [-6.15702515e-01 7.87962460e-01 5.05706185e-03 -1.79459776e+02] [ 8.15787435e-03 -4.32378559e-05 9.99966723e-01 1.44464510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.94 meters Centerline goodness [0,1] 0.9985380456222588 Centerline is valid? [True, True] Translation: X:20.88, Y:-179.48, Z:1.44 [[ 7.87464617e-01 6.16322676e-01 -6.77032429e-03 2.08822835e+01] [-6.16299495e-01 7.87493720e-01 5.34545983e-03 -1.79476797e+02] [ 8.62611597e-03 -3.68130352e-05 9.99962794e-01 1.44462969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.96999999999997 meters Centerline goodness [0,1] 0.9987431337864259 Centerline is valid? [True, True] Translation: X:20.90, Y:-179.49, Z:1.44 [[ 7.86026609e-01 6.18152617e-01 -7.03642673e-03 2.09042757e+01] [-6.18127671e-01 7.86058103e-01 5.55345266e-03 -1.79492194e+02] [ 8.96392154e-03 -1.57514985e-05 9.99959823e-01 1.44486027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.0 meters Centerline goodness [0,1] 0.9989071800595238 Centerline is valid? [True, True] Translation: X:20.93, Y:-179.51, Z:1.45 [[ 7.85553300e-01 6.18755018e-01 -6.94558713e-03 2.09253998e+01] [-6.18730747e-01 7.85584004e-01 5.48045247e-03 -1.79508321e+02] [ 8.84739961e-03 -7.73920838e-06 9.99960861e-01 1.44538817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.03 meters Centerline goodness [0,1] 0.9988399879358746 Centerline is valid? [True, True] Translation: X:20.95, Y:-179.52, Z:1.45 [[ 7.85166165e-01 6.19248424e-01 -6.74407986e-03 2.09475849e+01] [-6.19225584e-01 7.85195128e-01 5.31853454e-03 -1.79524654e+02] [ 8.58891278e-03 1.73429158e-07 9.99963115e-01 1.44585619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.06 meters Centerline goodness [0,1] 0.9987000023214244 Centerline is valid? [True, True] Translation: X:20.97, Y:-179.54, Z:1.45 [[ 7.84206354e-01 6.20466092e-01 -6.49797516e-03 2.09702646e+01] [-6.20444954e-01 7.84233274e-01 5.12160367e-03 -1.79541289e+02] [ 8.27370975e-03 1.52417569e-05 9.99965772e-01 1.44623566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.09 meters Centerline goodness [0,1] 0.9987413174210993 Centerline is valid? [True, True] Translation: X:20.99, Y:-179.56, Z:1.45 [[ 7.84110094e-01 6.20592591e-01 -6.01630530e-03 2.09925164e+01] [-6.20574495e-01 7.84133175e-01 4.73928239e-03 -1.79558515e+02] [ 7.65874812e-03 1.74464584e-05 9.99970671e-01 1.44693130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.12 meters Centerline goodness [0,1] 0.9986039044139888 Centerline is valid? [True, True] Translation: X:21.01, Y:-179.58, Z:1.45 [[ 7.84182086e-01 6.20507096e-01 -5.42223096e-03 2.10147938e+01] [-6.20492411e-01 7.84200831e-01 4.26889519e-03 -1.79575699e+02] [ 6.90099778e-03 1.68620310e-05 9.99976188e-01 1.44777587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.15 meters Centerline goodness [0,1] 0.9991383526233669 Centerline is valid? [True, True] Translation: X:21.04, Y:-179.59, Z:1.45 [[ 7.84285512e-01 6.20380408e-01 -4.93816813e-03 2.10368564e+01] [-6.20368240e-01 7.84301058e-01 3.88559306e-03 -1.79592171e+02] [ 6.28355630e-03 1.60683312e-05 9.99980258e-01 1.44891531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.18 meters Centerline goodness [0,1] 0.9989740480798377 Centerline is valid? [True, True] Translation: X:21.06, Y:-179.61, Z:1.45 [[ 7.84628878e-01 6.19948718e-01 -4.59467705e-03 2.10589167e+01] [-6.19938188e-01 7.84642331e-01 3.61327818e-03 -1.79609068e+02] [ 5.84522528e-03 1.33333656e-05 9.99982916e-01 1.44929194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.21 meters Centerline goodness [0,1] 0.9989791656999675 Centerline is valid? [True, True] Translation: X:21.08, Y:-179.63, Z:1.45 [[ 7.85755045e-01 6.18520816e-01 -4.58361500e-03 2.10801606e+01] [-6.18510318e-01 7.85768414e-01 3.60369780e-03 -1.79626236e+02] [ 5.83062199e-03 3.38944589e-06 9.99983002e-01 1.44859634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.24 meters Centerline goodness [0,1] 0.9987891771061332 Centerline is valid? [True, True] Translation: X:21.10, Y:-179.64, Z:1.45 [[ 7.86568805e-01 6.17484446e-01 -4.74059368e-03 2.11015766e+01] [-6.17473210e-01 7.86583091e-01 3.72508001e-03 -1.79643322e+02] [ 6.02904980e-03 -2.84213493e-06 9.99981825e-01 1.44842295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.27 meters Centerline goodness [0,1] 0.9987859544265969 Centerline is valid? [True, True] Translation: X:21.12, Y:-179.66, Z:1.45 [[ 7.87435432e-01 6.16376194e-01 -5.08207105e-03 2.11230329e+01] [-6.16363272e-01 7.87451832e-01 3.99116969e-03 -1.79660320e+02] [ 6.46194814e-03 -1.03864887e-05 9.99979121e-01 1.44825108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.3 meters Centerline goodness [0,1] 0.9989068750581449 Centerline is valid? [True, True] Translation: X:21.14, Y:-179.68, Z:1.45 [[ 7.88344593e-01 6.15212733e-01 -5.10848458e-03 2.11444614e+01] [-6.15199666e-01 7.88361144e-01 4.00967372e-03 -1.79677483e+02] [ 6.49413307e-03 -1.82665916e-05 9.99978913e-01 1.44760068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.33 meters Centerline goodness [0,1] 0.9989961714445793 Centerline is valid? [True, True] Translation: X:21.17, Y:-179.70, Z:1.45 [[ 7.89361803e-01 6.13900910e-01 -5.79793287e-03 2.11659580e+01] [-6.13884049e-01 7.89383096e-01 4.55004248e-03 -1.79695188e+02] [ 7.37006542e-03 -3.23712251e-05 9.99972840e-01 1.44669950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.36 meters Centerline goodness [0,1] 0.9987862094722345 Centerline is valid? [True, True] Translation: X:21.19, Y:-179.71, Z:1.45 [[ 7.91606933e-01 6.10993143e-01 -6.77078232e-03 2.11875841e+01] [-6.10970064e-01 7.91635886e-01 5.31092034e-03 -1.79714755e+02] [ 8.60493017e-03 -6.74160612e-05 9.99962975e-01 1.44552171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.39 meters Centerline goodness [0,1] 0.9985781217221044 Centerline is valid? [True, True] Translation: X:21.21, Y:-179.73, Z:1.45 [[ 7.92749022e-01 6.09504440e-01 -7.30250333e-03 2.12095495e+01] [-6.09477556e-01 7.92782650e-01 5.72521382e-03 -1.79733182e+02] [ 9.27884118e-03 -8.79457745e-05 9.99956947e-01 1.44506969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.41999999999996 meters Centerline goodness [0,1] 0.998880022399552 Centerline is valid? [True, True] Translation: X:21.23, Y:-179.75, Z:1.44 [[ 7.93667793e-01 6.08307605e-01 -7.30016522e-03 2.12303847e+01] [-6.08280697e-01 7.93701359e-01 5.72240155e-03 -1.79751294e+02] [ 9.27513144e-03 -1.01136223e-04 9.99956980e-01 1.44455845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.45 meters Centerline goodness [0,1] 0.9987623473367115 Centerline is valid? [True, True] Translation: X:21.25, Y:-179.77, Z:1.45 [[ 7.93855940e-01 6.08063920e-01 -7.14247703e-03 2.12531984e+01] [-6.08038180e-01 7.93888065e-01 5.59574092e-03 -1.79766833e+02] [ 9.07289542e-03 -9.93134306e-05 9.99958836e-01 1.44516545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.47999999999996 meters Centerline goodness [0,1] 0.9988110779559866 Centerline is valid? [True, True] Translation: X:21.28, Y:-179.78, Z:1.45 [[ 7.94067167e-01 6.07796326e-01 -6.40003920e-03 2.12755909e+01] [-6.07775672e-01 7.94092953e-01 5.01135655e-03 -1.79783883e+02] [ 8.12811012e-03 -8.95655755e-05 9.99966962e-01 1.44658596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.51 meters Centerline goodness [0,1] 0.998836992928917 Centerline is valid? [True, True] Translation: X:21.30, Y:-179.80, Z:1.45 [[ 7.93788916e-01 6.08171429e-01 -5.16423413e-03 2.12982940e+01] [-6.08158002e-01 7.93805712e-01 4.04179998e-03 -1.79800595e+02] [ 6.55750582e-03 -6.76657145e-05 9.99978497e-01 1.44831391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.53999999999996 meters Centerline goodness [0,1] 0.9987844503144065 Centerline is valid? [True, True] Translation: X:21.32, Y:-179.82, Z:1.45 [[ 7.93561477e-01 6.08479122e-01 -3.65235806e-03 2.13223046e+01] [-6.08472416e-01 7.93569881e-01 2.85710167e-03 -1.79816233e+02] [ 4.63688807e-03 -4.49266849e-05 9.99989249e-01 1.45063757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.57 meters Centerline goodness [0,1] 0.998739995799986 Centerline is valid? [True, True] Translation: X:21.35, Y:-179.83, Z:1.45 [[ 7.92767267e-01 6.09522282e-01 -1.62696464e-03 2.13451106e+01] [-6.09520955e-01 7.92768937e-01 1.27212492e-03 -1.79833232e+02] [ 2.06519551e-03 -1.68299600e-05 9.99997867e-01 1.45259032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.59999999999997 meters Centerline goodness [0,1] 0.9986916499229008 Centerline is valid? [True, True] Translation: X:21.37, Y:-179.85, Z:1.45 [[ 7.92439947e-01 6.09948683e-01 -1.23874033e-03 2.13676826e+01] [-6.09947915e-01 7.92440915e-01 9.68014178e-04 -1.79849808e+02] [ 1.57206749e-03 -1.15260243e-05 9.99998764e-01 1.45301527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.63 meters Centerline goodness [0,1] 0.9986758659140009 Centerline is valid? [True, True] Translation: X:21.39, Y:-179.87, Z:1.45 [[ 7.92137486e-01 6.10341474e-01 -1.22023230e-03 2.13887989e+01] [-6.10340730e-01 7.92138425e-01 9.53319076e-04 -1.79866218e+02] [ 1.54844306e-03 -1.04023064e-05 9.99998801e-01 1.45277695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.65999999999997 meters Centerline goodness [0,1] 0.9990902092518721 Centerline is valid? [True, True] Translation: X:21.41, Y:-179.88, Z:1.45 [[ 7.92031597e-01 6.10478133e-01 -1.54874924e-03 2.14100921e+01] [-6.10476935e-01 7.92033111e-01 1.20968375e-03 -1.79883357e+02] [ 1.96514615e-03 -1.26320669e-05 9.99998069e-01 1.45245535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.69 meters Centerline goodness [0,1] 0.9986203348610981 Centerline is valid? [True, True] Translation: X:21.43, Y:-179.90, Z:1.45 [[ 7.91968920e-01 6.10557411e-01 -2.20864574e-03 2.14320796e+01] [-6.10554976e-01 7.91972000e-01 1.72411558e-03 -1.79899836e+02] [ 2.80185713e-03 -1.69463093e-05 9.99996075e-01 1.45156484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.71999999999997 meters Centerline goodness [0,1] 0.9987633003546761 Centerline is valid? [True, True] Translation: X:21.45, Y:-179.92, Z:1.45 [[ 7.92179053e-01 6.10276811e-01 -3.81606800e-03 2.14532121e+01] [-6.10269544e-01 7.92188244e-01 2.97837688e-03 -1.79917967e+02] [ 4.84067855e-03 -3.05776992e-05 9.99988283e-01 1.44963368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.75 meters Centerline goodness [0,1] 0.9988797871595603 Centerline is valid? [True, True] Translation: X:21.48, Y:-179.93, Z:1.45 [[ 7.91999119e-01 6.10503601e-01 -4.76947711e-03 2.14752886e+01] [-6.10492266e-01 7.92013480e-01 3.72038470e-03 -1.79934832e+02] [ 6.04879842e-03 -3.48125163e-05 9.99981705e-01 1.44858142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.78 meters Centerline goodness [0,1] 0.9987596246109199 Centerline is valid? [True, True] Translation: X:21.50, Y:-179.95, Z:1.45 [[ 7.91816726e-01 6.10733344e-01 -5.57273874e-03 2.14971242e+01] [-6.10717893e-01 7.91836335e-01 4.34451334e-03 -1.79952088e+02] [ 7.06603618e-03 -3.66870727e-05 9.99975035e-01 1.44709701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.81 meters Centerline goodness [0,1] 0.998806487093679 Centerline is valid? [True, True] Translation: X:21.52, Y:-179.97, Z:1.45 [[ 7.91610256e-01 6.10993894e-01 -6.29786714e-03 2.15188191e+01] [-6.10974191e-01 7.91635307e-01 4.90698840e-03 -1.79970026e+02] [ 7.98375394e-03 -3.65880670e-05 9.99968129e-01 1.44647242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.84 meters Centerline goodness [0,1] 0.998762549614756 Centerline is valid? [True, True] Translation: X:21.54, Y:-179.99, Z:1.45 [[ 7.91328364e-01 6.11354310e-01 -6.73264927e-03 2.15409901e+01] [-6.11331830e-01 7.91357003e-01 5.24273420e-03 -1.79986941e+02] [ 8.53309730e-03 -3.28414750e-05 9.99963592e-01 1.44612119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.87 meters Centerline goodness [0,1] 0.9987839101964453 Centerline is valid? [True, True] Translation: X:21.56, Y:-180.00, Z:1.45 [[ 7.90779305e-01 6.12068164e-01 -6.37609959e-03 2.15624928e+01] [-6.12048035e-01 7.90805009e-01 4.96389746e-03 -1.80003163e+02] [ 8.08049510e-03 -2.28681564e-05 9.99967352e-01 1.44625473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.9 meters Centerline goodness [0,1] 0.9990199281280627 Centerline is valid? [True, True] Translation: X:21.58, Y:-180.02, Z:1.45 [[ 7.90200559e-01 6.12820480e-01 -5.84264124e-03 2.15849637e+01] [-6.12803618e-01 7.90222158e-01 4.54608457e-03 -1.80019152e+02] [ 7.40291830e-03 -1.19268784e-05 9.99972598e-01 1.44732214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.93 meters Centerline goodness [0,1] 0.9986889544411668 Centerline is valid? [True, True] Translation: X:21.61, Y:-180.03, Z:1.45 [[ 7.88772770e-01 6.14665441e-01 -4.89004308e-03 2.16080695e+01] [-6.14653678e-01 7.88787928e-01 3.80271919e-03 -1.80034682e+02] [ 6.19460702e-03 6.20161776e-06 9.99980813e-01 1.44979468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.96 meters Centerline goodness [0,1] 0.9986465989966165 Centerline is valid? [True, True] Translation: X:21.63, Y:-180.05, Z:1.45 [[ 7.88282580e-01 6.15297092e-01 -4.47921905e-03 2.16301587e+01] [-6.15287244e-01 7.88295306e-01 3.48121041e-03 -1.80051164e+02] [ 5.67292599e-03 1.18288255e-05 9.99983909e-01 1.45051495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.99 meters Centerline goodness [0,1] 0.9983261652911775 Centerline is valid? [True, True] Translation: X:21.65, Y:-180.07, Z:1.45 [[ 7.87699207e-01 6.16046631e-01 -4.06292026e-03 2.16516197e+01] [-6.16038543e-01 7.87709685e-01 3.15686889e-03 -1.80067209e+02] [ 5.14518008e-03 1.62523581e-05 9.99986763e-01 1.45087199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.02 meters Centerline goodness [0,1] 0.9987602339181286 Centerline is valid? [True, True] Translation: X:21.67, Y:-180.08, Z:1.45 [[ 7.87301895e-01 6.16556306e-01 -3.74792256e-03 2.16732449e+01] [-6.16549437e-01 7.87310816e-01 2.91043792e-03 -1.80084095e+02] [ 4.74522882e-03 1.93862497e-05 9.99988741e-01 1.45128644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.05 meters Centerline goodness [0,1] 0.9992073298673443 Centerline is valid? [True, True] Translation: X:21.70, Y:-180.10, Z:1.45 [[ 7.86868559e-01 6.17108136e-01 -3.92669849e-03 2.16950601e+01] [-6.17100607e-01 7.86878356e-01 3.04852647e-03 -1.80100336e+02] [ 4.97110454e-03 2.43783928e-05 9.99987644e-01 1.45103907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.08 meters Centerline goodness [0,1] 0.9988538815989522 Centerline is valid? [True, True] Translation: X:21.72, Y:-180.12, Z:1.45 [[ 7.85714046e-01 6.18575386e-01 -4.23431119e-03 2.17172605e+01] [-6.18566655e-01 7.85725455e-01 3.28678322e-03 -1.80116596e+02] [ 5.36012928e-03 3.67319645e-05 9.99985634e-01 1.45009527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.11 meters Centerline goodness [0,1] 0.9992080683856241 Centerline is valid? [True, True] Translation: X:21.74, Y:-180.13, Z:1.45 [[ 7.85075377e-01 6.19383935e-01 -4.49371138e-03 2.17398572e+01] [-6.19374125e-01 7.85088236e-01 3.48643598e-03 -1.80133554e+02] [ 5.68740238e-03 4.61735106e-05 9.99983826e-01 1.45002036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.14 meters Centerline goodness [0,1] 0.9992980157244478 Centerline is valid? [True, True] Translation: X:21.76, Y:-180.15, Z:1.45 [[ 7.83968679e-01 6.20783495e-01 -4.57852143e-03 2.17626962e+01] [-6.20773345e-01 7.83982046e-01 3.55040738e-03 -1.80151079e+02] [ 5.79351290e-03 5.88158837e-05 9.99983216e-01 1.45069204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.16999999999996 meters Centerline goodness [0,1] 0.9991793476986565 Centerline is valid? [True, True] Translation: X:21.79, Y:-180.17, Z:1.45 [[ 7.82514638e-01 6.22615028e-01 -4.62267819e-03 2.17862283e+01] [-6.22604724e-01 7.82528288e-01 3.58280489e-03 -1.80167436e+02] [ 5.84808462e-03 7.45040098e-05 9.99982897e-01 1.45070297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.2 meters Centerline goodness [0,1] 0.9992755655262666 Centerline is valid? [True, True] Translation: X:21.81, Y:-180.18, Z:1.45 [[ 7.78566407e-01 6.27551071e-01 -3.74216551e-03 2.18113032e+01] [-6.27544377e-01 7.78575395e-01 2.89989708e-03 -1.80180726e+02] [ 4.73339151e-03 9.06124722e-05 9.99988793e-01 1.45180948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.22999999999996 meters Centerline goodness [0,1] 0.9993472737021237 Centerline is valid? [True, True] Translation: X:21.84, Y:-180.20, Z:1.45 [[ 7.76518430e-01 6.30083314e-01 -3.76102051e-03 2.18354162e+01] [-6.30076590e-01 7.76527530e-01 2.91304623e-03 -1.80196353e+02] [ 4.75599779e-03 1.07696895e-04 9.99988684e-01 1.45251692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.26 meters Centerline goodness [0,1] 0.9993697773213202 Centerline is valid? [True, True] Translation: X:21.86, Y:-180.21, Z:1.45 [[ 7.74593748e-01 6.32449541e-01 -3.47917665e-03 2.18594825e+01] [-6.32443812e-01 7.74601553e-01 2.69427155e-03 -1.80211546e+02] [ 4.39896645e-03 1.13417845e-04 9.99990318e-01 1.45284292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.28999999999996 meters Centerline goodness [0,1] 0.9993907868222504 Centerline is valid? [True, True] Translation: X:21.89, Y:-180.23, Z:1.45 [[ 7.69866169e-01 6.38196575e-01 -3.34862279e-03 2.18855724e+01] [-6.38191327e-01 7.69873439e-01 2.59189524e-03 -1.80225019e+02] [ 4.23215441e-03 1.41649565e-04 9.99991034e-01 1.45326749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.32 meters Centerline goodness [0,1] 0.9996484896773136 Centerline is valid? [True, True] Translation: X:21.91, Y:-180.24, Z:1.45 [[ 7.67912903e-01 6.40546533e-01 -3.14839063e-03 2.19092353e+01] [-6.40541917e-01 7.67919343e-01 2.43629495e-03 -1.80239513e+02] [ 3.97827035e-03 1.45813838e-04 9.99992076e-01 1.45360941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.34999999999997 meters Centerline goodness [0,1] 0.9993194085895329 Centerline is valid? [True, True] Translation: X:21.93, Y:-180.26, Z:1.45 [[ 7.66348970e-01 6.42419988e-01 -2.41158812e-03 2.19330143e+01] [-6.42417291e-01 7.66352755e-01 1.86527430e-03 -1.80255922e+02] [ 3.04641669e-03 1.19794865e-04 9.99995353e-01 1.45421042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.38 meters Centerline goodness [0,1] 0.9996479864826809 Centerline is valid? [True, True] Translation: X:21.96, Y:-180.27, Z:1.46 [[ 7.64213691e-01 6.44961363e-01 -1.50811198e-03 2.19570895e+01] [-6.44960314e-01 7.64215175e-01 1.16612561e-03 -1.80269774e+02] [ 1.90462802e-03 8.15032133e-05 9.99998183e-01 1.45536748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.40999999999997 meters Centerline goodness [0,1] 0.9996951719933407 Centerline is valid? [True, True] Translation: X:21.98, Y:-180.29, Z:1.46 [[ 7.63088035e-01 6.46291825e-01 -1.87853375e-03 2.19773571e+01] [-6.46290202e-01 7.63090340e-01 1.45218307e-03 -1.80289807e+02] [ 2.37202500e-03 1.05934433e-04 9.99997181e-01 1.45544959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.44 meters Centerline goodness [0,1] 0.9997172945084458 Centerline is valid? [True, True] Translation: X:22.00, Y:-180.31, Z:1.45 [[ 7.62557835e-01 6.46914685e-01 -2.63408590e-03 2.19998075e+01] [-6.46911501e-01 7.62562370e-01 2.03522204e-03 -1.80307851e+02] [ 3.32526981e-03 1.52045949e-04 9.99994460e-01 1.45445392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.46999999999997 meters Centerline goodness [0,1] 0.9998120168244942 Centerline is valid? [True, True] Translation: X:22.02, Y:-180.32, Z:1.45 [[ 7.62898981e-01 6.46510220e-01 -3.11145569e-03 2.20230809e+01] [-6.46505776e-01 7.62905305e-01 2.40363233e-03 -1.80323096e+02] [ 3.92771891e-03 1.77845421e-04 9.99992271e-01 1.45406128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.5 meters Centerline goodness [0,1] 0.9993179519744114 Centerline is valid? [True, True] Translation: X:22.04, Y:-180.34, Z:1.45 [[ 7.63300651e-01 6.46033980e-01 -3.49474338e-03 2.20422320e+01] [-6.46028376e-01 7.63308625e-01 2.69832633e-03 -1.80344834e+02] [ 4.41077826e-03 1.98069146e-04 9.99990253e-01 1.45425243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.53 meters Centerline goodness [0,1] 0.9996485637973853 Centerline is valid? [True, True] Translation: X:22.07, Y:-180.36, Z:1.45 [[ 7.64455635e-01 6.44661569e-01 -4.36394619e-03 2.20656532e+01] [-6.44652817e-01 7.64468053e-01 3.36771479e-03 -1.80360618e+02] [ 5.50713375e-03 2.38761655e-04 9.99984807e-01 1.45410778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.56 meters Centerline goodness [0,1] 0.9997423887587822 Centerline is valid? [True, True] Translation: X:22.09, Y:-180.38, Z:1.45 [[ 7.65114596e-01 6.43876831e-01 -4.72027807e-03 2.20874615e+01] [-6.43866580e-01 7.65129115e-01 3.64206312e-03 -1.80377676e+02] [ 5.95666225e-03 2.52633641e-04 9.99982227e-01 1.45388797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.59 meters Centerline goodness [0,1] 0.9995773258817452 Centerline is valid? [True, True] Translation: X:22.11, Y:-180.40, Z:1.45 [[ 7.66091886e-01 6.42713227e-01 -4.78858235e-03 2.21073742e+01] [-6.42702666e-01 7.66106811e-01 3.69285263e-03 -1.80398607e+02] [ 6.04201078e-03 2.48570209e-04 9.99981716e-01 1.45458249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.62 meters Centerline goodness [0,1] 0.9997179589630292 Centerline is valid? [True, True] Translation: X:22.13, Y:-180.41, Z:1.45 [[ 7.67154688e-01 6.41441631e-01 -5.13017426e-03 2.21308762e+01] [-6.41429494e-01 7.67171798e-01 3.95424949e-03 -1.80414395e+02] [ 6.47214525e-03 2.57124047e-04 9.99979022e-01 1.45465693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.65 meters Centerline goodness [0,1] 0.9993437397459335 Centerline is valid? [True, True] Translation: X:22.15, Y:-180.44, Z:1.45 [[ 7.68737603e-01 6.39548401e-01 -4.51013892e-03 2.21512347e+01] [-6.39538997e-01 7.68750803e-01 3.47467861e-03 -1.80435502e+02] [ 5.68939806e-03 2.13293619e-04 9.99983793e-01 1.45488166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.68 meters Centerline goodness [0,1] 0.9994862933731845 Centerline is valid? [True, True] Translation: X:22.17, Y:-180.45, Z:1.45 [[ 7.69651327e-01 6.38452930e-01 -3.83285306e-03 2.21749538e+01] [-6.38446132e-01 7.69660851e-01 2.95138440e-03 -1.80450777e+02] [ 4.83431696e-03 1.75533286e-04 9.99988299e-01 1.45418937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.71 meters Centerline goodness [0,1] 0.9994610301354455 Centerline is valid? [True, True] Translation: X:22.19, Y:-180.47, Z:1.46 [[ 7.70577417e-01 6.37336328e-01 -3.58454401e-03 2.21948093e+01] [-6.37330377e-01 7.70585738e-01 2.75875434e-03 -1.80471945e+02] [ 4.52045285e-03 1.58704990e-04 9.99989770e-01 1.45533977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.74 meters Centerline goodness [0,1] 0.9994610301354455 Centerline is valid? [True, True] Translation: X:22.22, Y:-180.49, Z:1.46 [[ 7.70759492e-01 6.37116121e-01 -3.58533238e-03 2.22165299e+01] [-6.37110172e-01 7.70767814e-01 2.75772968e-03 -1.80488583e+02] [ 4.52045284e-03 1.58705401e-04 9.99989770e-01 1.45533946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.77 meters Centerline goodness [0,1] 0.9996253892439887 Centerline is valid? [True, True] Translation: X:22.24, Y:-180.51, Z:1.46 [[ 7.71803264e-01 6.35855983e-01 -2.62499055e-03 2.22393775e+01] [-6.35852790e-01 7.71807720e-01 2.01802807e-03 -1.80505119e+02] [ 3.30916319e-03 1.11586916e-04 9.99994519e-01 1.45596921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.8 meters Centerline goodness [0,1] 0.999439095073385 Centerline is valid? [True, True] Translation: X:22.26, Y:-180.52, Z:1.46 [[ 7.73706670e-01 6.33539177e-01 -2.46976048e-03 2.22616778e+01] [-6.33536342e-01 7.73710606e-01 1.89785073e-03 -1.80522829e+02] [ 3.11324267e-03 9.63032505e-05 9.99995149e-01 1.45717214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.83 meters Centerline goodness [0,1] 0.9991345838985826 Centerline is valid? [True, True] Translation: X:22.28, Y:-180.54, Z:1.46 [[ 7.74770325e-01 6.32237560e-01 -2.57113564e-03 2.22837693e+01] [-6.32234481e-01 7.74774586e-01 1.97539567e-03 -1.80539597e+02] [ 3.24096989e-03 9.50826682e-05 9.99994744e-01 1.45713682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.86 meters Centerline goodness [0,1] 0.9992292240855795 Centerline is valid? [True, True] Translation: X:22.31, Y:-180.56, Z:1.46 [[ 7.75790219e-01 6.30983587e-01 -3.04133005e-03 2.23061366e+01] [-6.30979274e-01 7.75796173e-01 2.33547208e-03 -1.80556971e+02] [ 3.83309677e-03 1.07179833e-04 9.99992648e-01 1.45653033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.89 meters Centerline goodness [0,1] 0.9993442162212802 Centerline is valid? [True, True] Translation: X:22.33, Y:-180.57, Z:1.45 [[ 7.77824554e-01 6.28465589e-01 -4.46843375e-03 2.23290693e+01] [-6.28456247e-01 7.77837376e-01 3.42964761e-03 -1.80574783e+02] [ 5.63113029e-03 1.40550982e-04 9.99984135e-01 1.45461463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.91999999999996 meters Centerline goodness [0,1] 0.9992292060822647 Centerline is valid? [True, True] Translation: X:22.35, Y:-180.59, Z:1.45 [[ 7.78722946e-01 6.27347552e-01 -5.06187723e-03 2.23519479e+01] [-6.27335551e-01 7.78739383e-01 3.88330269e-03 -1.80592927e+02] [ 6.37806359e-03 1.51478628e-04 9.99979649e-01 1.45381094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.95 meters Centerline goodness [0,1] 0.9993434011818779 Centerline is valid? [True, True] Translation: X:22.38, Y:-180.61, Z:1.45 [[ 7.79370046e-01 6.26538021e-01 -5.69566254e-03 2.23752048e+01] [-6.26522814e-01 7.79390840e-01 4.36834545e-03 -1.80607953e+02] [ 7.17608172e-03 1.63904928e-04 9.99974238e-01 1.45284231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.97999999999996 meters Centerline goodness [0,1] 0.9992966002344665 Centerline is valid? [True, True] Translation: X:22.40, Y:-180.63, Z:1.45 [[ 7.80339424e-01 6.25330551e-01 -5.66430132e-03 2.23971419e+01] [-6.25315495e-01 7.80359967e-01 4.34208612e-03 -1.80626132e+02] [ 7.13543310e-03 1.53674395e-04 9.99974531e-01 1.45299673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.01 meters Centerline goodness [0,1] 0.9992281062874252 Centerline is valid? [True, True] Translation: X:22.42, Y:-180.64, Z:1.45 [[ 7.82289849e-01 6.22893829e-01 -5.08625886e-03 2.24201859e+01] [-6.22881650e-01 7.82306374e-01 3.89713406e-03 -1.80644071e+02] [ 6.40651348e-03 1.19448899e-04 9.99979471e-01 1.45394449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.03999999999996 meters Centerline goodness [0,1] 0.9991784616106847 Centerline is valid? [True, True] Translation: X:22.44, Y:-180.66, Z:1.45 [[ 7.83632233e-01 6.21209153e-01 -4.43985905e-03 2.24424443e+01] [-6.21199855e-01 7.83644805e-01 3.40011312e-03 -1.80661855e+02] [ 5.59145386e-03 9.36015633e-05 9.99984363e-01 1.45418374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.07 meters Centerline goodness [0,1] 0.9988956766917293 Centerline is valid? [True, True] Translation: X:22.47, Y:-180.68, Z:1.46 [[ 7.85015660e-01 6.19461357e-01 -4.24741317e-03 2.24651018e+01] [-6.19452831e-01 7.85027146e-01 3.25105455e-03 -1.80679950e+02] [ 5.34823731e-03 7.89433846e-05 9.99985695e-01 1.45503719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.09999999999997 meters Centerline goodness [0,1] 0.998970157987127 Centerline is valid? [True, True] Translation: X:22.49, Y:-180.70, Z:1.46 [[ 7.87286876e-01 6.16577412e-01 -3.41601191e-03 2.24872575e+01] [-6.16571872e-01 7.87294286e-01 2.61420667e-03 -1.80697024e+02] [ 4.30126744e-03 4.80862576e-05 9.99990748e-01 1.45562081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.13 meters Centerline goodness [0,1] 0.9989216559613672 Centerline is valid? [True, True] Translation: X:22.51, Y:-180.72, Z:1.46 [[ 7.89047997e-01 6.14324087e-01 -3.02908282e-03 2.25089168e+01] [-6.14319719e-01 7.89053810e-01 2.31690214e-03 -1.80715478e+02] [ 3.81343813e-03 3.26783159e-05 9.99992728e-01 1.45597216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.15999999999997 meters Centerline goodness [0,1] 0.9989216054013503 Centerline is valid? [True, True] Translation: X:22.53, Y:-180.73, Z:1.46 [[ 7.90351286e-01 6.12647268e-01 -2.85825106e-03 2.25310470e+01] [-6.12643372e-01 7.90356454e-01 2.18509894e-03 -1.80733524e+02] [ 3.59773207e-03 2.40928121e-05 9.99993528e-01 1.45605968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.19 meters Centerline goodness [0,1] 0.9988293139779911 Centerline is valid? [True, True] Translation: X:22.55, Y:-180.75, Z:1.46 [[ 7.91520863e-01 6.11135691e-01 -2.80917013e-03 2.25529466e+01] [-6.11131922e-01 7.91525847e-01 2.14629951e-03 -1.80751183e+02] [ 3.53521100e-03 1.79327001e-05 9.99993751e-01 1.45581921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.21999999999997 meters Centerline goodness [0,1] 0.9987352445193929 Centerline is valid? [True, True] Translation: X:22.57, Y:-180.77, Z:1.46 [[ 7.92908452e-01 6.09336588e-01 -2.26012111e-03 2.25742778e+01] [-6.09334143e-01 7.92911673e-01 1.72633136e-03 -1.80768828e+02] [ 2.84399327e-03 8.34622885e-06 9.99995956e-01 1.45595641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.25 meters Centerline goodness [0,1] 0.9987368125570188 Centerline is valid? [True, True] Translation: X:22.60, Y:-180.79, Z:1.46 [[ 7.93816960e-01 6.08154037e-01 -1.81708802e-03 2.25956991e+01] [-6.08152455e-01 7.93819040e-01 1.38710025e-03 -1.80786173e+02] [ 2.28600968e-03 3.96283548e-06 9.99997387e-01 1.45614535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.28 meters Centerline goodness [0,1] 0.9988092736569307 Centerline is valid? [True, True] Translation: X:22.62, Y:-180.80, Z:1.46 [[ 7.94298547e-01 6.07525499e-01 -1.60811273e-03 2.26170456e+01] [-6.07524260e-01 7.94300175e-01 1.22707810e-03 -1.80802583e+02] [ 2.02280546e-03 2.30114386e-06 9.99997954e-01 1.45634265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.31 meters Centerline goodness [0,1] 0.9984115860780192 Centerline is valid? [True, True] Translation: X:22.64, Y:-180.82, Z:1.46 [[ 7.95202032e-01 6.06342423e-01 -1.61056521e-03 2.26387664e+01] [-6.06341179e-01 7.95203663e-01 1.22823680e-03 -1.80820231e+02] [ 2.02545943e-03 -1.44390811e-07 9.99997949e-01 1.45623039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.34 meters Centerline goodness [0,1] 0.9987660931716061 Centerline is valid? [True, True] Translation: X:22.66, Y:-180.84, Z:1.46 [[ 7.95578045e-01 6.05849374e-01 -1.45277844e-03 2.26600250e+01] [-6.05848362e-01 7.95579371e-01 1.10762912e-03 -1.80836733e+02] [ 1.82685697e-03 -1.04197761e-06 9.99998331e-01 1.45614878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.37 meters Centerline goodness [0,1] 0.9986495296637794 Centerline is valid? [True, True] Translation: X:22.68, Y:-180.85, Z:1.46 [[ 7.96214481e-01 6.05012462e-01 -1.55595815e-03 2.26813088e+01] [-6.05011300e-01 7.96216001e-01 1.18559694e-03 -1.80854383e+02] [ 1.95617970e-03 -2.61718557e-06 9.99998087e-01 1.45685676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.4 meters Centerline goodness [0,1] 0.9987128782382814 Centerline is valid? [True, True] Translation: X:22.70, Y:-180.87, Z:1.46 [[ 7.96242803e-01 6.04974960e-01 -1.64222190e-03 2.27034706e+01] [-6.04973668e-01 7.96244496e-01 1.25058267e-03 -1.80871466e+02] [ 2.06418135e-03 -2.26644233e-06 9.99997870e-01 1.45721336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.43 meters Centerline goodness [0,1] 0.9987196796871363 Centerline is valid? [True, True] Translation: X:22.72, Y:-180.89, Z:1.46 [[ 7.95956761e-01 6.05351410e-01 -1.58289452e-03 2.27247190e+01] [-6.05350210e-01 7.95958335e-01 1.20509421e-03 -1.80887695e+02] [ 1.98942357e-03 -9.97358783e-07 9.99998021e-01 1.45721896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.46 meters Centerline goodness [0,1] 0.9986657303370786 Centerline is valid? [True, True] Translation: X:22.75, Y:-180.90, Z:1.46 [[ 7.95659609e-01 6.05742314e-01 -1.42676740e-03 2.27473458e+01] [-6.05741341e-01 7.95660888e-01 1.08558925e-03 -1.80904303e+02] [ 1.79281036e-03 4.92475750e-07 9.99998393e-01 1.45749207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.49 meters Centerline goodness [0,1] 0.9986457141522871 Centerline is valid? [True, True] Translation: X:22.77, Y:-180.92, Z:1.46 [[ 7.94900415e-01 6.06737602e-01 -1.67714864e-03 2.27692290e+01] [-6.06736260e-01 7.94902184e-01 1.27577507e-03 -1.80920036e+02] [ 2.10722983e-03 3.47276427e-06 9.99997780e-01 1.45750461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.52 meters Centerline goodness [0,1] 0.9988037435789178 Centerline is valid? [True, True] Translation: X:22.79, Y:-180.94, Z:1.46 [[ 7.93156701e-01 6.09015137e-01 -1.73505114e-03 2.27933821e+01] [-6.09013709e-01 7.93158599e-01 1.31914025e-03 -1.80936229e+02] [ 2.17954711e-03 1.03849955e-05 9.99997625e-01 1.45737716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.55 meters Centerline goodness [0,1] 0.998712486539632 Centerline is valid? [True, True] Translation: X:22.82, Y:-180.95, Z:1.46 [[ 7.92652483e-01 6.09669933e-01 -2.14776670e-03 2.28152119e+01] [-6.09667748e-01 7.92655393e-01 1.63253394e-03 -1.80952436e+02] [ 2.69774572e-03 1.53920106e-05 9.99996361e-01 1.45684109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.58 meters Centerline goodness [0,1] 0.9986875717734186 Centerline is valid? [True, True] Translation: X:22.84, Y:-180.97, Z:1.46 [[ 7.92570127e-01 6.09776570e-01 -2.26452212e-03 2.28365327e+01] [-6.09774144e-01 7.92573362e-01 1.72026039e-03 -1.80969676e+02] [ 2.84377439e-03 1.74200421e-05 9.99995956e-01 1.45690882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.61 meters Centerline goodness [0,1] 0.9987573270808909 Centerline is valid? [True, True] Translation: X:22.86, Y:-180.99, Z:1.46 [[ 7.93043045e-01 6.09160481e-01 -2.49739217e-03 2.28575260e+01] [-6.09157529e-01 7.93046977e-01 1.89667887e-03 -1.80986310e+02] [ 3.13593112e-03 1.71572581e-05 9.99995083e-01 1.45695819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.64 meters Centerline goodness [0,1] 0.9987865493664387 Centerline is valid? [True, True] Translation: X:22.88, Y:-181.00, Z:1.46 [[ 7.93774655e-01 6.08205732e-01 -2.75414298e-03 2.28789283e+01] [-6.08202139e-01 7.93779433e-01 2.09043477e-03 -1.81003697e+02] [ 3.45759646e-03 1.57415188e-05 9.99994022e-01 1.45682505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.66999999999996 meters Centerline goodness [0,1] 0.9986177166553428 Centerline is valid? [True, True] Translation: X:22.90, Y:-181.02, Z:1.46 [[ 7.94877854e-01 6.06757082e-01 -3.87834633e-03 2.28996708e+01] [-6.06749945e-01 7.94887315e-01 2.94297146e-03 -1.81020437e+02] [ 4.86851708e-03 1.38835856e-05 9.99988149e-01 1.45561106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.7 meters Centerline goodness [0,1] 0.9985243828172577 Centerline is valid? [True, True] Translation: X:22.92, Y:-181.04, Z:1.45 [[ 7.96661819e-01 6.04399199e-01 -5.61733372e-03 2.29218622e+01] [-6.04384183e-01 7.96681623e-01 4.26040832e-03 -1.81038743e+02] [ 7.05021392e-03 9.23003613e-07 9.99975147e-01 1.45471175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.72999999999996 meters Centerline goodness [0,1] 0.9986882481085007 Centerline is valid? [True, True] Translation: X:22.94, Y:-181.06, Z:1.45 [[ 7.98347470e-01 6.02164598e-01 -6.25414958e-03 2.29434295e+01] [-6.02145922e-01 7.98371967e-01 4.74253770e-03 -1.81057128e+02] [ 7.84892600e-03 -2.02823093e-05 9.99969197e-01 1.45475791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.76 meters Centerline goodness [0,1] 0.9983113258437507 Centerline is valid? [True, True] Translation: X:22.96, Y:-181.07, Z:1.45 [[ 7.99779957e-01 6.00257341e-01 -6.56851805e-03 2.29647607e+01] [-6.00236687e-01 7.99806929e-01 4.97958025e-03 -1.81074643e+02] [ 8.24257585e-03 -3.99029724e-05 9.99966029e-01 1.45389866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.78999999999996 meters Centerline goodness [0,1] 0.9986202057998129 Centerline is valid? [True, True] Translation: X:22.99, Y:-181.09, Z:1.45 [[ 8.01413519e-01 5.98076552e-01 -6.38827066e-03 2.29870099e+01] [-5.98056966e-01 8.01438978e-01 4.84045235e-03 -1.81093026e+02] [ 8.01477015e-03 -5.86541801e-05 9.99967880e-01 1.45484923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.82 meters Centerline goodness [0,1] 0.9982885142897334 Centerline is valid? [True, True] Translation: X:23.01, Y:-181.11, Z:1.45 [[ 8.03250077e-01 5.95608469e-01 -6.31386222e-03 2.30071005e+01] [-5.95589273e-01 8.03274888e-01 4.78255585e-03 -1.81111691e+02] [ 7.92029773e-03 -8.11197439e-05 9.99968631e-01 1.45392679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.84999999999997 meters Centerline goodness [0,1] 0.9983313356365602 Centerline is valid? [True, True] Translation: X:23.03, Y:-181.13, Z:1.45 [[ 8.05664310e-01 5.92340267e-01 -6.16669795e-03 2.30286039e+01] [-5.92321878e-01 8.05687902e-01 4.66870775e-03 -1.81131394e+02] [ 7.73389753e-03 -1.08741099e-04 9.99970087e-01 1.45458346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.88 meters Centerline goodness [0,1] 0.9983413152669081 Centerline is valid? [True, True] Translation: X:23.05, Y:-181.15, Z:1.46 [[ 8.09939290e-01 5.86485307e-01 -5.77337882e-03 2.30487572e+01] [-5.86469054e-01 8.09959852e-01 4.36885366e-03 -1.81152694e+02] [ 7.23847354e-03 -1.52598215e-04 9.99973790e-01 1.45509506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.90999999999997 meters Centerline goodness [0,1] 0.9983623049388204 Centerline is valid? [True, True] Translation: X:23.07, Y:-181.17, Z:1.46 [[ 8.12004133e-01 5.83623592e-01 -5.72628664e-03 2.30692285e+01] [-5.83607538e-01 8.12024305e-01 4.33243105e-03 -1.81172223e+02] [ 7.17839290e-03 -1.76047869e-04 9.99974220e-01 1.45539716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.94 meters Centerline goodness [0,1] 0.9981063705435418 Centerline is valid? [True, True] Translation: X:23.09, Y:-181.19, Z:1.46 [[ 8.14071758e-01 5.80734313e-01 -5.90176854e-03 2.30910597e+01] [-5.80717200e-01 8.14093125e-01 4.46294632e-03 -1.81190720e+02] [ 7.39637526e-03 -2.05900053e-04 9.99972625e-01 1.45534566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.96999999999997 meters Centerline goodness [0,1] 0.998627364306819 Centerline is valid? [True, True] Translation: X:23.11, Y:-181.21, Z:1.46 [[ 8.15775753e-01 5.78337668e-01 -5.95507016e-03 2.31130367e+01] [-5.78320199e-01 8.15797456e-01 4.50094106e-03 -1.81209407e+02] [ 7.46119484e-03 -2.27821221e-04 9.99972139e-01 1.45526866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.0 meters Centerline goodness [0,1] 0.9983179723502305 Centerline is valid? [True, True] Translation: X:23.13, Y:-181.23, Z:1.45 [[ 8.18621157e-01 5.74296445e-01 -6.55706460e-03 2.31328934e+01] [-5.74275142e-01 8.18647366e-01 4.95494294e-03 -1.81230123e+02] [ 8.21352978e-03 -2.90661915e-04 9.99966226e-01 1.45400554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.03 meters Centerline goodness [0,1] 0.9979405775638652 Centerline is valid? [True, True] Translation: X:23.15, Y:-181.25, Z:1.45 [[ 8.19564143e-01 5.72946311e-01 -6.86582338e-03 2.31529964e+01] [-5.72922918e-01 8.19592840e-01 5.18715042e-03 -1.81248721e+02] [ 8.59913839e-03 -3.17614920e-04 9.99962976e-01 1.45313001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.06 meters Centerline goodness [0,1] 0.9978754849436542 Centerline is valid? [True, True] Translation: X:23.18, Y:-181.27, Z:1.45 [[ 8.20305547e-01 5.71886179e-01 -6.70880631e-03 2.31758767e+01] [-5.71863830e-01 8.20332918e-01 5.06599345e-03 -1.81265823e+02] [ 8.40062629e-03 -3.19138856e-04 9.99964663e-01 1.45329776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.09 meters Centerline goodness [0,1] 0.9980008368589892 Centerline is valid? [True, True] Translation: X:23.20, Y:-181.28, Z:1.45 [[ 8.20716513e-01 5.71289703e-01 -7.24440985e-03 2.31989232e+01] [-5.71263644e-01 8.20748411e-01 5.46769970e-03 -1.81283080e+02] [ 9.06947841e-03 -3.48963466e-04 9.99958811e-01 1.45322600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.12 meters Centerline goodness [0,1] 0.9981429035702679 Centerline is valid? [True, True] Translation: X:23.22, Y:-181.30, Z:1.45 [[ 8.21667009e-01 5.69925909e-01 -6.91263377e-03 2.32210522e+01] [-5.69902157e-01 8.21696014e-01 5.21467223e-03 -1.81300874e+02] [ 8.65206043e-03 -3.45199240e-04 9.99962511e-01 1.45339171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.15 meters Centerline goodness [0,1] 0.9981899192425508 Centerline is valid? [True, True] Translation: X:23.24, Y:-181.32, Z:1.45 [[ 8.22010009e-01 5.69439504e-01 -6.18030700e-03 2.32413500e+01] [-5.69420513e-01 8.22033183e-01 4.66098555e-03 -1.81319473e+02] [ 7.73456674e-03 -3.12183191e-04 9.99970039e-01 1.45312975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.18 meters Centerline goodness [0,1] 0.9978676061561284 Centerline is valid? [True, True] Translation: X:23.27, Y:-181.33, Z:1.45 [[ 8.22742631e-01 5.68377005e-01 -6.49179554e-03 2.32656335e+01] [-5.68356039e-01 8.22768173e-01 4.89341738e-03 -1.81334709e+02] [ 8.12254867e-03 -3.36371893e-04 9.99966955e-01 1.45335992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.21 meters Centerline goodness [0,1] 0.9982312006889008 Centerline is valid? [True, True] Translation: X:23.29, Y:-181.35, Z:1.45 [[ 8.23127191e-01 5.67819871e-01 -6.49776675e-03 2.32890149e+01] [-5.67798870e-01 8.23152767e-01 4.89538479e-03 -1.81350715e+02] [ 8.12835144e-03 -3.40099714e-04 9.99966907e-01 1.45374181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.24 meters Centerline goodness [0,1] 0.9980195251520305 Centerline is valid? [True, True] Translation: X:23.31, Y:-181.37, Z:1.45 [[ 8.21844081e-01 5.69657940e-01 -7.88278522e-03 2.33125045e+01] [-5.69627131e-01 8.21881792e-01 5.93731998e-03 -1.81366520e+02] [ 9.86095911e-03 -3.89302949e-04 9.99951304e-01 1.45181878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.27 meters Centerline goodness [0,1] 0.9976627322659811 Centerline is valid? [True, True] Translation: X:23.33, Y:-181.38, Z:1.45 [[ 8.21244070e-01 5.70521461e-01 -7.96490435e-03 2.33344292e+01] [-5.70490076e-01 8.21282606e-01 5.99621828e-03 -1.81384192e+02] [ 9.96240861e-03 -3.80459821e-04 9.99950302e-01 1.44948395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.3 meters Centerline goodness [0,1] 0.998128348501509 Centerline is valid? [True, True] Translation: X:23.36, Y:-181.40, Z:1.45 [[ 8.20956653e-01 5.70932361e-01 -8.14948264e-03 2.33603412e+01] [-5.70899557e-01 8.20997012e-01 6.13205332e-03 -1.81397300e+02] [ 1.01916886e-02 -3.81613938e-04 9.99947991e-01 1.45048976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.33 meters Centerline goodness [0,1] 0.998177953234133 Centerline is valid? [True, True] Translation: X:23.39, Y:-181.41, Z:1.45 [[ 8.19935892e-01 5.72393610e-01 -8.40760147e-03 2.33864410e+01] [-5.72358806e-01 8.19978912e-01 6.32302075e-03 -1.81410325e+02] [ 1.05133126e-02 -3.72306919e-04 9.99944664e-01 1.45002831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.36 meters Centerline goodness [0,1] 0.9974942625638143 Centerline is valid? [True, True] Translation: X:23.40, Y:-181.43, Z:1.45 [[ 8.20212148e-01 5.72002513e-01 -8.07197267e-03 2.34044936e+01] [-5.71970425e-01 8.20251787e-01 6.06950438e-03 -1.81432678e+02] [ 1.00928218e-02 -3.61351589e-04 9.99949001e-01 1.44882018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.39 meters Centerline goodness [0,1] 0.9977706856901488 Centerline is valid? [True, True] Translation: X:23.43, Y:-181.44, Z:1.45 [[ 8.20570796e-01 5.71487523e-01 -8.09813241e-03 2.34330313e+01] [-5.71455233e-01 8.20610674e-01 6.08601888e-03 -1.81442873e+02] [ 1.01234977e-02 -3.66289224e-04 9.99948689e-01 1.45132421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.41999999999996 meters Centerline goodness [0,1] 0.9976329419484872 Centerline is valid? [True, True] Translation: X:23.45, Y:-181.46, Z:1.45 [[ 8.21252860e-01 5.70511611e-01 -7.76160069e-03 2.34548647e+01] [-5.70481916e-01 8.21289456e-01 5.83203884e-03 -1.81460806e+02] [ 9.70176668e-03 -3.61725745e-04 9.99952871e-01 1.45083601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.45 meters Centerline goodness [0,1] 0.9976329419484872 Centerline is valid? [True, True] Translation: X:23.48, Y:-181.48, Z:1.45 [[ 8.21413088e-01 5.70280870e-01 -7.76324006e-03 2.34767986e+01] [-5.70251185e-01 8.21449693e-01 5.82985644e-03 -1.81477183e+02] [ 9.70176677e-03 -3.61723536e-04 9.99952871e-01 1.45083570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.47999999999996 meters Centerline goodness [0,1] 0.9978228298529825 Centerline is valid? [True, True] Translation: X:23.50, Y:-181.49, Z:1.45 [[ 8.21843986e-01 5.69661001e-01 -7.66861316e-03 2.34996845e+01] [-5.69632037e-01 8.21879683e-01 5.75586792e-03 -1.81494669e+02] [ 9.58157083e-03 -3.62137701e-04 9.99954030e-01 1.45088028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.51 meters Centerline goodness [0,1] 0.9971947541903359 Centerline is valid? [True, True] Translation: X:23.52, Y:-181.51, Z:1.45 [[ 8.23216089e-01 5.67682644e-01 -7.18930379e-03 2.35221374e+01] [-5.67657120e-01 8.23247402e-01 5.39524119e-03 -1.81512177e+02] [ 8.98136045e-03 -3.60389871e-04 9.99959602e-01 1.45113747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.53999999999996 meters Centerline goodness [0,1] 0.9975174481240339 Centerline is valid? [True, True] Translation: X:23.54, Y:-181.53, Z:1.45 [[ 8.23558263e-01 5.67191663e-01 -6.73835312e-03 2.35447994e+01] [-5.67169249e-01 8.23585759e-01 5.05384898e-03 -1.81527862e+02] [ 8.41611267e-03 -3.40352410e-04 9.99964526e-01 1.45142732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.57 meters Centerline goodness [0,1] 0.9973031283710896 Centerline is valid? [True, True] Translation: X:23.57, Y:-181.55, Z:1.45 [[ 8.24072066e-01 5.66443031e-01 -6.89369611e-03 2.35672333e+01] [-5.66419568e-01 8.24100824e-01 5.16771289e-03 -1.81545397e+02] [ 8.60831559e-03 -3.53843469e-04 9.99962885e-01 1.45119150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.59999999999997 meters Centerline goodness [0,1] 0.9969328744351572 Centerline is valid? [True, True] Translation: X:23.59, Y:-181.56, Z:1.45 [[ 8.24666904e-01 5.65575666e-01 -6.97594462e-03 2.35887228e+01] [-5.65551617e-01 8.24696327e-01 5.22842334e-03 -1.81562519e+02] [ 8.71010491e-03 -3.66450922e-04 9.99961999e-01 1.45051733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.63 meters Centerline goodness [0,1] 0.9973515831907563 Centerline is valid? [True, True] Translation: X:23.61, Y:-181.58, Z:1.45 [[ 8.24792344e-01 5.65392187e-01 -7.01888627e-03 2.36111055e+01] [-5.65367861e-01 8.24822126e-01 5.25756160e-03 -1.81578557e+02] [ 8.76191694e-03 -3.68143838e-04 9.99961546e-01 1.45048118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.65999999999997 meters Centerline goodness [0,1] 0.9973515831907563 Centerline is valid? [True, True] Translation: X:23.63, Y:-181.59, Z:1.45 [[ 8.24949148e-01 5.65163354e-01 -7.02034447e-03 2.36330724e+01] [-5.65139037e-01 8.24978937e-01 5.25561432e-03 -1.81594902e+02] [ 8.76191694e-03 -3.68143841e-04 9.99961546e-01 1.45048086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.69 meters Centerline goodness [0,1] 0.9973466704235935 Centerline is valid? [True, True] Translation: X:23.65, Y:-181.61, Z:1.45 [[ 8.25027306e-01 5.65054332e-01 -6.59893368e-03 2.36549184e+01] [-5.65032866e-01 8.25053624e-01 4.93729747e-03 -1.81611466e+02] [ 8.23431547e-03 -3.44790815e-04 9.99966038e-01 1.45045182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.71999999999997 meters Centerline goodness [0,1] 0.9973482892945981 Centerline is valid? [True, True] Translation: X:23.68, Y:-181.63, Z:1.45 [[ 8.25790584e-01 5.63941227e-01 -6.34065988e-03 2.36762052e+01] [-5.63921382e-01 8.25814856e-01 4.74321670e-03 -1.81628929e+02] [ 7.91110657e-03 -3.41270008e-04 9.99968649e-01 1.45000958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.75 meters Centerline goodness [0,1] 0.9973711388602009 Centerline is valid? [True, True] Translation: X:23.70, Y:-181.65, Z:1.45 [[ 8.25917056e-01 5.63757548e-01 -6.20024901e-03 2.36981099e+01] [-5.63738588e-01 8.25940262e-01 4.63556167e-03 -1.81646038e+02] [ 7.73436817e-03 -3.33269822e-04 9.99970034e-01 1.44954148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.78 meters Centerline goodness [0,1] 0.9976031018681706 Centerline is valid? [True, True] Translation: X:23.72, Y:-181.66, Z:1.45 [[ 8.26100537e-01 5.63483016e-01 -6.69278142e-03 2.37221394e+01] [-5.63460939e-01 8.26127570e-01 5.00090002e-03 -1.81661029e+02] [ 8.34701347e-03 -3.60125292e-04 9.99965098e-01 1.44965898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.81 meters Centerline goodness [0,1] 0.9980756142780033 Centerline is valid? [True, True] Translation: X:23.74, Y:-181.68, Z:1.45 [[ 8.26629396e-01 5.62699452e-01 -7.29163070e-03 2.37445613e+01] [-5.62673242e-01 8.26661459e-01 5.44561414e-03 -1.81679261e+02] [ 9.09195417e-03 -3.98699237e-04 9.99958588e-01 1.44919125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.84 meters Centerline goodness [0,1] 0.9977295601900615 Centerline is valid? [True, True] Translation: X:23.76, Y:-181.70, Z:1.45 [[ 8.27237426e-01 5.61797119e-01 -7.88903594e-03 2.37647360e+01] [-5.61766410e-01 8.27274925e-01 5.89051330e-03 -1.81697777e+02] [ 9.83567503e-03 -4.41057661e-04 9.99951531e-01 1.44816755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.87 meters Centerline goodness [0,1] 0.9979469472505424 Centerline is valid? [True, True] Translation: X:23.79, Y:-181.72, Z:1.45 [[ 8.27685191e-01 5.61139397e-01 -7.73315025e-03 2.37868362e+01] [-5.61109889e-01 8.27721200e-01 5.77128223e-03 -1.81715790e+02] [ 9.63938623e-03 -4.37657758e-04 9.99953444e-01 1.44844896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.9 meters Centerline goodness [0,1] 0.9979418574736301 Centerline is valid? [True, True] Translation: X:23.81, Y:-181.73, Z:1.45 [[ 8.27516948e-01 5.61388310e-01 -7.67246249e-03 2.38121318e+01] [-5.61359301e-01 8.27552404e-01 5.72307900e-03 -1.81730381e+02] [ 9.56223443e-03 -4.28936681e-04 9.99954189e-01 1.44892068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.93 meters Centerline goodness [0,1] 0.9980793554129386 Centerline is valid? [True, True] Translation: X:23.84, Y:-181.75, Z:1.45 [[ 8.27076441e-01 5.62036669e-01 -7.70347586e-03 2.38368215e+01] [-5.62007480e-01 8.27112208e-01 5.74345677e-03 -1.81746133e+02] [ 9.59967224e-03 -4.20866722e-04 9.99953834e-01 1.44914434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.96 meters Centerline goodness [0,1] 0.9973964441525544 Centerline is valid? [True, True] Translation: X:23.85, Y:-181.77, Z:1.45 [[ 8.26992990e-01 5.62166016e-01 -7.20862832e-03 2.38542729e+01] [-5.62140470e-01 8.27024315e-01 5.37353144e-03 -1.81769122e+02] [ 8.98252766e-03 -3.91611118e-04 9.99959580e-01 1.44768076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.99 meters Centerline goodness [0,1] 0.9979386755990725 Centerline is valid? [True, True] Translation: X:23.88, Y:-181.78, Z:1.45 [[ 8.26998949e-01 5.62159107e-01 -7.06239788e-03 2.38806149e+01] [-5.62134610e-01 8.27029016e-01 5.26185682e-03 -1.81781822e+02] [ 8.79880870e-03 -3.81531784e-04 9.99961217e-01 1.44928931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.02 meters Centerline goodness [0,1] 0.9976823130047993 Centerline is valid? [True, True] Translation: X:23.91, Y:-181.80, Z:1.45 [[ 8.26332218e-01 5.63147430e-01 -6.32751031e-03 2.39051664e+01] [-5.63127814e-01 8.26356378e-01 4.71191822e-03 -1.81796670e+02] [ 7.88228314e-03 -3.30412786e-04 9.99968880e-01 1.45046433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.05 meters Centerline goodness [0,1] 0.9976825842696629 Centerline is valid? [True, True] Translation: X:23.93, Y:-181.81, Z:1.45 [[ 8.26269179e-01 5.63242426e-01 -6.10022053e-03 2.39270590e+01] [-5.63224203e-01 8.26291637e-01 4.54184286e-03 -1.81813487e+02] [ 7.59871980e-03 -3.16992930e-04 9.99971079e-01 1.45082860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.08 meters Centerline goodness [0,1] 0.9981720178111085 Centerline is valid? [True, True] Translation: X:23.95, Y:-181.83, Z:1.45 [[ 8.26515380e-01 5.62873381e-01 -6.77368316e-03 2.39500799e+01] [-5.62850922e-01 8.26543061e-01 5.04066922e-03 -1.81829830e+02] [ 8.43599934e-03 -3.53616831e-04 9.99964354e-01 1.45103194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.11 meters Centerline goodness [0,1] 0.9981976077339013 Centerline is valid? [True, True] Translation: X:23.97, Y:-181.85, Z:1.45 [[ 8.26402132e-01 5.63038548e-01 -6.86357051e-03 2.39720677e+01] [-5.63015502e-01 8.26430558e-01 5.10662574e-03 -1.81847016e+02] [ 8.54749155e-03 -3.55829802e-04 9.99963406e-01 1.45077886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.14 meters Centerline goodness [0,1] 0.9981739863283079 Centerline is valid? [True, True] Translation: X:23.99, Y:-181.86, Z:1.45 [[ 8.26032810e-01 5.63587444e-01 -6.24418822e-03 2.39930574e+01] [-5.63568392e-01 8.26056349e-01 4.64496813e-03 -1.81864790e+02] [ 7.77589704e-03 -3.17868965e-04 9.99969717e-01 1.45019168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.16999999999996 meters Centerline goodness [0,1] 0.9981532563467203 Centerline is valid? [True, True] Translation: X:24.02, Y:-181.88, Z:1.45 [[ 8.26344698e-01 5.63129726e-01 -6.27315240e-03 2.40161882e+01] [-5.63110501e-01 8.26368446e-01 4.66421443e-03 -1.81882408e+02] [ 7.81049299e-03 -3.21770871e-04 9.99969446e-01 1.45005019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.2 meters Centerline goodness [0,1] 0.9982603047946 Centerline is valid? [True, True] Translation: X:24.04, Y:-181.90, Z:1.45 [[ 8.27031265e-01 5.62121066e-01 -6.26047579e-03 2.40369988e+01] [-5.62101897e-01 8.27054894e-01 4.65397991e-03 -1.81901530e+02] [ 7.79385729e-03 -3.29961571e-04 9.99969573e-01 1.44942372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.22999999999996 meters Centerline goodness [0,1] 0.9984166530840338 Centerline is valid? [True, True] Translation: X:24.06, Y:-181.92, Z:1.45 [[ 8.26488487e-01 5.62923478e-01 -5.82572517e-03 2.40609442e+01] [-5.62906914e-01 8.26508965e-01 4.32864102e-03 -1.81917117e+02] [ 7.25170774e-03 -2.98230989e-04 9.99973662e-01 1.44940695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.26 meters Centerline goodness [0,1] 0.998461359132766 Centerline is valid? [True, True] Translation: X:24.08, Y:-181.94, Z:1.45 [[ 8.25806681e-01 5.63922974e-01 -5.84846320e-03 2.40810774e+01] [-5.63906313e-01 8.25827340e-01 4.34441761e-03 -1.81936142e+02] [ 7.27973771e-03 -2.89663773e-04 9.99973460e-01 1.44857786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.28999999999996 meters Centerline goodness [0,1] 0.9984830097087378 Centerline is valid? [True, True] Translation: X:24.11, Y:-181.95, Z:1.45 [[ 8.25002064e-01 5.65097558e-01 -6.02853968e-03 2.41069576e+01] [-5.65079904e-01 8.25024041e-01 4.47594635e-03 -1.81948830e+02] [ 7.50303652e-03 -2.86058352e-04 9.99971811e-01 1.44904268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.32 meters Centerline goodness [0,1] 0.9985805370689254 Centerline is valid? [True, True] Translation: X:24.13, Y:-181.96, Z:1.45 [[ 8.23093786e-01 5.67873429e-01 -6.03232025e-03 2.41299949e+01] [-5.67855833e-01 8.23115849e-01 4.47798317e-03 -1.81964449e+02] [ 7.50822607e-03 -2.60311881e-04 9.99971779e-01 1.44863132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.34999999999997 meters Centerline goodness [0,1] 0.9984102863822326 Centerline is valid? [True, True] Translation: X:24.16, Y:-181.98, Z:1.45 [[ 8.21472140e-01 5.70218307e-01 -5.88265371e-03 2.41561524e+01] [-5.70201648e-01 8.21493171e-01 4.36483396e-03 -1.81978150e+02] [ 7.32146807e-03 -2.31290659e-04 9.99973171e-01 1.44970833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.38 meters Centerline goodness [0,1] 0.9984129577333303 Centerline is valid? [True, True] Translation: X:24.18, Y:-181.99, Z:1.45 [[ 8.20263127e-01 5.71959840e-01 -5.50848368e-03 2.41784788e+01] [-5.71945277e-01 8.20281598e-01 4.08647698e-03 -1.81994374e+02] [ 6.85580852e-03 -2.01435159e-04 9.99976478e-01 1.44999629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.40999999999997 meters Centerline goodness [0,1] 0.9988743228348304 Centerline is valid? [True, True] Translation: X:24.20, Y:-182.01, Z:1.45 [[ 8.18138130e-01 5.75003893e-01 -4.53015130e-03 2.42047886e+01] [-5.74994095e-01 8.18150660e-01 3.35992880e-03 -1.82008095e+02] [ 5.63831841e-03 -1.44075623e-04 9.99984094e-01 1.45110294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.44 meters Centerline goodness [0,1] 0.9988517329458908 Centerline is valid? [True, True] Translation: X:24.23, Y:-182.02, Z:1.45 [[ 8.16907688e-01 5.76757259e-01 -3.59060258e-03 2.42272040e+01] [-5.76751126e-01 8.16915573e-01 2.66176433e-03 -1.82024986e+02] [ 4.46841106e-03 -1.03531663e-04 9.99990011e-01 1.45133891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.46999999999997 meters Centerline goodness [0,1] 0.9987220298812649 Centerline is valid? [True, True] Translation: X:24.25, Y:-182.04, Z:1.45 [[ 8.15112274e-01 5.79297032e-01 -2.63256299e-03 2.42519675e+01] [-5.79293751e-01 8.15116522e-01 1.95066217e-03 -1.82040179e+02] [ 3.27585839e-03 -6.49813929e-05 9.99994632e-01 1.45187075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.5 meters Centerline goodness [0,1] 0.9988059282152139 Centerline is valid? [True, True] Translation: X:24.28, Y:-182.06, Z:1.45 [[ 8.13514650e-01 5.81537939e-01 -2.74593608e-03 2.42771011e+01] [-5.81534386e-01 8.13519282e-01 2.03362085e-03 -1.82055101e+02] [ 3.41649962e-03 -5.75241049e-05 9.99994162e-01 1.45205128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.53 meters Centerline goodness [0,1] 0.9987385240731657 Centerline is valid? [True, True] Translation: X:24.30, Y:-182.07, Z:1.45 [[ 8.12542751e-01 5.82896000e-01 -2.55537784e-03 2.42982570e+01] [-5.82892931e-01 8.12546768e-01 1.89215153e-03 -1.82072542e+02] [ 3.17929157e-03 -4.79423290e-05 9.99994945e-01 1.45118357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.56 meters Centerline goodness [0,1] 0.999046755481156 Centerline is valid? [True, True] Translation: X:24.32, Y:-182.09, Z:1.45 [[ 8.11804782e-01 5.83920897e-01 -3.06295753e-03 2.43220985e+01] [-5.83916499e-01 8.11810559e-01 2.26688889e-03 -1.82089043e+02] [ 3.81022505e-03 -5.17598033e-05 9.99992740e-01 1.45065912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.59 meters Centerline goodness [0,1] 0.9987821158395204 Centerline is valid? [True, True] Translation: X:24.35, Y:-182.10, Z:1.45 [[ 8.09765242e-01 5.86744994e-01 -3.25038625e-03 2.43469928e+01] [-5.86740069e-01 8.09771764e-01 2.40441619e-03 -1.82104103e+02] [ 4.04285017e-03 -3.98808068e-05 9.99991827e-01 1.45061149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.62 meters Centerline goodness [0,1] 0.9990384389877811 Centerline is valid? [True, True] Translation: X:24.37, Y:-182.12, Z:1.45 [[ 8.07249046e-01 5.90202483e-01 -3.16324863e-03 2.43720728e+01] [-5.90197850e-01 8.07255244e-01 2.33874984e-03 -1.82118823e+02] [ 3.93388500e-03 -2.10110379e-05 9.99992262e-01 1.45018326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.65 meters Centerline goodness [0,1] 0.9988132359100852 Centerline is valid? [True, True] Translation: X:24.39, Y:-182.13, Z:1.45 [[ 8.06463009e-01 5.91275389e-01 -3.29074011e-03 2.43944142e+01] [-5.91270386e-01 8.06469723e-01 2.43240016e-03 -1.82134119e+02] [ 4.09210061e-03 -1.59235750e-05 9.99991627e-01 1.44985144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.68 meters Centerline goodness [0,1] 0.9987361029842012 Centerline is valid? [True, True] Translation: X:24.42, Y:-182.15, Z:1.45 [[ 8.05216211e-01 5.92972149e-01 -3.29901672e-03 2.44177466e+01] [-5.92967141e-01 8.05222969e-01 2.43714980e-03 -1.82149884e+02] [ 4.10160599e-03 -6.22401331e-06 9.99991588e-01 1.44979362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.71 meters Centerline goodness [0,1] 0.998970615758937 Centerline is valid? [True, True] Translation: X:24.44, Y:-182.17, Z:1.45 [[ 8.03517549e-01 5.95273545e-01 -2.99253753e-03 2.44412643e+01] [-5.95269444e-01 8.03523121e-01 2.20950637e-03 -1.82165634e+02] [ 3.71983379e-03 5.98901210e-06 9.99993081e-01 1.44981022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.74 meters Centerline goodness [0,1] 0.9988306555345073 Centerline is valid? [True, True] Translation: X:24.46, Y:-182.18, Z:1.45 [[ 8.02442405e-01 5.96724407e-01 -2.48376323e-03 2.44640351e+01] [-5.96721592e-01 8.02446249e-01 1.83281936e-03 -1.82181687e+02] [ 3.08677453e-03 1.13831689e-05 9.99995236e-01 1.44974762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.77 meters Centerline goodness [0,1] 0.999019081206063 Centerline is valid? [True, True] Translation: X:24.49, Y:-182.20, Z:1.45 [[ 8.01464219e-01 5.98039497e-01 -1.96606574e-03 2.44862973e+01] [-5.98037738e-01 8.01466630e-01 1.45046653e-03 -1.82197226e+02] [ 2.44317236e-03 1.32844785e-05 9.99997015e-01 1.45023855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.8 meters Centerline goodness [0,1] 0.9989947164165147 Centerline is valid? [True, True] Translation: X:24.51, Y:-182.21, Z:1.45 [[ 8.00215267e-01 5.99710977e-01 -1.50693173e-03 2.45105381e+01] [-5.99709948e-01 8.00216685e-01 1.11116819e-03 -1.82213437e+02] [ 1.87225167e-03 1.45481981e-05 9.99998247e-01 1.45098048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.83 meters Centerline goodness [0,1] 0.9990873350182533 Centerline is valid? [True, True] Translation: X:24.53, Y:-182.23, Z:1.45 [[ 7.98524125e-01 6.01962770e-01 -2.10750073e-04 2.45347192e+01] [-6.01962750e-01 7.98524153e-01 1.55318316e-04 -1.82228852e+02] [ 2.61784868e-04 2.83827096e-06 9.99999966e-01 1.45227461e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.86 meters Centerline goodness [0,1] 0.9991568494273603 Centerline is valid? [True, True] Translation: X:24.56, Y:-182.24, Z:1.45 [[ 7.98356323e-01 6.02185253e-01 3.20016707e-04 2.45563184e+01] [-6.02185207e-01 7.98356387e-01 -2.35793468e-04 -1.82244688e+02] [-3.97478731e-04 -4.46212104e-06 9.99999921e-01 1.45291633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.89 meters Centerline goodness [0,1] 0.9991608782807329 Centerline is valid? [True, True] Translation: X:24.58, Y:-182.26, Z:1.45 [[ 7.97808297e-01 6.02911183e-01 1.61431217e-04 2.45798878e+01] [-6.02911171e-01 7.97808314e-01 -1.18914685e-04 -1.82259873e+02] [-2.00486160e-04 -2.45756238e-06 9.99999980e-01 1.45299736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.91999999999996 meters Centerline goodness [0,1] 0.9993196002064662 Centerline is valid? [True, True] Translation: X:24.60, Y:-182.28, Z:1.45 [[ 7.97170698e-01 6.03753925e-01 -2.76274451e-04 2.46029730e+01] [-6.03753891e-01 7.97170746e-01 2.03404268e-04 -1.82276984e+02] [ 3.43044036e-04 4.65385223e-06 9.99999941e-01 1.45205398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.95 meters Centerline goodness [0,1] 0.9989741198414549 Centerline is valid? [True, True] Translation: X:24.62, Y:-182.29, Z:1.45 [[ 7.97155775e-01 6.03773428e-01 -5.63701432e-04 2.46249376e+01] [-6.03773285e-01 7.97155975e-01 4.14864244e-04 -1.82293098e+02] [ 6.99841971e-04 9.63643732e-06 9.99999755e-01 1.45123729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.97999999999996 meters Centerline goodness [0,1] 0.9993671182785617 Centerline is valid? [True, True] Translation: X:24.65, Y:-182.31, Z:1.45 [[ 7.96415369e-01 6.04748936e-01 -1.13349005e-03 2.46470876e+01] [-6.04748362e-01 7.96416175e-01 8.33786585e-04 -1.82311069e+02] [ 1.40696136e-03 2.14357984e-05 9.99999010e-01 1.44948798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.01 meters Centerline goodness [0,1] 0.9990166237415126 Centerline is valid? [True, True] Translation: X:24.67, Y:-182.33, Z:1.45 [[ 7.96781977e-01 6.04265819e-01 -1.14059950e-03 2.46689146e+01] [-6.04265237e-01 7.96782793e-01 8.38815439e-04 -1.82327529e+02] [ 1.41567756e-03 2.08716044e-05 9.99998998e-01 1.44947853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.03999999999996 meters Centerline goodness [0,1] 0.9992280701754386 Centerline is valid? [True, True] Translation: X:24.69, Y:-182.34, Z:1.45 [[ 7.96843149e-01 6.04185144e-01 -1.14389497e-03 2.46905071e+01] [-6.04184559e-01 7.96843969e-01 8.41032212e-04 -1.82343905e+02] [ 1.41964498e-03 2.09529231e-05 9.99998992e-01 1.44891676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.07 meters Centerline goodness [0,1] 0.9988796825767301 Centerline is valid? [True, True] Translation: X:24.71, Y:-182.36, Z:1.45 [[ 7.97632167e-01 6.03143335e-01 -1.02171089e-03 2.47117705e+01] [-6.03142868e-01 7.97632821e-01 7.50820258e-04 -1.82362654e+02] [ 1.26780237e-03 1.73592465e-05 9.99999196e-01 1.44918220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.09999999999997 meters Centerline goodness [0,1] 0.9990663367723263 Centerline is valid? [True, True] Translation: X:24.73, Y:-182.38, Z:1.45 [[ 7.98256287e-01 6.02316652e-01 -1.24559907e-03 2.47338398e+01] [-6.02315957e-01 7.98257258e-01 9.14816742e-04 -1.82379616e+02] [ 1.54531785e-03 1.99859794e-05 9.99998806e-01 1.44864599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.13 meters Centerline goodness [0,1] 0.998975290528424 Centerline is valid? [True, True] Translation: X:24.76, Y:-182.40, Z:1.45 [[ 7.99358178e-01 6.00853902e-01 -1.04448334e-03 2.47562215e+01] [-6.00853413e-01 7.99358861e-01 7.66721498e-04 -1.82397610e+02] [ 1.29560462e-03 1.46962789e-05 9.99999161e-01 1.44869618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.15999999999997 meters Centerline goodness [0,1] 0.9989963120302507 Centerline is valid? [True, True] Translation: X:24.78, Y:-182.41, Z:1.45 [[ 7.99332328e-01 6.00887351e-01 -1.49045381e-03 2.47794450e+01] [-6.00886356e-01 7.99333717e-01 1.09346389e-03 -1.82412575e+02] [ 1.84841860e-03 2.15523215e-05 9.99998291e-01 1.44909331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.19 meters Centerline goodness [0,1] 0.9990173369832246 Centerline is valid? [True, True] Translation: X:24.80, Y:-182.43, Z:1.45 [[ 7.98970590e-01 6.01368802e-01 -1.24912672e-03 2.48036013e+01] [-6.01368104e-01 7.98971567e-01 9.15955612e-04 -1.82428444e+02] [ 1.54884386e-03 1.93633702e-05 9.99998800e-01 1.44868866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.21999999999997 meters Centerline goodness [0,1] 0.9992070155798115 Centerline is valid? [True, True] Translation: X:24.83, Y:-182.45, Z:1.45 [[ 7.99551771e-01 6.00596875e-01 -5.99132323e-04 2.48265895e+01] [-6.00596715e-01 7.99551995e-01 4.39125194e-04 -1.82446484e+02] [ 7.42774664e-04 8.73357865e-06 9.99999724e-01 1.44905082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.25 meters Centerline goodness [0,1] 0.9993214469558707 Centerline is valid? [True, True] Translation: X:24.85, Y:-182.46, Z:1.45 [[ 7.99298977e-01 6.00933554e-01 -9.60993013e-05 2.48491504e+01] [-6.00933550e-01 7.99298983e-01 7.04171417e-05 -1.82461093e+02] [ 1.19128097e-04 1.46494491e-06 9.99999993e-01 1.45002392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.28 meters Centerline goodness [0,1] 0.9992524936345161 Centerline is valid? [True, True] Translation: X:24.87, Y:-182.48, Z:1.45 [[ 7.99812157e-01 6.00250376e-01 3.29927463e-06 2.48716248e+01] [-6.00250376e-01 7.99812157e-01 -2.42005336e-06 -1.82477282e+02] [-4.09143772e-06 -4.48027337e-08 1.00000000e+00 1.45039086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.31 meters Centerline goodness [0,1] 0.9992738856487012 Centerline is valid? [True, True] Translation: X:24.89, Y:-182.50, Z:1.45 [[ 8.00702350e-01 5.99062335e-01 2.55723506e-04 2.48939412e+01] [-5.99062306e-01 8.00702391e-01 -1.87190501e-04 -1.82495512e+02] [-3.16897201e-04 -3.31043891e-06 9.99999950e-01 1.45120470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.34 meters Centerline goodness [0,1] 0.9987445072190835 Centerline is valid? [True, True] Translation: X:24.92, Y:-182.51, Z:1.45 [[ 8.01188494e-01 5.98412036e-01 1.78550908e-04 2.49159519e+01] [-5.98412022e-01 8.01188514e-01 -1.30667715e-04 -1.82510691e+02] [-2.21246070e-04 -2.15754078e-06 9.99999976e-01 1.45106643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.37 meters Centerline goodness [0,1] 0.9990412272291467 Centerline is valid? [True, True] Translation: X:24.94, Y:-182.53, Z:1.45 [[ 8.01675304e-01 5.97759641e-01 3.44399950e-04 2.49388977e+01] [-5.97759588e-01 8.01675378e-01 -2.51896878e-04 -1.82527200e+02] [-4.26670747e-04 -3.92886608e-06 9.99999909e-01 1.45135890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.4 meters Centerline goodness [0,1] 0.9992755824550744 Centerline is valid? [True, True] Translation: X:24.96, Y:-182.54, Z:1.45 [[ 8.02461811e-01 5.96703471e-01 1.00647289e-04 2.49612027e+01] [-5.96703466e-01 8.02461817e-01 -7.35953119e-05 -1.82544532e+02] [-1.24680185e-04 -9.99159090e-07 9.99999992e-01 1.45104984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.43 meters Centerline goodness [0,1] 0.999228034060073 Centerline is valid? [True, True] Translation: X:24.98, Y:-182.56, Z:1.45 [[ 8.04712816e-01 5.93664091e-01 4.80518819e-04 2.49822089e+01] [-5.93663987e-01 8.04712960e-01 -3.51182575e-04 -1.82563948e+02] [-5.95164204e-04 -2.66559905e-06 9.99999823e-01 1.45099687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.46 meters Centerline goodness [0,1] 0.9990185540028976 Centerline is valid? [True, True] Translation: X:25.00, Y:-182.58, Z:1.45 [[ 8.06013096e-01 5.91897690e-01 1.18474999e-04 2.50042122e+01] [-5.91897684e-01 8.06013105e-01 -8.65381757e-05 -1.82581846e+02] [-1.46714148e-04 -3.74174697e-07 9.99999989e-01 1.45113552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.49 meters Centerline goodness [0,1] 0.9989962886020402 Centerline is valid? [True, True] Translation: X:25.03, Y:-182.60, Z:1.45 [[ 8.07396210e-01 5.90009621e-01 -9.06807882e-05 2.50256028e+01] [-5.90009617e-01 8.07396215e-01 6.61897561e-05 -1.82599084e+02] [ 1.12267918e-04 6.11788951e-08 9.99999994e-01 1.45074731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.52 meters Centerline goodness [0,1] 0.9989972482626743 Centerline is valid? [True, True] Translation: X:25.05, Y:-182.62, Z:1.45 [[ 8.08717605e-01 5.88197105e-01 -2.42465524e-05 2.50463994e+01] [-5.88197105e-01 8.08717605e-01 1.76928525e-05 -1.82616162e+02] [ 3.00154986e-05 -4.67693509e-08 1.00000000e+00 1.45077129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.55 meters Centerline goodness [0,1] 0.9989972482626743 Centerline is valid? [True, True] Translation: X:25.07, Y:-182.63, Z:1.45 [[ 8.08881274e-01 5.87972009e-01 -2.42525288e-05 2.50685384e+01] [-5.87972009e-01 8.08881275e-01 1.76846605e-05 -1.82632222e+02] [ 3.00155020e-05 -4.49825799e-08 1.00000000e+00 1.45077098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.58 meters Centerline goodness [0,1] 0.9990710852047096 Centerline is valid? [True, True] Translation: X:25.09, Y:-182.65, Z:1.45 [[ 8.11543968e-01 5.84291355e-01 -3.21931257e-05 2.50885094e+01] [-5.84291355e-01 8.11543968e-01 2.34746197e-05 -1.82651917e+02] [ 3.98421546e-05 -2.40520995e-07 9.99999999e-01 1.45057814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.61 meters Centerline goodness [0,1] 0.9986255416297815 Centerline is valid? [True, True] Translation: X:25.11, Y:-182.67, Z:1.45 [[ 8.13028821e-01 5.82223440e-01 5.03105960e-05 2.51110873e+01] [-5.82223439e-01 8.13028823e-01 -3.66719923e-05 -1.82670119e+02] [-6.22552579e-05 5.23378472e-07 9.99999998e-01 1.45029648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.64 meters Centerline goodness [0,1] 0.9985653461680859 Centerline is valid? [True, True] Translation: X:25.13, Y:-182.69, Z:1.45 [[ 8.14244300e-01 5.80522368e-01 -2.08697961e-05 2.51324578e+01] [-5.80522367e-01 8.14244300e-01 1.52068041e-05 -1.82688466e+02] [ 2.58210026e-05 -2.66670089e-07 1.00000000e+00 1.45002945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.66999999999996 meters Centerline goodness [0,1] 0.9981488337652721 Centerline is valid? [True, True] Translation: X:25.15, Y:-182.71, Z:1.45 [[ 8.16618718e-01 5.77177431e-01 -2.87744979e-04 2.51524460e+01] [-5.77177393e-01 8.16618769e-01 2.09643604e-04 -1.82707560e+02] [ 3.55979507e-04 -5.11899456e-06 9.99999937e-01 1.44987849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.7 meters Centerline goodness [0,1] 0.9985685260435907 Centerline is valid? [True, True] Translation: X:25.17, Y:-182.73, Z:1.45 [[ 8.17527140e-01 5.75889842e-01 -5.15276140e-04 2.51739445e+01] [-5.75889720e-01 8.17527302e-01 3.75350519e-04 -1.82725140e+02] [ 6.37412863e-04 -1.01170044e-05 9.99999797e-01 1.44986446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.72999999999996 meters Centerline goodness [0,1] 0.9986577802462279 Centerline is valid? [True, True] Translation: X:25.20, Y:-182.74, Z:1.45 [[ 8.18458359e-01 5.74565355e-01 -7.53803799e-04 2.51966106e+01] [-5.74565093e-01 8.18458706e-01 5.48826095e-04 -1.82742352e+02] [ 9.32293742e-04 -1.60819553e-05 9.99999565e-01 1.44998000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.76 meters Centerline goodness [0,1] 0.9985644825191017 Centerline is valid? [True, True] Translation: X:25.22, Y:-182.76, Z:1.45 [[ 8.19513256e-01 5.73059145e-01 -1.11323070e-03 2.52188693e+01] [-5.73058573e-01 8.19514012e-01 8.10111249e-04 -1.82759881e+02] [ 1.37654982e-03 -2.59505097e-05 9.99999052e-01 1.44980714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.78999999999996 meters Centerline goodness [0,1] 0.9987043335415654 Centerline is valid? [True, True] Translation: X:25.24, Y:-182.78, Z:1.45 [[ 8.20322752e-01 5.71899606e-01 -1.19313869e-03 2.52413173e+01] [-5.71898949e-01 8.20323619e-01 8.67827844e-04 -1.82777428e+02] [ 1.47507025e-03 -2.95441625e-05 9.99998912e-01 1.44966455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.82 meters Centerline goodness [0,1] 0.998498775924985 Centerline is valid? [True, True] Translation: X:25.26, Y:-182.79, Z:1.45 [[ 8.21029100e-01 5.70883299e-01 -1.86439548e-03 2.52648381e+01] [-5.70881692e-01 8.21031216e-01 1.35536284e-03 -1.82793343e+02] [ 2.30448090e-03 -4.84430905e-05 9.99997344e-01 1.44926229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.84999999999997 meters Centerline goodness [0,1] 0.9984729645311307 Centerline is valid? [True, True] Translation: X:25.29, Y:-182.81, Z:1.45 [[ 8.21616952e-01 5.70033900e-01 -2.63366077e-03 2.52860436e+01] [-5.70030691e-01 8.21621170e-01 1.91424900e-03 -1.82811089e+02] [ 3.25505827e-03 -7.15119640e-05 9.99994700e-01 1.44880589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.88 meters Centerline goodness [0,1] 0.9984308295834775 Centerline is valid? [True, True] Translation: X:25.31, Y:-182.83, Z:1.45 [[ 8.22083236e-01 5.69361137e-01 -2.65490614e-03 2.53108759e+01] [-5.69357875e-01 8.22087520e-01 1.92868917e-03 -1.82826316e+02] [ 3.28068586e-03 -7.39513142e-05 9.99994616e-01 1.44970429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.90999999999997 meters Centerline goodness [0,1] 0.9988691437802908 Centerline is valid? [True, True] Translation: X:25.33, Y:-182.84, Z:1.45 [[ 8.22790220e-01 5.68338306e-01 -2.79730112e-03 2.53327326e+01] [-5.68334680e-01 8.22794971e-01 2.03157772e-03 -1.82842954e+02] [ 3.45622873e-03 -8.17590433e-05 9.99994024e-01 1.45010834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.94 meters Centerline goodness [0,1] 0.9987994089397857 Centerline is valid? [True, True] Translation: X:25.35, Y:-182.86, Z:1.45 [[ 8.23609901e-01 5.67147931e-01 -3.15525651e-03 2.53549440e+01] [-5.67143313e-01 8.23615939e-01 2.29092267e-03 -1.82860384e+02] [ 3.89801161e-03 -9.73439626e-05 9.99992398e-01 1.45018445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.96999999999997 meters Centerline goodness [0,1] 0.9988216538434879 Centerline is valid? [True, True] Translation: X:25.38, Y:-182.88, Z:1.45 [[ 8.24557819e-01 5.65768391e-01 -3.24500963e-03 2.53764359e+01] [-5.65763497e-01 8.24564198e-01 2.35566291e-03 -1.82877877e+02] [ 4.00847838e-03 -1.06472277e-04 9.99991960e-01 1.45017769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.0 meters Centerline goodness [0,1] 0.9987770265592911 Centerline is valid? [True, True] Translation: X:25.40, Y:-182.90, Z:1.45 [[ 8.25052198e-01 5.65047822e-01 -3.13509673e-03 2.53989361e+01] [-5.65043254e-01 8.25058148e-01 2.27472971e-03 -1.82895074e+02] [ 3.87196817e-03 -1.05305490e-04 9.99992498e-01 1.45043856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.03 meters Centerline goodness [0,1] 0.9981453071691893 Centerline is valid? [True, True] Translation: X:25.42, Y:-182.91, Z:1.45 [[ 8.25217334e-01 5.64806883e-01 -3.08806824e-03 2.54209096e+01] [-5.64802454e-01 8.25223105e-01 2.23932455e-03 -1.82911520e+02] [ 3.81313118e-03 -1.03780915e-04 9.99992725e-01 1.45059599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.06 meters Centerline goodness [0,1] 0.9987807963929977 Centerline is valid? [True, True] Translation: X:25.44, Y:-182.93, Z:1.45 [[ 8.25814241e-01 5.63936324e-01 -2.58092884e-03 2.54423519e+01] [-5.63933227e-01 8.25818269e-01 1.87124097e-03 -1.82929211e+02] [ 3.18663894e-03 -8.98259158e-05 9.99994919e-01 1.45159813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.09 meters Centerline goodness [0,1] 0.9985995683915698 Centerline is valid? [True, True] Translation: X:25.47, Y:-182.94, Z:1.45 [[ 8.26363762e-01 5.63129939e-01 -2.75778653e-03 2.54660504e+01] [-5.63126402e-01 8.26368357e-01 1.99844431e-03 -1.82944918e+02] [ 3.40433135e-03 -9.84595467e-05 9.99994200e-01 1.45221568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.12 meters Centerline goodness [0,1] 0.9985240873555796 Centerline is valid? [True, True] Translation: X:25.49, Y:-182.96, Z:1.45 [[ 8.26787570e-01 5.62506143e-01 -3.02543109e-03 2.54895944e+01] [-5.62501885e-01 8.26793098e-01 2.19124966e-03 -1.82961276e+02] [ 3.73399694e-03 -1.09887287e-04 9.99993023e-01 1.45282663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.15 meters Centerline goodness [0,1] 0.9988308115543328 Centerline is valid? [True, True] Translation: X:25.51, Y:-182.98, Z:1.45 [[ 8.27082200e-01 5.62068514e-01 -3.74438051e-03 2.55096833e+01] [-5.62061990e-01 8.27090664e-01 2.71146842e-03 -1.82980656e+02] [ 4.62097319e-03 -1.38033304e-04 9.99989314e-01 1.45215476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.18 meters Centerline goodness [0,1] 0.998574614341219 Centerline is valid? [True, True] Translation: X:25.53, Y:-182.99, Z:1.45 [[ 8.27225034e-01 5.61854317e-01 -4.29767943e-03 2.55344191e+01] [-5.61845730e-01 8.27236182e-01 3.11030255e-03 -1.82994184e+02] [ 5.30273284e-03 -1.58287289e-04 9.99985928e-01 1.45210350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.21 meters Centerline goodness [0,1] 0.9987165677354296 Centerline is valid? [True, True] Translation: X:25.55, Y:-183.01, Z:1.45 [[ 8.27345621e-01 5.61673451e-01 -4.70723708e-03 2.55539856e+01] [-5.61663152e-01 8.27358994e-01 3.40581192e-03 -1.83014049e+02] [ 5.80752906e-03 -1.73901964e-04 9.99983121e-01 1.45072013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.24 meters Centerline goodness [0,1] 0.9984563634688047 Centerline is valid? [True, True] Translation: X:25.58, Y:-183.03, Z:1.45 [[ 8.27505845e-01 5.61431981e-01 -5.31106201e-03 2.55801060e+01] [-5.61418880e-01 8.27522865e-01 3.84039132e-03 -1.83025767e+02] [ 6.55114376e-03 -1.96215774e-04 9.99978522e-01 1.45124125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.27 meters Centerline goodness [0,1] 0.9984845353723221 Centerline is valid? [True, True] Translation: X:25.60, Y:-183.04, Z:1.45 [[ 8.27213093e-01 5.61861432e-01 -5.49812285e-03 2.56027630e+01] [-5.61847407e-01 8.27231341e-01 3.97491921e-03 -1.83041598e+02] [ 6.78157334e-03 -1.98999151e-04 9.99976985e-01 1.45217267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.3 meters Centerline goodness [0,1] 0.9984102115109903 Centerline is valid? [True, True] Translation: X:25.62, Y:-183.06, Z:1.45 [[ 8.27346009e-01 5.61663963e-01 -5.67231611e-03 2.56220877e+01] [-5.61649035e-01 8.27365428e-01 4.10010635e-03 -1.83062186e+02] [ 6.99596022e-03 -2.06355750e-04 9.99975507e-01 1.45154458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.33 meters Centerline goodness [0,1] 0.9987999353811359 Centerline is valid? [True, True] Translation: X:25.65, Y:-183.08, Z:1.45 [[ 8.27542458e-01 5.61373927e-01 -5.72660790e-03 2.56471519e+01] [-5.61358722e-01 8.27562246e-01 4.13700184e-03 -1.83075367e+02] [ 7.06152946e-03 -2.08863386e-04 9.99975045e-01 1.45369746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.36 meters Centerline goodness [0,1] 0.9986167146974063 Centerline is valid? [True, True] Translation: X:25.67, Y:-183.09, Z:1.46 [[ 8.27806331e-01 5.60986352e-01 -5.56701924e-03 2.56721369e+01] [-5.60971990e-01 8.27825025e-01 4.01928489e-03 -1.83089031e+02] [ 6.86328180e-03 -2.04247618e-04 9.99976427e-01 1.45502151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.39 meters Centerline goodness [0,1] 0.998405582771051 Centerline is valid? [True, True] Translation: X:25.69, Y:-183.11, Z:1.46 [[ 8.27931776e-01 5.60806566e-01 -4.99699023e-03 2.56931506e+01] [-5.60794997e-01 8.27946835e-01 3.60679148e-03 -1.83106347e+02] [ 6.15995459e-03 -1.83890149e-04 9.99981010e-01 1.45548003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.41999999999996 meters Centerline goodness [0,1] 0.9981994875464555 Centerline is valid? [True, True] Translation: X:25.72, Y:-183.12, Z:1.46 [[ 8.27975148e-01 5.60746975e-01 -4.47045837e-03 2.57170422e+01] [-5.60737726e-01 8.27987200e-01 3.22480330e-03 -1.83121443e+02] [ 5.50978101e-03 -1.63302330e-04 9.99984808e-01 1.45629312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.45 meters Centerline goodness [0,1] 0.9982452899889176 Centerline is valid? [True, True] Translation: X:25.74, Y:-183.14, Z:1.46 [[ 8.28148587e-01 5.60496479e-01 -3.68993810e-03 2.57392756e+01] [-5.60490182e-01 8.28156796e-01 2.66017667e-03 -1.83138489e+02] [ 4.54686697e-03 -1.34847470e-04 9.99989654e-01 1.45633393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.47999999999996 meters Centerline goodness [0,1] 0.9987077121890432 Centerline is valid? [True, True] Translation: X:25.76, Y:-183.15, Z:1.46 [[ 8.28097613e-01 5.60571450e-01 -3.74059754e-03 2.57620358e+01] [-5.60564988e-01 8.28106051e-01 2.69506671e-03 -1.83154464e+02] [ 4.60838891e-03 -1.34930296e-04 9.99989372e-01 1.45601331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.51 meters Centerline goodness [0,1] 0.9985455049175787 Centerline is valid? [True, True] Translation: X:25.78, Y:-183.17, Z:1.46 [[ 8.28218526e-01 5.60391938e-01 -3.86636422e-03 2.57846201e+01] [-5.60385040e-01 8.28227539e-01 2.78398141e-03 -1.83170760e+02] [ 4.76235006e-03 -1.39092305e-04 9.99988650e-01 1.45564691e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.53999999999996 meters Centerline goodness [0,1] 0.9985537854093017 Centerline is valid? [True, True] Translation: X:25.81, Y:-183.19, Z:1.46 [[ 8.28828121e-01 5.59490159e-01 -3.83506501e-03 2.58053362e+01] [-5.59483365e-01 8.28836982e-01 2.76092609e-03 -1.83189759e+02] [ 4.72335468e-03 -1.42678108e-04 9.99988835e-01 1.45511541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.57 meters Centerline goodness [0,1] 0.9984326018808778 Centerline is valid? [True, True] Translation: X:25.83, Y:-183.21, Z:1.45 [[ 8.29682222e-01 5.58219932e-01 -4.23312339e-03 2.58285951e+01] [-5.58211646e-01 8.29693004e-01 3.04589435e-03 -1.83207157e+02] [ 5.21247180e-03 -1.64145615e-04 9.99986402e-01 1.45491426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.59999999999997 meters Centerline goodness [0,1] 0.9984329630824538 Centerline is valid? [True, True] Translation: X:25.85, Y:-183.22, Z:1.45 [[ 8.30338555e-01 5.57241860e-01 -4.40370689e-03 2.58508602e+01] [-5.57232884e-01 8.30350214e-01 3.16774606e-03 -1.83224678e+02] [ 5.42181966e-03 -1.76411393e-04 9.99985286e-01 1.45438670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.63 meters Centerline goodness [0,1] 0.9987374027226189 Centerline is valid? [True, True] Translation: X:25.87, Y:-183.24, Z:1.45 [[ 8.31735895e-01 5.55152349e-01 -4.61190039e-03 2.58711686e+01] [-5.55142475e-01 8.31748658e-01 3.31691440e-03 -1.83244785e+02] [ 5.67733478e-03 -1.98534974e-04 9.99983864e-01 1.45371737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.65999999999997 meters Centerline goodness [0,1] 0.9985742865683997 Centerline is valid? [True, True] Translation: X:25.89, Y:-183.26, Z:1.45 [[ 8.32510664e-01 5.53990947e-01 -4.47502553e-03 2.58935840e+01] [-5.53981643e-01 8.32522667e-01 3.21680057e-03 -1.83262448e+02] [ 5.50763859e-03 -1.98938783e-04 9.99984813e-01 1.45354760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.69 meters Centerline goodness [0,1] 0.9985306609729779 Centerline is valid? [True, True] Translation: X:25.92, Y:-183.28, Z:1.45 [[ 8.33216006e-01 5.52931993e-01 -4.15908560e-03 2.59166657e+01] [-5.52923952e-01 8.33226365e-01 2.98811740e-03 -1.83279374e+02] [ 5.11768548e-03 -1.90089202e-04 9.99986887e-01 1.45372475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.71999999999997 meters Centerline goodness [0,1] 0.9986717658643827 Centerline is valid? [True, True] Translation: X:25.94, Y:-183.30, Z:1.45 [[ 8.33716041e-01 5.52178253e-01 -4.09143656e-03 2.59380588e+01] [-5.52170465e-01 8.33726058e-01 2.93896901e-03 -1.83297316e+02] [ 5.03397205e-03 -1.91095179e-04 9.99987311e-01 1.45348464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.75 meters Centerline goodness [0,1] 0.9985568002199161 Centerline is valid? [True, True] Translation: X:25.96, Y:-183.31, Z:1.45 [[ 8.34449934e-01 5.51066905e-01 -4.30971574e-03 2.59615682e+01] [-5.51058258e-01 8.34461038e-01 3.09413377e-03 -1.83314283e+02] [ 5.30136459e-03 -2.06995279e-04 9.99985926e-01 1.45357925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.78 meters Centerline goodness [0,1] 0.9987379821481839 Centerline is valid? [True, True] Translation: X:25.98, Y:-183.33, Z:1.45 [[ 8.35077486e-01 5.50114750e-01 -4.39930915e-03 2.59840297e+01] [-5.50105735e-01 8.35089046e-01 3.15680487e-03 -1.83332258e+02] [ 5.41041981e-03 -2.16091481e-04 9.99985340e-01 1.45365254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.81 meters Centerline goodness [0,1] 0.9986763128466121 Centerline is valid? [True, True] Translation: X:26.01, Y:-183.35, Z:1.45 [[ 8.35396562e-01 5.49629750e-01 -4.44102166e-03 2.60055064e+01] [-5.49620559e-01 8.35408337e-01 3.18614782e-03 -1.83350371e+02] [ 5.46126815e-03 -2.20820129e-04 9.99985063e-01 1.45319326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.84 meters Centerline goodness [0,1] 0.9988541833764925 Centerline is valid? [True, True] Translation: X:26.03, Y:-183.37, Z:1.45 [[ 8.35417729e-01 5.49596784e-01 -4.53786810e-03 2.60285605e+01] [-5.49587199e-01 8.35430024e-01 3.25368856e-03 -1.83365282e+02] [ 5.57928803e-03 -2.24234893e-04 9.99984411e-01 1.45260246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.87 meters Centerline goodness [0,1] 0.9989961900850957 Centerline is valid? [True, True] Translation: X:26.05, Y:-183.38, Z:1.45 [[ 8.35442023e-01 5.49557994e-01 -4.75781179e-03 2.60482973e+01] [-5.49547462e-01 8.35455538e-01 3.41051287e-03 -1.83384466e+02] [ 5.84921482e-03 -2.34642384e-04 9.99982866e-01 1.45124722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.9 meters Centerline goodness [0,1] 0.9991046215304085 Centerline is valid? [True, True] Translation: X:26.07, Y:-183.40, Z:1.45 [[ 8.35217094e-01 5.49903598e-01 -4.29415383e-03 2.60745069e+01] [-5.49895031e-01 8.35228106e-01 3.07656585e-03 -1.83397507e+02] [ 5.27841260e-03 -2.08266535e-04 9.99986047e-01 1.45185863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.93 meters Centerline goodness [0,1] 0.9986914900943504 Centerline is valid? [True, True] Translation: X:26.10, Y:-183.41, Z:1.45 [[ 8.34773722e-01 5.50576810e-01 -4.24370135e-03 2.61003723e+01] [-5.50568460e-01 8.34784485e-01 3.03880673e-03 -1.83411021e+02] [ 5.21567256e-03 -2.00267888e-04 9.99986378e-01 1.45262921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.96 meters Centerline goodness [0,1] 0.9987867689138148 Centerline is valid? [True, True] Translation: X:26.12, Y:-183.43, Z:1.45 [[ 8.34088827e-01 5.51613667e-01 -4.26517089e-03 2.61214304e+01] [-5.51605249e-01 8.34099709e-01 3.05361045e-03 -1.83429955e+02] [ 5.24199106e-03 -1.94291704e-04 9.99986242e-01 1.45225392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.99 meters Centerline goodness [0,1] 0.9987340606730194 Centerline is valid? [True, True] Translation: X:26.15, Y:-183.44, Z:1.45 [[ 8.33304350e-01 5.52800124e-01 -3.98522816e-03 2.61489581e+01] [-5.52792796e-01 8.33313862e-01 2.85179052e-03 -1.83441770e+02] [ 4.89741602e-03 -1.73404031e-04 9.99987993e-01 1.45317761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.02 meters Centerline goodness [0,1] 0.9987321638505336 Centerline is valid? [True, True] Translation: X:26.18, Y:-183.45, Z:1.45 [[ 8.31372029e-01 5.55706490e-01 -3.29347331e-03 2.61755549e+01] [-5.55701509e-01 8.31378542e-01 2.35625690e-03 -1.83454940e+02] [ 4.04751029e-03 -1.28737989e-04 9.99991801e-01 1.45379571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.05 meters Centerline goodness [0,1] 0.9989382573571841 Centerline is valid? [True, True] Translation: X:26.20, Y:-183.47, Z:1.45 [[ 8.30280746e-01 5.57333265e-01 -3.67616690e-03 2.62003633e+01] [-5.57327082e-01 8.30288874e-01 2.62875777e-03 -1.83470570e+02] [ 4.51737463e-03 -1.33779590e-04 9.99989788e-01 1.45151962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.08 meters Centerline goodness [0,1] 0.9989016520983022 Centerline is valid? [True, True] Translation: X:26.22, Y:-183.50, Z:1.44 [[ 8.31777854e-01 5.55039598e-01 -8.75477966e-03 2.62183631e+01] [-5.55004431e-01 8.31823854e-01 6.25756913e-03 -1.83495860e+02] [ 1.07556332e-02 -3.45965918e-04 9.99942097e-01 1.43942533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.11 meters Centerline goodness [0,1] 0.9991552318546085 Centerline is valid? [True, True] Translation: X:26.24, Y:-183.52, Z:1.44 [[ 8.33269890e-01 5.52800196e-01 -8.55765103e-03 2.62394259e+01] [-5.52766510e-01 8.33313753e-01 6.11346493e-03 -1.83515685e+02] [ 1.05107329e-02 -3.63783354e-04 9.99944695e-01 1.43870534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.14 meters Centerline goodness [0,1] 0.999147583283417 Centerline is valid? [True, True] Translation: X:26.27, Y:-183.53, Z:1.45 [[ 8.30733336e-01 5.56630939e-01 -6.64246024e-03 2.62680750e+01] [-5.56610785e-01 8.30759856e-01 4.74297374e-03 -1.83526270e+02] [ 8.15837524e-03 -2.42881395e-04 9.99966690e-01 1.44635110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.16999999999996 meters Centerline goodness [0,1] 0.9987803755522827 Centerline is valid? [True, True] Translation: X:26.30, Y:-183.54, Z:1.45 [[ 8.29594223e-01 5.58339718e-01 -5.49401942e-03 2.62955184e+01] [-5.58325975e-01 8.29612394e-01 3.92190000e-03 -1.83538336e+02] [ 6.74765915e-03 -1.86131841e-04 9.99977217e-01 1.45182084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.2 meters Centerline goodness [0,1] 0.9987030432164529 Centerline is valid? [True, True] Translation: X:26.32, Y:-183.55, Z:1.46 [[ 8.29142143e-01 5.59028917e-01 -3.15857557e-03 2.63220801e+01] [-5.59024385e-01 8.29148153e-01 2.25352411e-03 -1.83550619e+02] [ 3.87871224e-03 -1.02771044e-04 9.99992473e-01 1.45786723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.22999999999996 meters Centerline goodness [0,1] 0.998654604500116 Centerline is valid? [True, True] Translation: X:26.35, Y:-183.57, Z:1.46 [[ 8.28105450e-01 5.60568337e-01 -2.12179470e-03 2.63463878e+01] [-5.60566299e-01 8.28108166e-01 1.51301425e-03 -1.83565075e+02] [ 2.60522340e-03 -6.35287406e-05 9.99996604e-01 1.46012295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.26 meters Centerline goodness [0,1] 0.9984726464870869 Centerline is valid? [True, True] Translation: X:26.37, Y:-183.58, Z:1.46 [[ 8.27954550e-01 5.60791770e-01 -1.96304349e-03 2.63678147e+01] [-5.60790028e-01 8.27956875e-01 1.39906900e-03 -1.83584293e+02] [ 2.40990173e-03 -5.75103263e-05 9.99997095e-01 1.45597501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.28999999999996 meters Centerline goodness [0,1] 0.9984996422223761 Centerline is valid? [True, True] Translation: X:26.39, Y:-183.60, Z:1.45 [[ 8.29113067e-01 5.59076504e-01 -2.23264929e-03 2.63887042e+01] [-5.59074247e-01 8.29116070e-01 1.59037077e-03 -1.83604158e+02] [ 2.74026433e-03 -7.03804685e-05 9.99996243e-01 1.45291631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.32 meters Centerline goodness [0,1] 0.9986645791121753 Centerline is valid? [True, True] Translation: X:26.41, Y:-183.62, Z:1.45 [[ 8.30760953e-01 5.56626152e-01 -1.88828492e-03 2.64078406e+01] [-5.56624531e-01 8.30763097e-01 1.34476841e-03 -1.83624195e+02] [ 2.31725069e-03 -6.61153813e-05 9.99997313e-01 1.45141318e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.34999999999997 meters Centerline goodness [0,1] 0.9985544159151925 Centerline is valid? [True, True] Translation: X:26.43, Y:-183.64, Z:1.45 [[ 8.33043175e-01 5.53191648e-01 -4.25075730e-03 2.64306990e+01] [-5.53183398e-01 8.33054003e-01 3.02587346e-03 -1.83643193e+02] [ 5.21499831e-03 -1.69234862e-04 9.99986388e-01 1.45098756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.38 meters Centerline goodness [0,1] 0.9985727768697774 Centerline is valid? [True, True] Translation: X:26.45, Y:-183.66, Z:1.45 [[ 8.34119246e-01 5.51562395e-01 -4.89973383e-03 2.64542397e+01] [-5.51551417e-01 8.34133612e-01 3.48600789e-03 -1.83660194e+02] [ 6.00978353e-03 -2.05291135e-04 9.99981920e-01 1.45154463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.40999999999997 meters Centerline goodness [0,1] 0.9985263303322665 Centerline is valid? [True, True] Translation: X:26.48, Y:-183.68, Z:1.45 [[ 8.34807686e-01 5.50519624e-01 -4.92650283e-03 2.64770233e+01] [-5.50508518e-01 8.34822196e-01 3.50321244e-03 -1.83677349e+02] [ 6.04134111e-03 -2.12426895e-04 9.99981728e-01 1.45211739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.44 meters Centerline goodness [0,1] 0.998692090589936 Centerline is valid? [True, True] Translation: X:26.50, Y:-183.70, Z:1.45 [[ 8.35519072e-01 5.49440424e-01 -4.80625660e-03 2.64989827e+01] [-5.49429847e-01 8.35532869e-01 3.41592550e-03 -1.83695334e+02] [ 5.89263293e-03 -2.13370078e-04 9.99982616e-01 1.45249279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.46999999999997 meters Centerline goodness [0,1] 0.998692090589936 Centerline is valid? [True, True] Translation: X:26.52, Y:-183.71, Z:1.45 [[ 8.35673670e-01 5.49205252e-01 -4.80721802e-03 2.65213441e+01] [-5.49194678e-01 8.35687469e-01 3.41457237e-03 -1.83711127e+02] [ 5.89263294e-03 -2.13369673e-04 9.99982616e-01 1.45249248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.5 meters Centerline goodness [0,1] 0.9985545817464323 Centerline is valid? [True, True] Translation: X:26.54, Y:-183.73, Z:1.45 [[ 8.36797892e-01 5.47496323e-01 -4.13095799e-03 2.65433925e+01] [-5.47488502e-01 8.36808066e-01 2.93270283e-03 -1.83730223e+02] [ 5.06246298e-03 -1.92427548e-04 9.99987167e-01 1.45261309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.53 meters Centerline goodness [0,1] 0.9987442062241706 Centerline is valid? [True, True] Translation: X:26.56, Y:-183.75, Z:1.45 [[ 8.37916688e-01 5.45789602e-01 -3.05524037e-03 2.65648301e+01] [-5.45785317e-01 8.37922245e-01 2.16789319e-03 -1.83749448e+02] [ 3.74326743e-03 -1.49008548e-04 9.99992983e-01 1.45310184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.56 meters Centerline goodness [0,1] 0.9984955893414784 Centerline is valid? [True, True] Translation: X:26.59, Y:-183.77, Z:1.46 [[ 8.39852488e-01 5.42813463e-01 -1.15918334e-03 2.65871663e+01] [-5.42812843e-01 8.39853285e-01 8.22422683e-04 -1.83768133e+02] [ 1.41996604e-03 -6.14941299e-05 9.99998990e-01 1.45504517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.59 meters Centerline goodness [0,1] 0.9985059760956175 Centerline is valid? [True, True] Translation: X:26.61, Y:-183.79, Z:1.46 [[ 8.40552235e-01 5.41729861e-01 -8.35986658e-04 2.66067723e+01] [-5.41729538e-01 8.40552649e-01 5.93006405e-04 -1.83788311e+02] [ 1.02394008e-03 -4.55741925e-05 9.99999475e-01 1.45601818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.62 meters Centerline goodness [0,1] 0.9983137362136542 Centerline is valid? [True, True] Translation: X:26.63, Y:-183.80, Z:1.46 [[ 8.41208654e-01 5.40710577e-01 -2.68377954e-04 2.66311279e+01] [-5.40710543e-01 8.41208697e-01 1.90271112e-04 -1.83803817e+02] [ 3.28643472e-04 -1.49429171e-05 9.99999946e-01 1.45629600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.65 meters Centerline goodness [0,1] 0.9988412514484357 Centerline is valid? [True, True] Translation: X:26.65, Y:-183.82, Z:1.46 [[ 8.41901871e-01 5.39630516e-01 -3.83309062e-04 2.66546930e+01] [-5.39630448e-01 8.41901958e-01 2.71611153e-04 -1.83819682e+02] [ 4.69278316e-04 -2.18246969e-05 9.99999890e-01 1.45703404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.68 meters Centerline goodness [0,1] 0.9989069047185279 Centerline is valid? [True, True] Translation: X:26.68, Y:-183.84, Z:1.46 [[ 8.42998900e-01 5.37914042e-01 -1.15683930e-03 2.66781222e+01] [-5.37913422e-01 8.42999691e-01 8.19298453e-04 -1.83836309e+02] [ 1.41592731e-03 -6.83883082e-05 9.99998995e-01 1.45640102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.71 meters Centerline goodness [0,1] 0.9986840314017335 Centerline is valid? [True, True] Translation: X:26.70, Y:-183.85, Z:1.46 [[ 8.44036487e-01 5.36283645e-01 -1.50340467e-03 2.66999451e+01] [-5.36282597e-01 8.44037821e-01 1.06450951e-03 -1.83854601e+02] [ 1.83980944e-03 -9.22351093e-05 9.99998303e-01 1.45585997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.74 meters Centerline goodness [0,1] 0.9986641005320955 Centerline is valid? [True, True] Translation: X:26.72, Y:-183.87, Z:1.46 [[ 8.45005411e-01 5.34753662e-01 -2.09179003e-03 2.67206656e+01] [-5.34751628e-01 8.45007990e-01 1.48090333e-03 -1.83873943e+02] [ 2.55949777e-03 -1.32783204e-04 9.99996716e-01 1.45510221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.77 meters Centerline goodness [0,1] 0.9989996589746505 Centerline is valid? [True, True] Translation: X:26.74, Y:-183.89, Z:1.45 [[ 8.46377629e-01 5.32577577e-01 -2.45632795e-03 2.67440606e+01] [-5.32574765e-01 8.46381178e-01 1.73819963e-03 -1.83891907e+02] [ 3.00471589e-03 -1.62995002e-04 9.99995473e-01 1.45469055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.8 meters Centerline goodness [0,1] 0.9992507662617778 Centerline is valid? [True, True] Translation: X:26.77, Y:-183.91, Z:1.45 [[ 8.46654328e-01 5.32135932e-01 -2.79250199e-03 2.67663025e+01] [-5.32132298e-01 8.46658913e-01 1.97554336e-03 -1.83908469e+02] [ 3.41555430e-03 -1.86621838e-04 9.99994150e-01 1.45447132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.83 meters Centerline goodness [0,1] 0.9990926413211142 Centerline is valid? [True, True] Translation: X:26.79, Y:-183.92, Z:1.45 [[ 8.46839382e-01 5.31841503e-01 -2.77077512e-03 2.67893760e+01] [-5.31837928e-01 8.46843894e-01 1.95901118e-03 -1.83924758e+02] [ 3.38829744e-03 -1.85364520e-04 9.99994243e-01 1.45383204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.86 meters Centerline goodness [0,1] 0.9990683723783772 Centerline is valid? [True, True] Translation: X:26.81, Y:-183.94, Z:1.45 [[ 8.46978260e-01 5.31619279e-01 -2.96134002e-03 2.68117711e+01] [-5.31615198e-01 8.46983413e-01 2.09251040e-03 -1.83940548e+02] [ 3.62062475e-03 -1.98017457e-04 9.99993426e-01 1.45340459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.89 meters Centerline goodness [0,1] 0.9987709675216788 Centerline is valid? [True, True] Translation: X:26.83, Y:-183.96, Z:1.45 [[ 8.47067477e-01 5.31475295e-01 -3.27106010e-03 2.68343012e+01] [-5.31470316e-01 8.47073765e-01 2.31094234e-03 -1.83957067e+02] [ 3.99903795e-03 -2.19052752e-04 9.99991980e-01 1.45381357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.91999999999996 meters Centerline goodness [0,1] 0.9985455537122468 Centerline is valid? [True, True] Translation: X:26.86, Y:-183.97, Z:1.45 [[ 8.47278605e-01 5.31136741e-01 -3.56771421e-03 2.68584693e+01] [-5.31130820e-01 8.47286082e-01 2.51923773e-03 -1.83973367e+02] [ 4.36093432e-03 -2.39573254e-04 9.99990462e-01 1.45393805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.95 meters Centerline goodness [0,1] 0.9986098450319052 Centerline is valid? [True, True] Translation: X:26.88, Y:-183.99, Z:1.45 [[ 8.47380582e-01 5.30970765e-01 -4.02450703e-03 2.68811203e+01] [-5.30963232e-01 8.47390095e-01 2.84127985e-03 -1.83989382e+02] [ 4.91896393e-03 -2.70780114e-04 9.99987865e-01 1.45391560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.97999999999996 meters Centerline goodness [0,1] 0.9984254843347101 Centerline is valid? [True, True] Translation: X:26.90, Y:-184.01, Z:1.45 [[ 8.47492215e-01 5.30788233e-01 -4.56041651e-03 2.69043237e+01] [-5.30778568e-01 8.47504429e-01 3.21778346e-03 -1.84005391e+02] [ 5.57293479e-03 -3.06475080e-04 9.99984424e-01 1.45346797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.01 meters Centerline goodness [0,1] 0.9984662225579745 Centerline is valid? [True, True] Translation: X:26.93, Y:-184.02, Z:1.45 [[ 8.47218144e-01 5.31216404e-01 -5.52713750e-03 2.69263920e+01] [-5.31202220e-01 8.47236093e-01 3.89920349e-03 -1.84022561e+02] [ 6.75411124e-03 -3.67448226e-04 9.99977123e-01 1.45134846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.03999999999996 meters Centerline goodness [0,1] 0.998448515822857 Centerline is valid? [True, True] Translation: X:26.95, Y:-184.03, Z:1.45 [[ 8.47317599e-01 5.31055510e-01 -5.73864476e-03 2.69534535e+01] [-5.31040234e-01 8.47336946e-01 4.04596586e-03 -1.84033044e+02] [ 7.01119819e-03 -3.80766821e-04 9.99975349e-01 1.45137057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.07 meters Centerline goodness [0,1] 0.9981670714383907 Centerline is valid? [True, True] Translation: X:26.97, Y:-184.05, Z:1.45 [[ 8.47221127e-01 5.31208431e-01 -5.82795635e-03 2.69745142e+01] [-5.31192685e-01 8.47241084e-01 4.10816736e-03 -1.84051475e+02] [ 7.11997719e-03 -3.84758401e-04 9.99974579e-01 1.45024646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.09999999999997 meters Centerline goodness [0,1] 0.9984645705380878 Centerline is valid? [True, True] Translation: X:27.00, Y:-184.06, Z:1.45 [[ 8.46508331e-01 5.32340202e-01 -6.12819066e-03 2.70002698e+01] [-5.32322833e-01 8.46530422e-01 4.31820742e-03 -1.84064545e+02] [ 7.48645524e-03 -3.93222740e-04 9.99971899e-01 1.44989710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.13 meters Centerline goodness [0,1] 0.9982122392848957 Centerline is valid? [True, True] Translation: X:27.03, Y:-184.08, Z:1.45 [[ 8.46006510e-01 5.33136617e-01 -6.19129665e-03 2.70251614e+01] [-5.33118927e-01 8.46029076e-01 4.36035324e-03 -1.84079083e+02] [ 7.56268096e-03 -3.88189802e-04 9.99971327e-01 1.44980308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.15999999999997 meters Centerline goodness [0,1] 0.9983006475910532 Centerline is valid? [True, True] Translation: X:27.05, Y:-184.10, Z:1.45 [[ 8.45338464e-01 5.34190918e-01 -6.55324003e-03 2.70475358e+01] [-5.34171150e-01 8.45363770e-01 4.61282835e-03 -1.84096375e+02] [ 8.00400271e-03 -3.98849466e-04 9.99967888e-01 1.44927884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.19 meters Centerline goodness [0,1] 0.9981419887601789 Centerline is valid? [True, True] Translation: X:27.07, Y:-184.11, Z:1.45 [[ 8.44038458e-01 5.36233892e-01 -7.23146436e-03 2.70708348e+01] [-5.36209903e-01 8.44069333e-01 5.08930654e-03 -1.84111694e+02] [ 8.83291595e-03 -4.17987640e-04 9.99960902e-01 1.44803492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.21999999999997 meters Centerline goodness [0,1] 0.9985706051873199 Centerline is valid? [True, True] Translation: X:27.10, Y:-184.12, Z:1.45 [[ 8.43368665e-01 5.37282127e-01 -7.56379205e-03 2.70968814e+01] [-5.37255951e-01 8.43402476e-01 5.32036058e-03 -1.84124944e+02] [ 9.23785560e-03 -4.23333107e-04 9.99957241e-01 1.44813625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.25 meters Centerline goodness [0,1] 0.9982944199875539 Centerline is valid? [True, True] Translation: X:27.12, Y:-184.14, Z:1.45 [[ 8.42762935e-01 5.38227662e-01 -7.84979411e-03 2.71213751e+01] [-5.38199538e-01 8.42799385e-01 5.51858468e-03 -1.84140382e+02] [ 9.58605658e-03 -4.26103064e-04 9.99953962e-01 1.44758498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.28 meters Centerline goodness [0,1] 0.998110947290822 Centerline is valid? [True, True] Translation: X:27.14, Y:-184.16, Z:1.45 [[ 8.42435011e-01 5.38741509e-01 -7.79995127e-03 2.71415918e+01] [-5.38713773e-01 8.42471016e-01 5.48250998e-03 -1.84160503e+02] [ 9.52488857e-03 -4.16717173e-04 9.99954550e-01 1.44580595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.31 meters Centerline goodness [0,1] 0.9982940661164645 Centerline is valid? [True, True] Translation: X:27.17, Y:-184.17, Z:1.45 [[ 8.41886472e-01 5.39599846e-01 -7.69250146e-03 2.71676733e+01] [-5.39572932e-01 8.41921520e-01 5.40412145e-03 -1.84173510e+02] [ 9.39254563e-03 -3.98991168e-04 9.99955810e-01 1.44601732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.34 meters Centerline goodness [0,1] 0.9979758016285596 Centerline is valid? [True, True] Translation: X:27.19, Y:-184.19, Z:1.44 [[ 8.39595422e-01 5.43167331e-01 -6.98406189e-03 2.71928004e+01] [-5.43145275e-01 8.39624407e-01 4.90569088e-03 -1.84187868e+02] [ 8.52859984e-03 -3.25435389e-04 9.99963578e-01 1.44464593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.37 meters Centerline goodness [0,1] 0.9982284189214062 Centerline is valid? [True, True] Translation: X:27.22, Y:-184.20, Z:1.44 [[ 8.37436142e-01 5.46491775e-01 -6.88828051e-03 2.72172016e+01] [-5.46470442e-01 8.37464422e-01 4.83718515e-03 -1.84201426e+02] [ 8.41217175e-03 -2.86591979e-04 9.99964576e-01 1.44466231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.4 meters Centerline goodness [0,1] 0.9980891866381196 Centerline is valid? [True, True] Translation: X:27.24, Y:-184.21, Z:1.44 [[ 8.34704997e-01 5.50657123e-01 -6.65593371e-03 2.72423108e+01] [-5.50637343e-01 8.34731500e-01 4.67318563e-03 -1.84214215e+02] [ 8.12924049e-03 -2.35725743e-04 9.99966929e-01 1.44430854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.43 meters Centerline goodness [0,1] 0.9981832580239437 Centerline is valid? [True, True] Translation: X:27.27, Y:-184.22, Z:1.45 [[ 8.29219862e-01 5.58909141e-01 -3.87191017e-03 2.72710358e+01] [-5.58902543e-01 8.29228897e-01 2.71715909e-03 -1.84224758e+02] [ 4.72934485e-03 -8.91018429e-05 9.99988813e-01 1.44590945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.46 meters Centerline goodness [0,1] 0.9981385825305971 Centerline is valid? [True, True] Translation: X:27.30, Y:-184.24, Z:1.45 [[ 8.26343009e-01 5.63159902e-01 -2.85602022e-03 2.72962608e+01] [-5.63156339e-01 8.26347943e-01 2.00395023e-03 -1.84237805e+02] [ 3.48861085e-03 -4.75643685e-05 9.99993914e-01 1.44708231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.49 meters Centerline goodness [0,1] 0.9980910254917937 Centerline is valid? [True, True] Translation: X:27.32, Y:-184.25, Z:1.45 [[ 8.23703828e-01 5.67016312e-01 -2.12269171e-03 2.73221796e+01] [-5.67014358e-01 8.23706563e-01 1.48869278e-03 -1.84251763e+02] [ 2.59258819e-03 -2.26452651e-05 9.99996639e-01 1.44714038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.52 meters Centerline goodness [0,1] 0.9982094272492616 Centerline is valid? [True, True] Translation: X:27.35, Y:-184.27, Z:1.45 [[ 8.21247114e-01 5.70569803e-01 -1.81080908e-03 2.73462354e+01] [-5.70568390e-01 8.21249110e-01 1.26973338e-03 -1.84265288e+02] [ 2.21159687e-03 -9.57445222e-06 9.99997554e-01 1.44691590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.55 meters Centerline goodness [0,1] 0.9984771454677507 Centerline is valid? [True, True] Translation: X:27.37, Y:-184.28, Z:1.45 [[ 8.18612299e-01 5.74344291e-01 -1.59330319e-03 2.73710527e+01] [-5.74343206e-01 8.18613850e-01 1.11655503e-03 -1.84279238e+02] [ 1.94558707e-03 1.07718131e-06 9.99998107e-01 1.44673650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.58 meters Centerline goodness [0,1] 0.9985035540591096 Centerline is valid? [True, True] Translation: X:27.40, Y:-184.29, Z:1.44 [[ 8.14674635e-01 5.79913957e-01 -2.24527342e-03 2.73962981e+01] [-5.79911825e-01 8.14677729e-01 1.57263225e-03 -1.84292859e+02] [ 2.74116565e-03 2.08770037e-05 9.99996243e-01 1.44480426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.61 meters Centerline goodness [0,1] 0.9986944561010864 Centerline is valid? [True, True] Translation: X:27.42, Y:-184.31, Z:1.44 [[ 8.12815361e-01 5.82517008e-01 -2.26390672e-03 2.74195910e+01] [-5.82514851e-01 8.12818513e-01 1.58525141e-03 -1.84307291e+02] [ 2.76358121e-03 3.02425881e-05 9.99996181e-01 1.44360707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.64 meters Centerline goodness [0,1] 0.9985463071512309 Centerline is valid? [True, True] Translation: X:27.44, Y:-184.32, Z:1.44 [[ 8.09930438e-01 5.86520469e-01 -2.53495121e-03 2.74437510e+01] [-5.86517788e-01 8.09934403e-01 1.77413156e-03 -1.84322603e+02] [ 3.09370867e-03 4.98708283e-05 9.99995213e-01 1.44287406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.66999999999996 meters Centerline goodness [0,1] 0.9988269244304718 Centerline is valid? [True, True] Translation: X:27.47, Y:-184.34, Z:1.44 [[ 8.07149517e-01 5.90341532e-01 -2.55617671e-03 2.74694855e+01] [-5.90338827e-01 8.07153561e-01 1.78810520e-03 -1.84336475e+02] [ 3.11881990e-03 6.57421140e-05 9.99995134e-01 1.44237623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.7 meters Centerline goodness [0,1] 0.9991323108672201 Centerline is valid? [True, True] Translation: X:27.50, Y:-184.35, Z:1.44 [[ 8.01359915e-01 5.98180511e-01 -1.53693454e-03 2.74971382e+01] [-5.98179549e-01 8.01361387e-01 1.07459337e-03 -1.84347842e+02] [ 1.87444081e-03 5.82267562e-05 9.99998242e-01 1.44279666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.72999999999996 meters Centerline goodness [0,1] 0.9993189770565719 Centerline is valid? [True, True] Translation: X:27.52, Y:-184.36, Z:1.44 [[ 7.98756779e-01 6.01653500e-01 -8.20678690e-04 2.75224776e+01] [-6.01653227e-01 7.98757200e-01 5.73536462e-04 -1.84362399e+02] [ 1.00059323e-03 3.56478451e-05 9.99999499e-01 1.44395183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.76 meters Centerline goodness [0,1] 0.9992953280248045 Centerline is valid? [True, True] Translation: X:27.55, Y:-184.38, Z:1.44 [[ 7.96451550e-01 6.04702346e-01 2.83476983e-05 2.75466422e+01] [-6.04702346e-01 7.96451550e-01 -1.98057856e-05 -1.84378608e+02] [-3.45541731e-05 -1.36757098e-06 9.99999999e-01 1.44441343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.78999999999996 meters Centerline goodness [0,1] 0.999577286177258 Centerline is valid? [True, True] Translation: X:27.57, Y:-184.39, Z:1.44 [[ 7.94426459e-01 6.07360128e-01 5.24941305e-04 2.75729979e+01] [-6.07360018e-01 7.94426632e-01 -3.66652665e-04 -1.84389958e+02] [-6.39717562e-04 -2.75497819e-05 9.99999795e-01 1.44480609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.82 meters Centerline goodness [0,1] 0.9995776828867721 Centerline is valid? [True, True] Translation: X:27.60, Y:-184.41, Z:1.44 [[ 7.92449015e-01 6.09937463e-01 9.21337272e-04 2.75958518e+01] [-6.09937126e-01 7.92449549e-01 -6.43223906e-04 -1.84408780e+02] [-1.12243966e-03 -5.22356569e-05 9.99999369e-01 1.44432539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.84999999999997 meters Centerline goodness [0,1] 0.9995091049346642 Centerline is valid? [True, True] Translation: X:27.62, Y:-184.42, Z:1.44 [[ 7.92298210e-01 6.10133926e-01 3.73721595e-04 2.76198552e+01] [-6.10133870e-01 7.92298298e-01 -2.60779564e-04 -1.84424806e+02] [-4.55209442e-04 -2.14050214e-05 9.99999896e-01 1.44364761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.88 meters Centerline goodness [0,1] 0.9995775441231693 Centerline is valid? [True, True] Translation: X:27.64, Y:-184.44, Z:1.44 [[ 7.92235080e-01 6.10215891e-01 -3.79472211e-04 2.76435328e+01] [-6.10215834e-01 7.92235171e-01 2.64739843e-04 -1.84439022e+02] [ 4.62179692e-04 2.18237613e-05 9.99999893e-01 1.44302713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.90999999999997 meters Centerline goodness [0,1] 0.9993675185645013 Centerline is valid? [True, True] Translation: X:27.66, Y:-184.46, Z:1.44 [[ 7.92355952e-01 6.10055630e-01 -2.04296927e-03 2.76642464e+01] [-6.10053979e-01 7.92358577e-01 1.42443970e-03 -1.84458248e+02] [ 2.48775168e-03 1.17658256e-04 9.99996899e-01 1.44133664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.94 meters Centerline goodness [0,1] 0.9995077125041024 Centerline is valid? [True, True] Translation: X:27.69, Y:-184.47, Z:1.44 [[ 7.92240664e-01 6.10203395e-01 -2.55860249e-03 2.76887612e+01] [-6.10200808e-01 7.92244782e-01 1.78303977e-03 -1.84474069e+02] [ 3.11505639e-03 1.48664695e-04 9.99995137e-01 1.44065820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.96999999999997 meters Centerline goodness [0,1] 0.9994604358739766 Centerline is valid? [True, True] Translation: X:27.71, Y:-184.49, Z:1.44 [[ 7.92427192e-01 6.09959783e-01 -2.86517701e-03 2.77113557e+01] [-6.09956539e-01 7.92432354e-01 1.99619945e-03 -1.84488695e+02] [ 3.48806035e-03 1.65790724e-04 9.99993903e-01 1.44017584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.0 meters Centerline goodness [0,1] 0.9995549830190888 Centerline is valid? [True, True] Translation: X:27.73, Y:-184.50, Z:1.44 [[ 7.92661357e-01 6.09655730e-01 -2.80408083e-03 2.77345436e+01] [-6.09652625e-01 7.92666301e-01 1.95248921e-03 -1.84504587e+02] [ 3.41304662e-03 1.61852490e-04 9.99994162e-01 1.43953627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.03 meters Centerline goodness [0,1] 0.9995313964386129 Centerline is valid? [True, True] Translation: X:27.76, Y:-184.52, Z:1.44 [[ 7.93025296e-01 6.09181123e-01 -3.03978545e-03 2.77582247e+01] [-6.09177474e-01 7.93031103e-01 2.11553203e-03 -1.84521312e+02] [ 3.69938658e-03 1.74098409e-04 9.99993142e-01 1.44004054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.06 meters Centerline goodness [0,1] 0.9993904869071899 Centerline is valid? [True, True] Translation: X:27.78, Y:-184.54, Z:1.44 [[ 7.93145150e-01 6.09025721e-01 -2.90559630e-03 2.77812449e+01] [-6.09022388e-01 7.93150455e-01 2.02163399e-03 -1.84535180e+02] [ 3.53580213e-03 1.66124003e-04 9.99993735e-01 1.43999110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.09 meters Centerline goodness [0,1] 0.9996239452840389 Centerline is valid? [True, True] Translation: X:27.80, Y:-184.55, Z:1.44 [[ 7.94493052e-01 6.07267146e-01 -2.72120410e-03 2.78038833e+01] [-6.07264214e-01 7.94497698e-01 1.89287341e-03 -1.84554065e+02] [ 3.31147023e-03 1.48615092e-04 9.99994506e-01 1.44186183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.12 meters Centerline goodness [0,1] 0.9995329285380663 Centerline is valid? [True, True] Translation: X:27.83, Y:-184.57, Z:1.44 [[ 7.96113717e-01 6.05143349e-01 -2.11596455e-03 2.78280574e+01] [-6.05141569e-01 7.96116521e-01 1.47160002e-03 -1.84568027e+02] [ 2.57508330e-03 1.08897147e-04 9.99996679e-01 1.44215439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.15 meters Centerline goodness [0,1] 0.9995776135163674 Centerline is valid? [True, True] Translation: X:27.85, Y:-184.58, Z:1.44 [[ 7.96706642e-01 6.04363820e-01 -1.70292273e-03 2.78513269e+01] [-6.04362666e-01 7.96708458e-01 1.18412919e-03 -1.84582935e+02] [ 2.07237778e-03 8.57793257e-05 9.99997849e-01 1.44313361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.18 meters Centerline goodness [0,1] 0.9994819994819995 Centerline is valid? [True, True] Translation: X:27.87, Y:-184.60, Z:1.44 [[ 7.97209252e-01 6.03700143e-01 -1.88318615e-03 2.78737918e+01] [-6.03698731e-01 7.97211471e-01 1.30884899e-03 -1.84601703e+02] [ 2.29144992e-03 9.34505685e-05 9.99997370e-01 1.44359188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.21 meters Centerline goodness [0,1] 0.9996491228070176 Centerline is valid? [True, True] Translation: X:27.90, Y:-184.61, Z:1.44 [[ 7.98272376e-01 6.02293586e-01 -1.91022815e-03 2.78987784e+01] [-6.02292131e-01 7.98274657e-01 1.32729120e-03 -1.84614489e+02] [ 2.32430570e-03 9.09754859e-05 9.99997295e-01 1.44307766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.24 meters Centerline goodness [0,1] 0.999625301515187 Centerline is valid? [True, True] Translation: X:27.92, Y:-184.63, Z:1.44 [[ 7.99261032e-01 6.00980868e-01 -1.94919808e-03 2.79199850e+01] [-6.00979350e-01 7.99263404e-01 1.35368933e-03 -1.84633565e+02] [ 2.37146408e-03 8.94766668e-05 9.99997184e-01 1.44266998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.27 meters Centerline goodness [0,1] 0.9993917844109665 Centerline is valid? [True, True] Translation: X:27.94, Y:-184.65, Z:1.44 [[ 8.00512537e-01 5.99313960e-01 -1.56662373e-03 2.79426180e+01] [-5.99312978e-01 8.00514068e-01 1.08745775e-03 -1.84651287e+02] [ 1.90583294e-03 6.83743695e-05 9.99998182e-01 1.44249130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.3 meters Centerline goodness [0,1] 0.9993883648168623 Centerline is valid? [True, True] Translation: X:27.97, Y:-184.67, Z:1.44 [[ 8.00522954e-01 5.99300197e-01 -1.50796073e-03 2.79653426e+01] [-5.99299288e-01 8.00524372e-01 1.04620223e-03 -1.84669024e+02] [ 1.83414852e-03 6.62108965e-05 9.99998316e-01 1.44247011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.33 meters Centerline goodness [0,1] 0.9995762512359339 Centerline is valid? [True, True] Translation: X:27.99, Y:-184.68, Z:1.44 [[ 8.00928673e-01 5.98755860e-01 -2.16348626e-03 2.79884738e+01] [-5.98753986e-01 8.00931590e-01 1.50072856e-03 -1.84683899e+02] [ 2.63137451e-03 9.34194856e-05 9.99996534e-01 1.44201799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.36 meters Centerline goodness [0,1] 0.9995762512359339 Centerline is valid? [True, True] Translation: X:28.01, Y:-184.70, Z:1.44 [[ 8.01090171e-01 5.98539770e-01 -2.16389224e-03 2.80110097e+01] [-5.98537897e-01 8.01093088e-01 1.50014312e-03 -1.84699429e+02] [ 2.63137444e-03 9.34216023e-05 9.99996534e-01 1.44201768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.39 meters Centerline goodness [0,1] 0.9995066369082579 Centerline is valid? [True, True] Translation: X:28.03, Y:-184.72, Z:1.44 [[ 8.01647989e-01 5.97792737e-01 -2.08460924e-03 2.80326677e+01] [-5.97790999e-01 8.01650694e-01 1.44441599e-03 -1.84718877e+02] [ 2.53458984e-03 8.82474637e-05 9.99996784e-01 1.44274947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.41999999999996 meters Centerline goodness [0,1] 0.9994141220032341 Centerline is valid? [True, True] Translation: X:28.06, Y:-184.74, Z:1.44 [[ 8.02043267e-01 5.97263058e-01 -1.85427294e-03 2.80562092e+01] [-5.97261682e-01 8.02045406e-01 1.28414056e-03 -1.84735206e+02] [ 2.25418081e-03 7.75498897e-05 9.99997456e-01 1.44331166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.45 meters Centerline goodness [0,1] 0.9991531802785096 Centerline is valid? [True, True] Translation: X:28.08, Y:-184.75, Z:1.44 [[ 8.01914988e-01 5.97433317e-01 -2.40496689e-03 2.80802900e+01] [-5.97431006e-01 8.01918588e-01 1.66464434e-03 -1.84751181e+02] [ 2.92310164e-03 1.01898540e-04 9.99995723e-01 1.44325232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.47999999999996 meters Centerline goodness [0,1] 0.9994843548576117 Centerline is valid? [True, True] Translation: X:28.11, Y:-184.76, Z:1.44 [[ 8.01267846e-01 5.98299951e-01 -2.64737773e-03 2.81054891e+01] [-5.98297157e-01 8.01272211e-01 1.83209683e-03 -1.84763203e+02] [ 3.21741364e-03 1.15918290e-04 9.99994817e-01 1.44250792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.51 meters Centerline goodness [0,1] 0.9992966661977775 Centerline is valid? [True, True] Translation: X:28.13, Y:-184.78, Z:1.44 [[ 8.00650361e-01 5.99124915e-01 -2.88739678e-03 2.81276219e+01] [-5.99121598e-01 8.00655556e-01 1.99765336e-03 -1.84780945e+02] [ 3.50865417e-03 1.30479885e-04 9.99993836e-01 1.44247135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.53999999999996 meters Centerline goodness [0,1] 0.9993685687558466 Centerline is valid? [True, True] Translation: X:28.15, Y:-184.80, Z:1.44 [[ 8.00210314e-01 5.99712817e-01 -2.82668277e-03 2.81515162e+01] [-5.99709646e-01 8.00215296e-01 1.95464761e-03 -1.84796646e+02] [ 3.43418202e-03 1.31059750e-04 9.99994095e-01 1.44267898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.57 meters Centerline goodness [0,1] 0.9992273110424277 Centerline is valid? [True, True] Translation: X:28.18, Y:-184.81, Z:1.44 [[ 7.98924014e-01 6.01423923e-01 -3.11199613e-03 2.81752833e+01] [-6.01420097e-01 7.98930060e-01 2.15086595e-03 -1.84813061e+02] [ 3.77984950e-03 1.53238560e-04 9.99992845e-01 1.44242199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.59999999999997 meters Centerline goodness [0,1] 0.9994611816520639 Centerline is valid? [True, True] Translation: X:28.20, Y:-184.83, Z:1.44 [[ 7.98211445e-01 6.02369503e-01 -3.07755951e-03 2.81985745e+01] [-6.02365772e-01 7.98217362e-01 2.12595216e-03 -1.84829903e+02] [ 3.73717018e-03 1.56857166e-04 9.99993004e-01 1.44228379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.63 meters Centerline goodness [0,1] 0.9995805173619203 Centerline is valid? [True, True] Translation: X:28.22, Y:-184.84, Z:1.44 [[ 7.94911174e-01 6.06719137e-01 -2.84866915e-03 2.82242116e+01] [-6.06715970e-01 7.94916261e-01 1.96733058e-03 -1.84841146e+02] [ 3.45807054e-03 1.64480006e-04 9.99994007e-01 1.44253427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.65999999999997 meters Centerline goodness [0,1] 0.9996505451495666 Centerline is valid? [True, True] Translation: X:28.25, Y:-184.86, Z:1.44 [[ 7.93619631e-01 6.08407856e-01 -2.78612566e-03 2.82485579e+01] [-6.08404837e-01 7.93624504e-01 1.92384967e-03 -1.84856598e+02] [ 3.38162284e-03 1.68287463e-04 9.99994268e-01 1.44297977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.69 meters Centerline goodness [0,1] 0.9996484732019404 Centerline is valid? [True, True] Translation: X:28.27, Y:-184.87, Z:1.44 [[ 7.91564294e-01 6.11081286e-01 -2.37283819e-03 2.82718113e+01] [-6.11079111e-01 7.91567835e-01 1.63763307e-03 -1.84873042e+02] [ 2.87898931e-03 1.53699990e-04 9.99995844e-01 1.44338467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.71999999999997 meters Centerline goodness [0,1] 0.9995810738473713 Centerline is valid? [True, True] Translation: X:28.30, Y:-184.89, Z:1.44 [[ 7.90594473e-01 6.12336810e-01 -2.00289640e-03 2.82956172e+01] [-6.12335265e-01 7.90596998e-01 1.38197373e-03 -1.84888861e+02] [ 2.42971727e-03 1.33863309e-04 9.99997039e-01 1.44408844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.75 meters Centerline goodness [0,1] 0.9996955574810894 Centerline is valid? [True, True] Translation: X:28.32, Y:-184.90, Z:1.44 [[ 7.88262639e-01 6.15336305e-01 -1.80102879e-03 2.83215043e+01] [-6.15335065e-01 7.88264686e-01 1.24235725e-03 -1.84899934e+02] [ 2.18415492e-03 1.28932364e-04 9.99997606e-01 1.44489878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.78 meters Centerline goodness [0,1] 0.9995797828878253 Centerline is valid? [True, True] Translation: X:28.34, Y:-184.92, Z:1.45 [[ 7.87602614e-01 6.16179956e-01 -2.09390535e-03 2.83437110e+01] [-6.16178283e-01 7.87605383e-01 1.44412168e-03 -1.84917443e+02] [ 2.53900995e-03 1.52824994e-04 9.99996765e-01 1.44507495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.81 meters Centerline goodness [0,1] 0.9996964389959136 Centerline is valid? [True, True] Translation: X:28.37, Y:-184.93, Z:1.45 [[ 7.86385036e-01 6.17730836e-01 -2.68140298e-03 2.83676470e+01] [-6.17728102e-01 7.86389581e-01 1.84889791e-03 -1.84933152e+02] [ 3.25074862e-03 2.02432326e-04 9.99994696e-01 1.44505990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.84 meters Centerline goodness [0,1] 0.9996249062265566 Centerline is valid? [True, True] Translation: X:28.39, Y:-184.95, Z:1.44 [[ 7.86400213e-01 6.17712375e-01 -2.47527772e-03 2.83908455e+01] [-6.17710048e-01 7.86404086e-01 1.70588959e-03 -1.84949242e+02] [ 3.00031762e-03 1.87491975e-04 9.99995482e-01 1.44495554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.87 meters Centerline goodness [0,1] 0.9996502191959705 Centerline is valid? [True, True] Translation: X:28.42, Y:-184.96, Z:1.44 [[ 7.86562450e-01 6.17505806e-01 -2.46830907e-03 2.84163168e+01] [-6.17503491e-01 7.86566301e-01 1.70077934e-03 -1.84961579e+02] [ 2.99172985e-03 1.86420307e-04 9.99995507e-01 1.44457260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.9 meters Centerline goodness [0,1] 0.9997425696232155 Centerline is valid? [True, True] Translation: X:28.44, Y:-184.98, Z:1.44 [[ 7.87303904e-01 6.16560289e-01 -2.44384615e-03 2.84399985e+01] [-6.16558019e-01 7.87307676e-01 1.68308696e-03 -1.84978130e+02] [ 2.96178342e-03 1.81672013e-04 9.99995597e-01 1.44465823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.93 meters Centerline goodness [0,1] 0.9997193507647691 Centerline is valid? [True, True] Translation: X:28.46, Y:-185.00, Z:1.44 [[ 7.88312079e-01 6.15271760e-01 -2.17427542e-03 2.84622982e+01] [-6.15269960e-01 7.88315061e-01 1.49678305e-03 -1.84996758e+02] [ 2.63494241e-03 1.57834192e-04 9.99996516e-01 1.44471950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.96 meters Centerline goodness [0,1] 0.9995785727664357 Centerline is valid? [True, True] Translation: X:28.48, Y:-185.02, Z:1.45 [[ 7.89631590e-01 6.13576915e-01 -2.30697724e-03 2.84828850e+01] [-6.13574883e-01 7.89634943e-01 1.58735704e-03 -1.85018214e+02] [ 2.79563548e-03 1.62076028e-04 9.99996079e-01 1.44502559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.99 meters Centerline goodness [0,1] 0.9995081621659602 Centerline is valid? [True, True] Translation: X:28.51, Y:-185.03, Z:1.45 [[ 7.91041119e-01 6.11757481e-01 -2.59472280e-03 2.85067695e+01] [-6.11754903e-01 7.91045355e-01 1.78465834e-03 -1.85033169e+02] [ 3.14432151e-03 1.75596269e-04 9.99995041e-01 1.44559479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.02 meters Centerline goodness [0,1] 0.9995789867614726 Centerline is valid? [True, True] Translation: X:28.53, Y:-185.05, Z:1.45 [[ 7.92827768e-01 6.09440483e-01 -2.53534433e-03 2.85299063e+01] [-6.09438012e-01 7.92831805e-01 1.74308929e-03 -1.85049985e+02] [ 3.07241080e-03 1.63165615e-04 9.99995267e-01 1.44593484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.05 meters Centerline goodness [0,1] 0.9997904344991384 Centerline is valid? [True, True] Translation: X:28.56, Y:-185.06, Z:1.45 [[ 7.94856295e-01 6.06793749e-01 -2.19470914e-03 2.85557967e+01] [-6.06791888e-01 7.94859314e-01 1.50861304e-03 -1.85060974e+02] [ 2.65990196e-03 1.32601132e-04 9.99996454e-01 1.44632716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.08 meters Centerline goodness [0,1] 0.9996037757837082 Centerline is valid? [True, True] Translation: X:28.58, Y:-185.08, Z:1.45 [[ 7.98406851e-01 6.02114121e-01 -2.25507703e-03 2.85768136e+01] [-6.02112140e-01 7.98410026e-01 1.54934024e-03 -1.85081749e+02] [ 2.73335574e-03 1.20805398e-04 9.99996257e-01 1.44711203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.11 meters Centerline goodness [0,1] 0.9996485555633654 Centerline is valid? [True, True] Translation: X:28.60, Y:-185.10, Z:1.45 [[ 8.00411740e-01 5.99446772e-01 -2.14806590e-03 2.86007591e+01] [-5.99444966e-01 8.00414615e-01 1.47512697e-03 -1.85098711e+02] [ 2.60360344e-03 1.06938350e-04 9.99996605e-01 1.44705123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.14 meters Centerline goodness [0,1] 0.9992971605285352 Centerline is valid? [True, True] Translation: X:28.62, Y:-185.12, Z:1.45 [[ 8.02185422e-01 5.97071568e-01 -2.02291411e-03 2.86232347e+01] [-5.97069961e-01 8.02187967e-01 1.38851460e-03 -1.85117162e+02] [ 2.45179994e-03 9.39750772e-05 9.99996990e-01 1.44682938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.16999999999996 meters Centerline goodness [0,1] 0.9994604358739766 Centerline is valid? [True, True] Translation: X:28.65, Y:-185.14, Z:1.45 [[ 8.05630539e-01 5.92416078e-01 -1.61997788e-03 2.86455467e+01] [-5.92415039e-01 8.05632166e-01 1.11139242e-03 -1.85135747e+02] [ 1.96351303e-03 6.43275841e-05 9.99998070e-01 1.44728752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.2 meters Centerline goodness [0,1] 0.9993207953720402 Centerline is valid? [True, True] Translation: X:28.67, Y:-185.15, Z:1.45 [[ 8.06915571e-01 5.90664405e-01 -1.67968590e-03 2.86692067e+01] [-5.90663285e-01 8.06917317e-01 1.15176192e-03 -1.85151001e+02] [ 2.03567241e-03 6.27541603e-05 9.99997926e-01 1.44716960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.22999999999996 meters Centerline goodness [0,1] 0.9994371086145836 Centerline is valid? [True, True] Translation: X:28.69, Y:-185.17, Z:1.45 [[ 8.08170719e-01 5.88945443e-01 -1.83139190e-03 2.86929808e+01] [-5.88944109e-01 8.08172792e-01 1.25519337e-03 -1.85168042e+02] [ 2.21932152e-03 6.41769447e-05 9.99997535e-01 1.44707877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.26 meters Centerline goodness [0,1] 0.9992719073678277 Centerline is valid? [True, True] Translation: X:28.72, Y:-185.18, Z:1.45 [[ 8.09539599e-01 5.87061964e-01 -1.97183027e-03 2.87165262e+01] [-5.87060413e-01 8.09541998e-01 1.35076280e-03 -1.85184427e+02] [ 2.38926088e-03 6.40875155e-05 9.99997144e-01 1.44725442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.28999999999996 meters Centerline goodness [0,1] 0.9991517236504159 Centerline is valid? [True, True] Translation: X:28.74, Y:-185.20, Z:1.45 [[ 8.11117687e-01 5.84879658e-01 -1.97050684e-03 2.87385779e+01] [-5.84878105e-01 8.11120079e-01 1.34914362e-03 -1.85203405e+02] [ 2.38740433e-03 5.81920542e-05 9.99997148e-01 1.44700556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.32 meters Centerline goodness [0,1] 0.9992277811578603 Centerline is valid? [True, True] Translation: X:28.76, Y:-185.22, Z:1.45 [[ 8.12418601e-01 5.83069580e-01 -2.42535210e-03 2.87624142e+01] [-5.83067220e-01 8.12422218e-01 1.66010744e-03 -1.85220427e+02] [ 2.93836808e-03 6.54411420e-05 9.99995681e-01 1.44674405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.34999999999997 meters Centerline goodness [0,1] 0.9990828708494027 Centerline is valid? [True, True] Translation: X:28.78, Y:-185.24, Z:1.45 [[ 8.14211509e-01 5.80558707e-01 -3.34770385e-03 2.87844719e+01] [-5.80554191e-01 8.14218387e-01 2.29101539e-03 -1.85237368e+02] [ 4.05583096e-03 7.81524019e-05 9.99991772e-01 1.44557766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.38 meters Centerline goodness [0,1] 0.9992272205699834 Centerline is valid? [True, True] Translation: X:28.81, Y:-185.25, Z:1.45 [[ 8.14713201e-01 5.79851192e-01 -3.87231682e-03 2.88070812e+01] [-5.79845150e-01 8.14722399e-01 2.64845668e-03 -1.85253327e+02] [ 4.69057401e-03 8.76115133e-05 9.99988995e-01 1.44505620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.40999999999997 meters Centerline goodness [0,1] 0.9991811141526871 Centerline is valid? [True, True] Translation: X:28.83, Y:-185.27, Z:1.44 [[ 8.14879950e-01 5.79614724e-01 -4.17592663e-03 2.88294889e+01] [-5.79607703e-01 8.14890645e-01 2.85436299e-03 -1.85269590e+02] [ 5.05735436e-03 9.44360748e-05 9.99987207e-01 1.44455757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.44 meters Centerline goodness [0,1] 0.9990594874206442 Centerline is valid? [True, True] Translation: X:28.85, Y:-185.28, Z:1.44 [[ 8.15078751e-01 5.79334432e-01 -4.27157822e-03 2.88519794e+01] [-5.79327086e-01 8.15089938e-01 2.91897240e-03 -1.85284300e+02] [ 5.17278165e-03 9.54485880e-05 9.99986617e-01 1.44410569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.46999999999997 meters Centerline goodness [0,1] 0.9992488791869117 Centerline is valid? [True, True] Translation: X:28.87, Y:-185.30, Z:1.44 [[ 8.15284925e-01 5.79047200e-01 -3.85116453e-03 2.88743572e+01] [-5.79041231e-01 8.15294016e-01 2.63060105e-03 -1.85298438e+02] [ 4.66307357e-03 8.52936674e-05 9.99989124e-01 1.44479334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.5 meters Centerline goodness [0,1] 0.9991737488196412 Centerline is valid? [True, True] Translation: X:28.90, Y:-185.31, Z:1.45 [[ 8.15334560e-01 5.78976385e-01 -3.98759972e-03 2.88972247e+01] [-5.78969992e-01 8.15344306e-01 2.72213070e-03 -1.85314302e+02] [ 4.82731612e-03 8.92533425e-05 9.99988345e-01 1.44538429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.53 meters Centerline goodness [0,1] 0.9990342715816747 Centerline is valid? [True, True] Translation: X:28.92, Y:-185.33, Z:1.45 [[ 8.15970481e-01 5.78079027e-01 -4.10034774e-03 2.89208128e+01] [-5.78072264e-01 8.15980779e-01 2.79760941e-03 -1.85330621e+02] [ 4.96304427e-03 8.75305994e-05 9.99987680e-01 1.44520391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.56 meters Centerline goodness [0,1] 0.9991514837249864 Centerline is valid? [True, True] Translation: X:28.94, Y:-185.35, Z:1.45 [[ 8.17474468e-01 5.75946282e-01 -4.62323757e-03 2.89437113e+01] [-5.75937660e-01 8.17487537e-01 3.15266390e-03 -1.85348432e+02] [ 5.59520415e-03 8.54743792e-05 9.99984343e-01 1.44532705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.59 meters Centerline goodness [0,1] 0.9989435131708692 Centerline is valid? [True, True] Translation: X:28.97, Y:-185.37, Z:1.44 [[ 8.19581863e-01 5.72931929e-01 -5.88003396e-03 2.89668657e+01] [-5.72917919e-01 8.19602951e-01 4.00754107e-03 -1.85365827e+02] [ 7.11534142e-03 8.42688439e-05 9.99974682e-01 1.44396537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.62 meters Centerline goodness [0,1] 0.9991758500518038 Centerline is valid? [True, True] Translation: X:28.99, Y:-185.38, Z:1.44 [[ 8.20087113e-01 5.72203045e-01 -6.38764602e-03 2.89899097e+01] [-5.72186499e-01 8.20111985e-01 4.35234728e-03 -1.85380630e+02] [ 7.72901142e-03 8.56209023e-05 9.99970127e-01 1.44323417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.65 meters Centerline goodness [0,1] 0.999131740742479 Centerline is valid? [True, True] Translation: X:29.01, Y:-185.40, Z:1.44 [[ 8.20435796e-01 5.71705660e-01 -6.14358578e-03 2.90125522e+01] [-5.71690358e-01 8.20458794e-01 4.18351512e-03 -1.85396283e+02] [ 7.43229826e-03 7.99231977e-05 9.99972377e-01 1.44296164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.68 meters Centerline goodness [0,1] 0.9992018779342723 Centerline is valid? [True, True] Translation: X:29.04, Y:-185.41, Z:1.44 [[ 8.21670836e-01 5.69942339e-01 -4.77154982e-03 2.90351187e+01] [-5.69933083e-01 8.21684689e-01 3.24861226e-03 -1.85411935e+02] [ 5.77223110e-03 5.01741451e-05 9.99983339e-01 1.44472068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.71 meters Centerline goodness [0,1] 0.9992032059243983 Centerline is valid? [True, True] Translation: X:29.06, Y:-185.43, Z:1.45 [[ 8.21820243e-01 5.69728153e-01 -4.61742498e-03 2.90584254e+01] [-5.69719492e-01 8.21833213e-01 3.14181936e-03 -1.85426374e+02] [ 5.58473615e-03 4.86262681e-05 9.99984404e-01 1.44607043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.74 meters Centerline goodness [0,1] 0.9988954950297276 Centerline is valid? [True, True] Translation: X:29.08, Y:-185.44, Z:1.45 [[ 8.22383025e-01 5.68921251e-01 -3.84322683e-03 2.90817217e+01] [-5.68915248e-01 8.22392004e-01 2.61364854e-03 -1.85442356e+02] [ 4.64759921e-03 3.70501529e-05 9.99989199e-01 1.44734575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.77 meters Centerline goodness [0,1] 0.9993174543400489 Centerline is valid? [True, True] Translation: X:29.11, Y:-185.46, Z:1.45 [[ 8.22682294e-01 5.68486806e-01 -4.07376951e-03 2.91052959e+01] [-5.68480064e-01 8.22692379e-01 2.76873004e-03 -1.85458036e+02] [ 4.92544563e-03 3.80715799e-05 9.99987869e-01 1.44800415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.8 meters Centerline goodness [0,1] 0.999321383441756 Centerline is valid? [True, True] Translation: X:29.13, Y:-185.47, Z:1.45 [[ 8.23670944e-01 5.67052184e-01 -4.24227787e-03 2.91278941e+01] [-5.67044864e-01 8.23681868e-01 2.88146910e-03 -1.85473543e+02] [ 5.12823070e-03 3.21795019e-05 9.99986850e-01 1.44839652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.83 meters Centerline goodness [0,1] 0.9990838833947993 Centerline is valid? [True, True] Translation: X:29.15, Y:-185.49, Z:1.45 [[ 8.24496461e-01 5.65852405e-01 -4.07947735e-03 2.91505514e+01] [-5.65845624e-01 8.24506553e-01 2.77036148e-03 -1.85489641e+02] [ 4.93117152e-03 2.42011716e-05 9.99987841e-01 1.44856042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.86 meters Centerline goodness [0,1] 0.999012670725687 Centerline is valid? [True, True] Translation: X:29.17, Y:-185.50, Z:1.45 [[ 8.24912067e-01 5.65244824e-01 -4.28605326e-03 2.91738369e+01] [-5.65237340e-01 8.24923201e-01 2.90884499e-03 -1.85504799e+02] [ 5.17987435e-03 2.30960047e-05 9.99986584e-01 1.44837632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.89 meters Centerline goodness [0,1] 0.9987783964103648 Centerline is valid? [True, True] Translation: X:29.20, Y:-185.52, Z:1.45 [[ 8.25462826e-01 5.64438915e-01 -4.45347483e-03 2.91971414e+01] [-5.64430833e-01 8.25474839e-01 3.02058368e-03 -1.85520824e+02] [ 5.38116640e-03 2.02989639e-05 9.99985521e-01 1.44846925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.91999999999996 meters Centerline goodness [0,1] 0.998920466546197 Centerline is valid? [True, True] Translation: X:29.22, Y:-185.54, Z:1.45 [[ 8.26038102e-01 5.63597472e-01 -4.35237918e-03 2.92201681e+01] [-5.63589751e-01 8.26049568e-01 2.95016584e-03 -1.85537193e+02] [ 5.25798695e-03 1.60069069e-05 9.99986177e-01 1.44866679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.95 meters Centerline goodness [0,1] 0.9987561897162704 Centerline is valid? [True, True] Translation: X:29.24, Y:-185.55, Z:1.45 [[ 8.26161723e-01 5.63415070e-01 -4.50196030e-03 2.92424865e+01] [-5.63406810e-01 8.26173988e-01 3.05072984e-03 -1.85551772e+02] [ 5.43822966e-03 1.60388682e-05 9.99985213e-01 1.44882995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.97999999999996 meters Centerline goodness [0,1] 0.998897257220619 Centerline is valid? [True, True] Translation: X:29.26, Y:-185.57, Z:1.45 [[ 8.26870073e-01 5.62375211e-01 -4.47263634e-03 2.92647505e+01] [-5.62367048e-01 8.26882169e-01 3.03004397e-03 -1.85567625e+02] [ 5.40236485e-03 9.81061083e-06 9.99985407e-01 1.44864763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.01 meters Centerline goodness [0,1] 0.9986893840104849 Centerline is valid? [True, True] Translation: X:29.29, Y:-185.58, Z:1.45 [[ 8.26562087e-01 5.62816960e-01 -5.67334472e-03 2.92891965e+01] [-5.62803850e-01 8.26581556e-01 3.84141414e-03 -1.85582680e+02] [ 6.85149514e-03 1.78129675e-05 9.99976528e-01 1.44884109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.03999999999996 meters Centerline goodness [0,1] 0.9985905567300916 Centerline is valid? [True, True] Translation: X:29.31, Y:-185.60, Z:1.45 [[ 8.26800041e-01 5.62468476e-01 -5.55936343e-03 2.93123457e+01] [-5.62455896e-01 8.26818731e-01 3.76192184e-03 -1.85598637e+02] [ 6.71254825e-03 1.65396078e-05 9.99977470e-01 1.44899469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.07 meters Centerline goodness [0,1] 0.9988757465745404 Centerline is valid? [True, True] Translation: X:29.34, Y:-185.61, Z:1.45 [[ 8.26464424e-01 5.62960156e-01 -5.69367975e-03 2.93354722e+01] [-5.62946979e-01 8.26484036e-01 3.85179701e-03 -1.85613439e+02] [ 6.87414367e-03 2.18666179e-05 9.99976373e-01 1.44905626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.09999999999997 meters Centerline goodness [0,1] 0.9988745603751465 Centerline is valid? [True, True] Translation: X:29.36, Y:-185.63, Z:1.45 [[ 8.25529205e-01 5.64330800e-01 -5.68154022e-03 2.93592613e+01] [-5.64317719e-01 8.25548755e-01 3.84248095e-03 -1.85628700e+02] [ 6.85881880e-03 3.41135778e-05 9.99976477e-01 1.44915739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.13 meters Centerline goodness [0,1] 0.9989896853927305 Centerline is valid? [True, True] Translation: X:29.38, Y:-185.64, Z:1.45 [[ 8.24850836e-01 5.65322313e-01 -5.63752397e-03 2.93832566e+01] [-5.65309462e-01 8.24870099e-01 3.81199605e-03 -1.85643316e+02] [ 6.80523138e-03 4.26175166e-05 9.99976843e-01 1.44898442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.15999999999997 meters Centerline goodness [0,1] 0.9990617376618502 Centerline is valid? [True, True] Translation: X:29.41, Y:-185.66, Z:1.45 [[ 8.24217010e-01 5.66247239e-01 -5.51227676e-03 2.94065015e+01] [-5.66234987e-01 8.24235441e-01 3.72526642e-03 -1.85659470e+02] [ 6.65283569e-03 5.08160079e-05 9.99977868e-01 1.44979798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.19 meters Centerline goodness [0,1] 0.9991549692502699 Centerline is valid? [True, True] Translation: X:29.43, Y:-185.67, Z:1.45 [[ 8.23298277e-01 5.67585321e-01 -5.18168592e-03 2.94303739e+01] [-5.67574528e-01 8.23314581e-01 3.50083629e-03 -1.85674196e+02] [ 6.25318086e-03 5.87604527e-05 9.99980447e-01 1.45031847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.21999999999997 meters Centerline goodness [0,1] 0.9989228427584592 Centerline is valid? [True, True] Translation: X:29.45, Y:-185.69, Z:1.45 [[ 8.21917447e-01 5.69583085e-01 -5.17872656e-03 2.94549322e+01] [-5.69572348e-01 8.21933759e-01 3.49818036e-03 -1.85688061e+02] [ 6.24907455e-03 7.44439765e-05 9.99980472e-01 1.44996427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.25 meters Centerline goodness [0,1] 0.9990400374619527 Centerline is valid? [True, True] Translation: X:29.48, Y:-185.70, Z:1.45 [[ 8.21131964e-01 5.70715631e-01 -5.09575163e-03 2.94782546e+01] [-5.70705268e-01 8.21147771e-01 3.44025877e-03 -1.85704326e+02] [ 6.14777455e-03 8.32658572e-05 9.99981099e-01 1.45094847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.28 meters Centerline goodness [0,1] 0.9990400374619527 Centerline is valid? [True, True] Translation: X:29.50, Y:-185.72, Z:1.45 [[ 8.21296488e-01 5.70478836e-01 -5.09674362e-03 2.95009550e+01] [-5.70468478e-01 8.21312298e-01 3.43878897e-03 -1.85719574e+02] [ 6.14777454e-03 8.32662721e-05 9.99981099e-01 1.45094816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.31 meters Centerline goodness [0,1] 0.9991153326814732 Centerline is valid? [True, True] Translation: X:29.53, Y:-185.73, Z:1.45 [[ 8.19370758e-01 5.73241480e-01 -5.07613067e-03 2.95250792e+01] [-5.73231262e-01 8.19386474e-01 3.42422520e-03 -1.85733258e+02] [ 6.12222074e-03 1.04086791e-04 9.99981254e-01 1.45054511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.34 meters Centerline goodness [0,1] 0.999158327878051 Centerline is valid? [True, True] Translation: X:29.55, Y:-185.75, Z:1.45 [[ 8.18506818e-01 5.74471481e-01 -5.39499901e-03 2.95486411e+01] [-5.74459979e-01 8.18524589e-01 3.63736396e-03 -1.85749947e+02] [ 6.50550120e-03 1.22003815e-04 9.99978832e-01 1.45085289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.37 meters Centerline goodness [0,1] 0.9988776393013304 Centerline is valid? [True, True] Translation: X:29.57, Y:-185.77, Z:1.45 [[ 8.17510210e-01 5.75886743e-01 -5.61388169e-03 2.95730269e+01] [-5.75874336e-01 8.17529473e-01 3.78288958e-03 -1.85765480e+02] [ 6.76802970e-03 1.40339530e-04 9.99977087e-01 1.45060994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.4 meters Centerline goodness [0,1] 0.9993939676471959 Centerline is valid? [True, True] Translation: X:29.60, Y:-185.78, Z:1.45 [[ 8.15072477e-01 5.79332865e-01 -5.50358862e-03 2.95986022e+01] [-5.79321022e-01 8.15091041e-01 3.70794389e-03 -1.85777937e+02] [ 6.63405953e-03 1.66101577e-04 9.99977981e-01 1.45070932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.43 meters Centerline goodness [0,1] 0.9994839193975932 Centerline is valid? [True, True] Translation: X:29.62, Y:-185.79, Z:1.45 [[ 8.14039388e-01 5.80785554e-01 -5.29295983e-03 2.96232474e+01] [-5.80774638e-01 8.14056577e-01 3.56504007e-03 -1.85790359e+02] [ 6.37929253e-03 1.71933799e-04 9.99979637e-01 1.45059023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.46 meters Centerline goodness [0,1] 0.9994599798079407 Centerline is valid? [True, True] Translation: X:29.65, Y:-185.81, Z:1.45 [[ 8.13139869e-01 5.82044601e-01 -5.25689453e-03 2.96460088e+01] [-5.82033871e-01 8.13156842e-01 3.53883902e-03 -1.85808424e+02] [ 6.33444189e-03 1.82119578e-04 9.99979921e-01 1.45161092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.49 meters Centerline goodness [0,1] 0.9992714967217352 Centerline is valid? [True, True] Translation: X:29.67, Y:-185.82, Z:1.45 [[ 8.12510141e-01 5.82924833e-01 -5.09011288e-03 2.96703031e+01] [-5.82914797e-01 8.12526064e-01 3.42558604e-03 -1.85822903e+02] [ 6.13270856e-03 1.83778715e-04 9.99981178e-01 1.45179501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.52 meters Centerline goodness [0,1] 0.9993463136760518 Centerline is valid? [True, True] Translation: X:29.69, Y:-185.84, Z:1.45 [[ 8.13570068e-01 5.81441100e-01 -5.47641410e-03 2.96929139e+01] [-5.81429454e-01 8.13588478e-01 3.68486469e-03 -1.85838402e+02] [ 6.59807920e-03 1.86252840e-04 9.99978215e-01 1.45124012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.55 meters Centerline goodness [0,1] 0.999369232566289 Centerline is valid? [True, True] Translation: X:29.72, Y:-185.86, Z:1.45 [[ 8.14612717e-01 5.79974878e-01 -5.93819797e-03 2.97156096e+01] [-5.79961161e-01 8.14634338e-01 3.99344985e-03 -1.85855505e+02] [ 7.15356056e-03 1.90809159e-04 9.99974395e-01 1.45109618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.58 meters Centerline goodness [0,1] 0.9993904726181545 Centerline is valid? [True, True] Translation: X:29.74, Y:-185.87, Z:1.45 [[ 8.15425733e-01 5.78825800e-01 -6.44725914e-03 2.97392296e+01] [-5.78809600e-01 8.15451197e-01 4.33497891e-03 -1.85870820e+02] [ 7.76662282e-03 1.96882131e-04 9.99969820e-01 1.45028376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.61 meters Centerline goodness [0,1] 0.9992952286982874 Centerline is valid? [True, True] Translation: X:29.76, Y:-185.89, Z:1.45 [[ 8.16603182e-01 5.77158786e-01 -6.85411448e-03 2.97620965e+01] [-5.77140438e-01 8.16631923e-01 4.60608387e-03 -1.85887941e+02] [ 8.25573046e-03 1.94443893e-04 9.99965902e-01 1.44997374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.64 meters Centerline goodness [0,1] 0.9989947164165147 Centerline is valid? [True, True] Translation: X:29.78, Y:-185.90, Z:1.45 [[ 8.19277109e-01 5.73368840e-01 -5.76130218e-03 2.97842921e+01] [-5.73355790e-01 8.19297355e-01 3.87066861e-03 -1.85904665e+02] [ 6.93954041e-03 1.32125781e-04 9.99975912e-01 1.44912739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.66999999999996 meters Centerline goodness [0,1] 0.9992491787893008 Centerline is valid? [True, True] Translation: X:29.81, Y:-185.92, Z:1.45 [[ 8.20484586e-01 5.71644688e-01 -5.23394960e-03 2.98074298e+01] [-5.71633895e-01 8.20501273e-01 3.51450673e-03 -1.85922364e+02] [ 6.30351142e-03 1.08304395e-04 9.99980127e-01 1.45069989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.7 meters Centerline goodness [0,1] 0.9991357967020134 Centerline is valid? [True, True] Translation: X:29.83, Y:-185.94, Z:1.45 [[ 8.21825434e-01 5.69720237e-01 -4.66981068e-03 2.98307330e+01] [-5.69711617e-01 8.21838698e-01 3.13510969e-03 -1.85937061e+02] [ 5.62396656e-03 8.39325049e-05 9.99984182e-01 1.45052029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.72999999999996 meters Centerline goodness [0,1] 0.9989201117449585 Centerline is valid? [True, True] Translation: X:29.85, Y:-185.95, Z:1.45 [[ 8.24453151e-01 5.65913557e-01 -4.34132251e-03 2.98532140e+01] [-5.65906062e-01 8.24464580e-01 2.91307361e-03 -1.85954848e+02] [ 5.22781449e-03 5.50880097e-05 9.99986333e-01 1.45106244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.76 meters Centerline goodness [0,1] 0.9989989057807371 Centerline is valid? [True, True] Translation: X:29.88, Y:-185.97, Z:1.45 [[ 8.25758069e-01 5.64005939e-01 -4.57303533e-03 2.98767552e+01] [-5.63997603e-01 8.25770730e-01 3.06691718e-03 -1.85971715e+02] [ 5.50603823e-03 4.66493597e-05 9.99984841e-01 1.45156900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.78999999999996 meters Centerline goodness [0,1] 0.9989685888420066 Centerline is valid? [True, True] Translation: X:29.90, Y:-185.99, Z:1.45 [[ 8.27091353e-01 5.62047342e-01 -4.76219881e-03 2.99005118e+01] [-5.62038279e-01 8.27105062e-01 3.19206554e-03 -1.85987800e+02] [ 5.73293070e-03 3.64082176e-05 9.99983566e-01 1.45158840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.82 meters Centerline goodness [0,1] 0.9989225147568631 Centerline is valid? [True, True] Translation: X:29.92, Y:-186.01, Z:1.45 [[ 8.29208846e-01 5.58923498e-01 -4.14884643e-03 2.99227493e+01] [-5.58916587e-01 8.29219225e-01 2.77945606e-03 -1.86005298e+02] [ 4.99380652e-03 1.41095373e-05 9.99987531e-01 1.45102078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.84999999999997 meters Centerline goodness [0,1] 0.998633911957981 Centerline is valid? [True, True] Translation: X:29.94, Y:-186.02, Z:1.45 [[ 8.31480243e-01 5.55538545e-01 -4.18680831e-03 2.99442186e+01] [-5.55531473e-01 8.31490784e-01 2.80319811e-03 -1.86022890e+02] [ 5.03857713e-03 -4.90005336e-06 9.99987306e-01 1.45098065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.88 meters Centerline goodness [0,1] 0.9985430961556537 Centerline is valid? [True, True] Translation: X:29.97, Y:-186.04, Z:1.45 [[ 8.35543018e-01 5.49408676e-01 -4.23921400e-03 2.99651829e+01] [-5.49401354e-01 8.35553771e-01 2.83675823e-03 -1.86042724e+02] [ 5.10063083e-03 -4.12036182e-05 9.99986991e-01 1.45014938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.90999999999997 meters Centerline goodness [0,1] 0.9984523753693195 Centerline is valid? [True, True] Translation: X:29.99, Y:-186.06, Z:1.45 [[ 8.37556540e-01 5.46333344e-01 -4.34959438e-03 2.99860214e+01] [-5.46325598e-01 8.37567832e-01 2.90995808e-03 -1.86060588e+02] [ 5.23288746e-03 -6.09596696e-05 9.99986307e-01 1.44987223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.94 meters Centerline goodness [0,1] 0.9985715289323935 Centerline is valid? [True, True] Translation: X:30.01, Y:-186.08, Z:1.45 [[ 8.39240090e-01 5.43744833e-01 -4.19855653e-03 3.00103063e+01] [-5.43737590e-01 8.39250589e-01 2.80738988e-03 -1.86076514e+02] [ 5.05014478e-03 -7.31611219e-05 9.99987245e-01 1.45069119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.96999999999997 meters Centerline goodness [0,1] 0.9982912784981977 Centerline is valid? [True, True] Translation: X:30.03, Y:-186.09, Z:1.45 [[ 8.40950939e-01 5.41095910e-01 -4.09079615e-03 3.00338256e+01] [-5.41089011e-01 8.40960884e-01 2.73385354e-03 -1.86093521e+02] [ 4.91947652e-03 -8.55518574e-05 9.99987896e-01 1.45136143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.0 meters Centerline goodness [0,1] 0.9985009603222935 Centerline is valid? [True, True] Translation: X:30.06, Y:-186.11, Z:1.45 [[ 8.42558701e-01 5.38587985e-01 -4.22103892e-03 3.00567467e+01] [-5.38580610e-01 8.42569268e-01 2.82035636e-03 -1.86109018e+02] [ 5.07552772e-03 -1.02946076e-04 9.99987114e-01 1.45139761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.03 meters Centerline goodness [0,1] 0.9988052288806635 Centerline is valid? [True, True] Translation: X:30.08, Y:-186.13, Z:1.45 [[ 8.43832331e-01 5.36593616e-01 -3.77998665e-03 3.00793621e+01] [-5.36587688e-01 8.43840791e-01 2.52431801e-03 -1.86127554e+02] [ 4.54423985e-03 -1.01806853e-04 9.99989670e-01 1.45037245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.06 meters Centerline goodness [0,1] 0.9986531986531987 Centerline is valid? [True, True] Translation: X:30.10, Y:-186.15, Z:1.45 [[ 8.45023517e-01 5.34716714e-01 -3.64579285e-03 3.01015694e+01] [-5.34711187e-01 8.45031375e-01 2.43341199e-03 -1.86146260e+02] [ 4.38199541e-03 -1.06844132e-04 9.99990393e-01 1.44991586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.09 meters Centerline goodness [0,1] 0.9985342701596017 Centerline is valid? [True, True] Translation: X:30.12, Y:-186.16, Z:1.45 [[ 8.45543526e-01 5.33890673e-01 -4.11048983e-03 3.01237625e+01] [-5.33883642e-01 8.45553508e-01 2.74280732e-03 -1.86162447e+02] [ 4.93999834e-03 -1.24639694e-04 9.99987790e-01 1.44956451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.12 meters Centerline goodness [0,1] 0.9984367708819412 Centerline is valid? [True, True] Translation: X:30.15, Y:-186.18, Z:1.45 [[ 8.45745618e-01 5.33568803e-01 -4.32218126e-03 3.01466820e+01] [-5.33561034e-01 8.45756652e-01 2.88233324e-03 -1.86177723e+02] [ 5.19343666e-03 -1.31573205e-04 9.99986505e-01 1.44916229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.15 meters Centerline goodness [0,1] 0.9985079846135914 Centerline is valid? [True, True] Translation: X:30.17, Y:-186.19, Z:1.45 [[ 8.45614465e-01 5.33773089e-01 -4.73979810e-03 3.01703711e+01] [-5.33763760e-01 8.45627737e-01 3.15894690e-03 -1.86192735e+02] [ 5.69426559e-03 -1.41318736e-04 9.99983778e-01 1.44903903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.18 meters Centerline goodness [0,1] 0.9983398026469625 Centerline is valid? [True, True] Translation: X:30.19, Y:-186.21, Z:1.45 [[ 8.45424485e-01 5.34074243e-01 -4.70563545e-03 3.01934301e+01] [-5.34065056e-01 8.45437569e-01 3.13560343e-03 -1.86208538e+02] [ 5.65296603e-03 -1.37800455e-04 9.99984012e-01 1.44885647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.21 meters Centerline goodness [0,1] 0.9984851309779063 Centerline is valid? [True, True] Translation: X:30.22, Y:-186.22, Z:1.45 [[ 8.44821328e-01 5.35032242e-01 -4.17414112e-03 3.02177562e+01] [-5.35025032e-01 8.44831632e-01 2.78000729e-03 -1.86223667e+02] [ 5.01383999e-03 -1.15339461e-04 9.99987424e-01 1.44909241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.24 meters Centerline goodness [0,1] 0.9986941212135345 Centerline is valid? [True, True] Translation: X:30.24, Y:-186.24, Z:1.45 [[ 8.44498947e-01 5.35546467e-01 -3.39266712e-03 3.02424747e+01] [-5.35541713e-01 8.44505757e-01 2.25833744e-03 -1.86238000e+02] [ 4.07457155e-03 -9.02488260e-05 9.99991695e-01 1.44983680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.27 meters Centerline goodness [0,1] 0.9983660893515709 Centerline is valid? [True, True] Translation: X:30.26, Y:-186.25, Z:1.45 [[ 8.44192557e-01 5.36035604e-01 -2.18130628e-03 3.02645403e+01] [-5.36033642e-01 8.44195373e-01 1.45171921e-03 -1.86254722e+02] [ 2.61962185e-03 -5.62770058e-05 9.99996567e-01 1.45036614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.3 meters Centerline goodness [0,1] 0.998370349676398 Centerline is valid? [True, True] Translation: X:30.29, Y:-186.27, Z:1.45 [[ 8.44490938e-01 5.35565442e-01 -2.17081305e-03 3.02890682e+01] [-5.35563499e-01 8.44493726e-01 1.44384847e-03 -1.86268328e+02] [ 2.60651335e-03 -5.67087134e-05 9.99996601e-01 1.45112291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.33 meters Centerline goodness [0,1] 0.9983662800196046 Centerline is valid? [True, True] Translation: X:30.31, Y:-186.28, Z:1.45 [[ 8.45110556e-01 5.34587042e-01 -2.20073496e-03 3.03124652e+01] [-5.34585042e-01 8.45113419e-01 1.46332998e-03 -1.86284259e+02] [ 2.64214789e-03 -6.01956204e-05 9.99996508e-01 1.45109718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.36 meters Centerline goodness [0,1] 0.9984667564930539 Centerline is valid? [True, True] Translation: X:30.33, Y:-186.30, Z:1.45 [[ 8.46775690e-01 5.31937485e-01 -3.66658873e-03 3.03343619e+01] [-5.31931913e-01 8.46783620e-01 2.43731042e-03 -1.86301928e+02] [ 4.40130405e-03 -1.13479655e-04 9.99990308e-01 1.44983046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.39 meters Centerline goodness [0,1] 0.9985109699634722 Centerline is valid? [True, True] Translation: X:30.36, Y:-186.32, Z:1.45 [[ 8.47704385e-01 5.30449515e-01 -4.53737810e-03 3.03582528e+01] [-5.30440970e-01 8.47716515e-01 3.01448802e-03 -1.86317587e+02] [ 5.44544405e-03 -1.48583471e-04 9.99985162e-01 1.44968772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.41999999999996 meters Centerline goodness [0,1] 0.9985321870413084 Centerline is valid? [True, True] Translation: X:30.38, Y:-186.33, Z:1.45 [[ 8.48505158e-01 5.29167089e-01 -4.60322177e-03 3.03801795e+01] [-5.29158279e-01 8.48517629e-01 3.05763699e-03 -1.86334172e+02] [ 5.52391569e-03 -1.58587844e-04 9.99984731e-01 1.44931682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.45 meters Centerline goodness [0,1] 0.998229758688158 Centerline is valid? [True, True] Translation: X:30.40, Y:-186.35, Z:1.45 [[ 8.49549881e-01 5.27486665e-01 -4.77692628e-03 3.04029590e+01] [-5.27477160e-01 8.49563293e-01 3.17130118e-03 -1.86351104e+02] [ 5.73112030e-03 -1.74459029e-04 9.99983562e-01 1.44897544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.47999999999996 meters Centerline goodness [0,1] 0.998208552417291 Centerline is valid? [True, True] Translation: X:30.43, Y:-186.37, Z:1.45 [[ 8.50894475e-01 5.25315783e-01 -4.68186207e-03 3.04258304e+01] [-5.25306630e-01 8.50907336e-01 3.10651547e-03 -1.86369187e+02] [ 5.61573239e-03 -1.83903666e-04 9.99984215e-01 1.44906361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.51 meters Centerline goodness [0,1] 0.9981432914800288 Centerline is valid? [True, True] Translation: X:30.45, Y:-186.39, Z:1.45 [[ 8.52196565e-01 5.23203654e-01 -4.35331475e-03 3.04482197e+01] [-5.23195720e-01 8.52207665e-01 2.88696898e-03 -1.86387452e+02] [ 5.22040091e-03 -1.82629399e-04 9.99986357e-01 1.44870853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.53999999999996 meters Centerline goodness [0,1] 0.9983307444416109 Centerline is valid? [True, True] Translation: X:30.47, Y:-186.41, Z:1.45 [[ 8.53274867e-01 5.21442251e-01 -4.46997785e-03 3.04710111e+01] [-5.21433871e-01 8.53286552e-01 2.96274481e-03 -1.86405644e+02] [ 5.35907231e-03 -1.97237829e-04 9.99985621e-01 1.44875154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.57 meters Centerline goodness [0,1] 0.9981534058121552 Centerline is valid? [True, True] Translation: X:30.49, Y:-186.42, Z:1.45 [[ 8.54515868e-01 5.19409651e-01 -4.03058009e-03 3.04939459e+01] [-5.19402822e-01 8.54525353e-01 2.67006915e-03 -1.86422923e+02] [ 4.83109256e-03 -1.88121779e-04 9.99988313e-01 1.44928617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.59999999999997 meters Centerline goodness [0,1] 0.998401297497683 Centerline is valid? [True, True] Translation: X:30.52, Y:-186.44, Z:1.45 [[ 8.54877421e-01 5.18816757e-01 -3.71057274e-03 3.05178457e+01] [-5.18810970e-01 8.54885456e-01 2.45675492e-03 -1.86438466e+02] [ 4.44672029e-03 -1.75138466e-04 9.99990098e-01 1.44981376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.63 meters Centerline goodness [0,1] 0.9979637171417993 Centerline is valid? [True, True] Translation: X:30.54, Y:-186.45, Z:1.45 [[ 8.55084350e-01 5.18478810e-01 -3.23682489e-03 3.05429248e+01] [-5.18474409e-01 8.55090463e-01 2.14172454e-03 -1.86451723e+02] [ 3.87821689e-03 -1.53144263e-04 9.99992468e-01 1.45123477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.65999999999997 meters Centerline goodness [0,1] 0.9980969849822309 Centerline is valid? [True, True] Translation: X:30.56, Y:-186.47, Z:1.45 [[ 8.55040381e-01 5.18552787e-01 -2.99213944e-03 3.05644821e+01] [-5.18549029e-01 8.55045605e-01 1.97923828e-03 -1.86469955e+02] [ 3.58475521e-03 -1.40757656e-04 9.99993565e-01 1.45183204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.69 meters Centerline goodness [0,1] 0.9981680734625731 Centerline is valid? [True, True] Translation: X:30.59, Y:-186.48, Z:1.45 [[ 8.54807405e-01 5.18938407e-01 -2.68882132e-03 3.05896505e+01] [-5.18935378e-01 8.54811625e-01 1.77764824e-03 -1.86484328e+02] [ 3.22092566e-03 -1.24222370e-04 9.99994805e-01 1.45237481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.71999999999997 meters Centerline goodness [0,1] 0.998350716625241 Centerline is valid? [True, True] Translation: X:30.61, Y:-186.50, Z:1.45 [[ 8.53370304e-01 5.21293430e-01 -3.50482579e-03 3.06147467e+01] [-5.21288303e-01 8.53377488e-01 2.31678144e-03 -1.86498089e+02] [ 4.19866237e-03 -1.50047797e-04 9.99991174e-01 1.45231306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.75 meters Centerline goodness [0,1] 0.9983121777531155 Centerline is valid? [True, True] Translation: X:30.64, Y:-186.51, Z:1.45 [[ 8.52329278e-01 5.22991467e-01 -3.83764980e-03 3.06399217e+01] [-5.22985344e-01 8.52337903e-01 2.53553399e-03 -1.86512690e+02] [ 4.59703702e-03 -1.54075258e-04 9.99989422e-01 1.45164477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.78 meters Centerline goodness [0,1] 0.9981017639705542 Centerline is valid? [True, True] Translation: X:30.67, Y:-186.53, Z:1.45 [[ 8.50733957e-01 5.25583243e-01 -3.74028511e-03 3.06655538e+01] [-5.25577453e-01 8.50742168e-01 2.47082666e-03 -1.86526395e+02] [ 4.48064335e-03 -1.36206618e-04 9.99989953e-01 1.45132135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.81 meters Centerline goodness [0,1] 0.9985784530772995 Centerline is valid? [True, True] Translation: X:30.69, Y:-186.54, Z:1.45 [[ 8.48843685e-01 5.28632925e-01 -3.41011729e-03 3.06912950e+01] [-5.28628141e-01 8.48850528e-01 2.25157770e-03 -1.86540489e+02] [ 4.08493796e-03 -1.08553552e-04 9.99991651e-01 1.45109518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.84 meters Centerline goodness [0,1] 0.9982550023266635 Centerline is valid? [True, True] Translation: X:30.72, Y:-186.56, Z:1.45 [[ 8.46896620e-01 5.31748054e-01 -3.18145891e-03 3.07164686e+01] [-5.31743916e-01 8.46902592e-01 2.09955060e-03 -1.86555174e+02] [ 3.81081774e-03 -8.63808830e-05 9.99992735e-01 1.45103661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.87 meters Centerline goodness [0,1] 0.9985406194259769 Centerline is valid? [True, True] Translation: X:30.74, Y:-186.57, Z:1.45 [[ 8.44820272e-01 5.35044675e-01 -2.42978182e-03 3.07414490e+01] [-5.35042276e-01 8.44823764e-01 1.60324859e-03 -1.86569162e+02] [ 2.91054705e-03 -5.44209133e-05 9.99995763e-01 1.45167555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.9 meters Centerline goodness [0,1] 0.9985510633325544 Centerline is valid? [True, True] Translation: X:30.77, Y:-186.58, Z:1.45 [[ 8.43070989e-01 5.37799774e-01 -1.64639142e-03 3.07666767e+01] [-5.37798679e-01 8.43072596e-01 1.08575154e-03 -1.86583684e+02] [ 1.97194443e-03 -2.99384925e-05 9.99998055e-01 1.45288747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.93 meters Centerline goodness [0,1] 0.9985354286777013 Centerline is valid? [True, True] Translation: X:30.79, Y:-186.60, Z:1.46 [[ 8.39092072e-01 5.43989152e-01 -5.45056343e-04 3.07919793e+01] [-5.43989033e-01 8.39092249e-01 3.59381230e-04 -1.86595700e+02] [ 6.52852043e-04 -5.04926760e-06 9.99999787e-01 1.45585648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.96 meters Centerline goodness [0,1] 0.9985956371126299 Centerline is valid? [True, True] Translation: X:30.82, Y:-186.61, Z:1.46 [[ 8.34767508e-01 5.50602233e-01 -6.24122386e-04 3.08169732e+01] [-5.50602079e-01 8.34767741e-01 4.11436792e-04 -1.86608090e+02] [ 7.47535251e-04 1.89017518e-07 9.99999721e-01 1.45643811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.99 meters Centerline goodness [0,1] 0.9985292057711164 Centerline is valid? [True, True] Translation: X:30.84, Y:-186.62, Z:1.46 [[ 8.32436352e-01 5.54120013e-01 -8.55304903e-04 3.08410124e+01] [-5.54119727e-01 8.32436791e-01 5.63544189e-04 -1.86623114e+02] [ 1.02425838e-03 4.82665070e-06 9.99999475e-01 1.45509276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.02 meters Centerline goodness [0,1] 0.9983755308533104 Centerline is valid? [True, True] Translation: X:30.86, Y:-186.64, Z:1.45 [[ 8.30799545e-01 5.56570298e-01 -1.27244041e-03 3.08641469e+01] [-5.56569667e-01 8.30800519e-01 8.38236954e-04 -1.86639202e+02] [ 1.52368195e-03 1.17948568e-05 9.99998839e-01 1.45330705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.05 meters Centerline goodness [0,1] 0.9985126310162913 Centerline is valid? [True, True] Translation: X:30.89, Y:-186.65, Z:1.45 [[ 8.28665318e-01 5.59742127e-01 -1.59475357e-03 3.08883441e+01] [-5.59741142e-01 8.28666852e-01 1.05003260e-03 -1.86654441e+02] [ 1.90926690e-03 2.25235883e-05 9.99998177e-01 1.45284720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.08 meters Centerline goodness [0,1] 0.9986488375343615 Centerline is valid? [True, True] Translation: X:30.91, Y:-186.67, Z:1.45 [[ 8.25979951e-01 5.63695530e-01 -2.11457032e-03 3.09130008e+01] [-5.63693814e-01 8.25982656e-01 1.39154420e-03 -1.86669498e+02] [ 2.53100566e-03 4.25825994e-05 9.99996796e-01 1.45272077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.11 meters Centerline goodness [0,1] 0.9986046511627907 Centerline is valid? [True, True] Translation: X:30.94, Y:-186.68, Z:1.45 [[ 8.23133204e-01 5.67842072e-01 -2.66621184e-03 3.09383230e+01] [-5.67839367e-01 8.23137520e-01 1.75434938e-03 -1.86682799e+02] [ 3.19085239e-03 6.99168155e-05 9.99994907e-01 1.45224283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.14 meters Centerline goodness [0,1] 0.9989751234510389 Centerline is valid? [True, True] Translation: X:30.96, Y:-186.70, Z:1.45 [[ 8.20267467e-01 5.71972352e-01 -2.98514412e-03 3.09639931e+01] [-5.71968991e-01 8.20272893e-01 1.96324906e-03 -1.86696623e+02] [ 3.57155699e-03 9.70205392e-05 9.99993617e-01 1.45217086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.16999999999996 meters Centerline goodness [0,1] 0.9989751234510389 Centerline is valid? [True, True] Translation: X:30.99, Y:-186.71, Z:1.45 [[ 8.20426447e-01 5.71744288e-01 -2.98569015e-03 3.09868934e+01] [-5.71740928e-01 8.20431874e-01 1.96241856e-03 -1.86711594e+02] [ 3.57155697e-03 9.70211697e-05 9.99993617e-01 1.45217055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.2 meters Centerline goodness [0,1] 0.9989294856876891 Centerline is valid? [True, True] Translation: X:31.01, Y:-186.72, Z:1.45 [[ 8.13379547e-01 5.81722782e-01 -3.50964094e-03 3.10131676e+01] [-5.81718234e-01 8.13387102e-01 2.30629714e-03 -1.86724610e+02] [ 4.19632226e-03 1.65727208e-04 9.99991182e-01 1.45109352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.22999999999996 meters Centerline goodness [0,1] 0.9990657261643388 Centerline is valid? [True, True] Translation: X:31.04, Y:-186.74, Z:1.45 [[ 8.09831341e-01 5.86650473e-01 -3.79746712e-03 3.10386087e+01] [-5.86645208e-01 8.09840218e-01 2.49413846e-03 -1.86738517e+02] [ 4.53852911e-03 2.07934395e-04 9.99989679e-01 1.45086175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.26 meters Centerline goodness [0,1] 0.9989962651727358 Centerline is valid? [True, True] Translation: X:31.06, Y:-186.75, Z:1.45 [[ 8.06238382e-01 5.91580988e-01 -3.40673309e-03 3.10645900e+01] [-5.91576799e-01 8.06245551e-01 2.23635763e-03 -1.86751810e+02] [ 4.06965006e-03 2.12306901e-04 9.99991696e-01 1.45068409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.28999999999996 meters Centerline goodness [0,1] 0.9997187983315368 Centerline is valid? [True, True] Translation: X:31.09, Y:-186.76, Z:1.45 [[ 7.99583516e-01 6.00550198e-01 -2.37933856e-03 3.10923838e+01] [-6.00548195e-01 7.99587036e-01 1.56159592e-03 -1.86762411e+02] [ 2.84030501e-03 1.80281127e-04 9.99995950e-01 1.45254428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.32 meters Centerline goodness [0,1] 0.9994600685478191 Centerline is valid? [True, True] Translation: X:31.12, Y:-186.78, Z:1.45 [[ 7.97166138e-01 6.03756923e-01 -1.93059191e-03 3.11176524e+01] [-6.03755615e-01 7.97168460e-01 1.26641659e-03 -1.86776481e+02] [ 2.30361476e-03 1.56061288e-04 9.99997335e-01 1.45382250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.34999999999997 meters Centerline goodness [0,1] 0.999483677157408 Centerline is valid? [True, True] Translation: X:31.14, Y:-186.79, Z:1.46 [[ 7.95067480e-01 6.06518446e-01 -1.75423319e-03 3.11429048e+01] [-6.06517373e-01 7.95069401e-01 1.15053197e-03 -1.86788810e+02] [ 2.09255599e-03 1.49222351e-04 9.99997800e-01 1.45502914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.38 meters Centerline goodness [0,1] 0.999718157690772 Centerline is valid? [True, True] Translation: X:31.17, Y:-186.80, Z:1.46 [[ 7.93065938e-01 6.09133300e-01 -1.74416293e-03 3.11684268e+01] [-6.09132246e-01 7.93067840e-01 1.14366853e-03 -1.86803510e+02] [ 2.07988611e-03 1.55421324e-04 9.99997825e-01 1.45570148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.40999999999997 meters Centerline goodness [0,1] 0.9996725529177873 Centerline is valid? [True, True] Translation: X:31.19, Y:-186.82, Z:1.46 [[ 7.91729046e-01 6.10870057e-01 -1.70025153e-03 3.11928158e+01] [-6.10869061e-01 7.91730856e-01 1.11429048e-03 -1.86818548e+02] [ 2.02682828e-03 1.56414915e-04 9.99997934e-01 1.45536533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.44 meters Centerline goodness [0,1] 0.9996268047489095 Centerline is valid? [True, True] Translation: X:31.22, Y:-186.83, Z:1.45 [[ 7.89354973e-01 6.13928632e-01 -3.21888075e-03 3.12167074e+01] [-6.13925089e-01 7.89361475e-01 2.10892143e-03 -1.86832460e+02] [ 3.83558770e-03 3.11464028e-04 9.99992596e-01 1.45346965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.46999999999997 meters Centerline goodness [0,1] 0.9993913572732805 Centerline is valid? [True, True] Translation: X:31.24, Y:-186.85, Z:1.45 [[ 7.88299719e-01 6.15278159e-01 -4.04242489e-03 3.12371640e+01] [-6.15272591e-01 7.88309982e-01 2.64788249e-03 -1.86853617e+02] [ 4.81586816e-03 3.99868218e-04 9.99988324e-01 1.45344012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.5 meters Centerline goodness [0,1] 0.9991588391980933 Centerline is valid? [True, True] Translation: X:31.26, Y:-186.86, Z:1.45 [[ 7.87852453e-01 6.15849618e-01 -4.21438468e-03 3.12644290e+01] [-6.15843578e-01 7.87863612e-01 2.75988540e-03 -1.86861717e+02] [ 5.02003470e-03 4.21019253e-04 9.99987311e-01 1.45337150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.53 meters Centerline goodness [0,1] 0.9990488342419673 Centerline is valid? [True, True] Translation: X:31.29, Y:-186.88, Z:1.45 [[ 7.87975728e-01 6.15692833e-01 -4.07285424e-03 3.12876779e+01] [-6.15687197e-01 7.87986148e-01 2.66564507e-03 -1.86877197e+02] [ 4.85057128e-03 4.07140594e-04 9.99988153e-01 1.45443365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.56 meters Centerline goodness [0,1] 0.9994405594405594 Centerline is valid? [True, True] Translation: X:31.31, Y:-186.90, Z:1.46 [[ 7.87814121e-01 6.15896762e-01 -4.48201750e-03 3.13073961e+01] [-6.15889945e-01 7.87826742e-01 2.93261903e-03 -1.86898701e+02] [ 5.33724381e-03 4.50070831e-04 9.99985656e-01 1.45623152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.59 meters Centerline goodness [0,1] 0.9994437878050476 Centerline is valid? [True, True] Translation: X:31.33, Y:-186.91, Z:1.46 [[ 7.88615136e-01 6.14868047e-01 -4.84272622e-03 3.13309092e+01] [-6.14860077e-01 7.88629859e-01 3.16721646e-03 -1.86914369e+02] [ 5.76653869e-03 4.79884180e-04 9.99983258e-01 1.45658164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.62 meters Centerline goodness [0,1] 0.9995357905486956 Centerline is valid? [True, True] Translation: X:31.35, Y:-186.94, Z:1.46 [[ 7.89003418e-01 6.14371323e-01 -4.63503715e-03 3.13499527e+01] [-6.14364022e-01 7.89016900e-01 3.02974999e-03 -1.86937179e+02] [ 5.51851415e-03 4.57116965e-04 9.99984668e-01 1.45700039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.65 meters Centerline goodness [0,1] 0.9995361996196837 Centerline is valid? [True, True] Translation: X:31.37, Y:-186.95, Z:1.46 [[ 7.89985595e-01 6.13101956e-01 -5.36199135e-03 3.13733374e+01] [-6.13092161e-01 7.90003622e-01 3.50427742e-03 -1.86951901e+02] [ 6.38447193e-03 5.19066179e-04 9.99979484e-01 1.45633134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.68 meters Centerline goodness [0,1] 0.9996291059134426 Centerline is valid? [True, True] Translation: X:31.39, Y:-186.97, Z:1.46 [[ 7.90796396e-01 6.12052005e-01 -5.77964128e-03 3.13946897e+01] [-6.12040609e-01 7.90817324e-01 3.77540875e-03 -1.86971783e+02] [ 6.88138694e-03 5.51795541e-04 9.99976171e-01 1.45664353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.71 meters Centerline goodness [0,1] 0.9996535556736033 Centerline is valid? [True, True] Translation: X:31.42, Y:-186.99, Z:1.46 [[ 7.91886102e-01 6.10636926e-01 -6.24075307e-03 3.14183681e+01] [-6.10623601e-01 7.91910478e-01 4.07586679e-03 -1.86986386e+02] [ 7.43099251e-03 5.83128848e-04 9.99972220e-01 1.45616044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.74 meters Centerline goodness [0,1] 0.9996995192307693 Centerline is valid? [True, True] Translation: X:31.44, Y:-187.01, Z:1.46 [[ 7.93523832e-01 6.08505773e-01 -6.37584361e-03 3.14382778e+01] [-6.08491802e-01 7.93549238e-01 4.16340175e-03 -1.87008055e+02] [ 7.59299984e-03 5.75890056e-04 9.99971007e-01 1.45755076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.77 meters Centerline goodness [0,1] 0.9998845931909983 Centerline is valid? [True, True] Translation: X:31.46, Y:-187.02, Z:1.46 [[ 7.94455599e-01 6.07289430e-01 -6.31262051e-03 3.14615378e+01] [-6.07275703e-01 7.94480481e-01 4.12132659e-03 -1.87023577e+02] [ 7.51809185e-03 5.59290071e-04 9.99971582e-01 1.45750679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.8 meters Centerline goodness [0,1] 0.9995400712889502 Centerline is valid? [True, True] Translation: X:31.48, Y:-187.04, Z:1.46 [[ 7.95645626e-01 6.05726604e-01 -6.58170926e-03 3.14842157e+01] [-6.05711637e-01 7.95672645e-01 4.29595664e-03 -1.87041343e+02] [ 7.83906124e-03 5.68558780e-04 9.99969112e-01 1.45780249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.83 meters Centerline goodness [0,1] 0.9997012730364447 Centerline is valid? [True, True] Translation: X:31.51, Y:-187.06, Z:1.46 [[ 7.96431717e-01 6.04691490e-01 -6.68742799e-03 3.15080804e+01] [-6.04676011e-01 7.96459591e-01 4.36380545e-03 -1.87056128e+02] [ 7.96502218e-03 5.68254208e-04 9.99968117e-01 1.45717021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.86 meters Centerline goodness [0,1] 0.9998171679312552 Centerline is valid? [True, True] Translation: X:31.53, Y:-187.07, Z:1.46 [[ 7.97403302e-01 6.03404626e-01 -7.12956094e-03 3.15305584e+01] [-6.03386999e-01 7.97434953e-01 4.65023942e-03 -1.87074101e+02] [ 8.49133707e-03 5.93768109e-04 9.99963772e-01 1.45717777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.89 meters Centerline goodness [0,1] 0.9994255646699295 Centerline is valid? [True, True] Translation: X:31.55, Y:-187.09, Z:1.46 [[ 7.98542030e-01 6.01881926e-01 -8.29294409e-03 3.15538723e+01] [-6.01858022e-01 7.98584806e-01 5.40638660e-03 -1.87091555e+02] [ 9.87662554e-03 6.73947990e-04 9.99950998e-01 1.45738967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.91999999999996 meters Centerline goodness [0,1] 0.9994958406856567 Centerline is valid? [True, True] Translation: X:31.58, Y:-187.11, Z:1.46 [[ 7.99356979e-01 6.00796838e-01 -8.46044147e-03 3.15773829e+01] [-6.00771927e-01 7.99401465e-01 5.51266983e-03 -1.87107419e+02] [ 1.00752839e-02 6.76204619e-04 9.99949014e-01 1.45754894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.95 meters Centerline goodness [0,1] 0.9995199670834571 Centerline is valid? [True, True] Translation: X:31.60, Y:-187.13, Z:1.46 [[ 8.00328868e-01 5.99505366e-01 -8.18648871e-03 3.16000558e+01] [-5.99481989e-01 8.00370481e-01 5.33281301e-03 -1.87126350e+02] [ 9.74927392e-03 6.39648332e-04 9.99952270e-01 1.45797469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.97999999999996 meters Centerline goodness [0,1] 0.9991811668372569 Centerline is valid? [True, True] Translation: X:31.62, Y:-187.14, Z:1.46 [[ 8.01685936e-01 5.97689208e-01 -8.20188535e-03 3.16233372e+01] [-5.97665655e-01 8.01727652e-01 5.34204262e-03 -1.87142068e+02] [ 9.76855950e-03 6.19344746e-04 9.99952095e-01 1.45809785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.01 meters Centerline goodness [0,1] 0.999268721862931 Centerline is valid? [True, True] Translation: X:31.65, Y:-187.16, Z:1.46 [[ 8.03958865e-01 5.94629855e-01 -8.09189159e-03 3.16462309e+01] [-5.94606784e-01 8.03999381e-01 5.26954310e-03 -1.87158970e+02] [ 9.63930348e-03 5.74997745e-04 9.99953376e-01 1.45865434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.03999999999996 meters Centerline goodness [0,1] 0.999223620213276 Centerline is valid? [True, True] Translation: X:31.67, Y:-187.18, Z:1.46 [[ 8.05212600e-01 5.92936326e-01 -7.69302905e-03 3.16686377e+01] [-5.92915414e-01 8.05249175e-01 5.00777735e-03 -1.87176717e+02] [ 9.16409840e-03 5.28990082e-04 9.99957869e-01 1.45873329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.07 meters Centerline goodness [0,1] 0.9995451340717324 Centerline is valid? [True, True] Translation: X:31.69, Y:-187.19, Z:1.46 [[ 8.06401247e-01 5.91322411e-01 -7.40511408e-03 3.16921349e+01] [-5.91302975e-01 8.06435096e-01 4.81944447e-03 -1.87191049e+02] [ 8.82158941e-03 4.92259964e-04 9.99960968e-01 1.45845530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.09999999999997 meters Centerline goodness [0,1] 0.9995451547610925 Centerline is valid? [True, True] Translation: X:31.72, Y:-187.21, Z:1.46 [[ 8.08109568e-01 5.88993378e-01 -6.76217849e-03 3.17163579e+01] [-5.88977095e-01 8.08137748e-01 4.40034692e-03 -1.87206456e+02] [ 8.05654689e-03 4.26805788e-04 9.99967454e-01 1.45845398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.13 meters Centerline goodness [0,1] 0.9994060265460444 Centerline is valid? [True, True] Translation: X:31.74, Y:-187.22, Z:1.46 [[ 8.08882186e-01 5.87933242e-01 -6.64166237e-03 3.17403170e+01] [-5.87917516e-01 8.08909349e-01 4.31975395e-03 -1.87223088e+02] [ 7.91222972e-03 4.10577624e-04 9.99968614e-01 1.45890275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.15999999999997 meters Centerline goodness [0,1] 0.9996568448023426 Centerline is valid? [True, True] Translation: X:31.77, Y:-187.23, Z:1.46 [[ 8.09801849e-01 5.86669800e-01 -6.28586535e-03 3.17665070e+01] [-5.86655692e-01 8.09826156e-01 4.08615042e-03 -1.87234580e+02] [ 7.48767922e-03 3.78666519e-04 9.99971895e-01 1.45826041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.19 meters Centerline goodness [0,1] 0.9997025920248908 Centerline is valid? [True, True] Translation: X:31.79, Y:-187.25, Z:1.46 [[ 8.10718277e-01 5.85396211e-01 -6.86670854e-03 3.17891610e+01] [-5.85379350e-01 8.10747256e-01 4.46131482e-03 -1.87252985e+02] [ 8.17880190e-03 4.02759916e-04 9.99966472e-01 1.45869420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.21999999999997 meters Centerline goodness [0,1] 0.9996334730717248 Centerline is valid? [True, True] Translation: X:31.82, Y:-187.26, Z:1.46 [[ 8.11711595e-01 5.84015991e-01 -7.04341688e-03 3.18154471e+01] [-5.83998219e-01 8.11742054e-01 4.57366607e-03 -1.87264088e+02] [ 8.38853180e-03 4.00845138e-04 9.99964735e-01 1.45741389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.25 meters Centerline goodness [0,1] 0.999610404491807 Centerline is valid? [True, True] Translation: X:31.84, Y:-187.28, Z:1.46 [[ 8.12777902e-01 5.82531339e-01 -7.02289144e-03 3.18385456e+01] [-5.82513636e-01 8.12808151e-01 4.55795471e-03 -1.87281806e+02] [ 8.36341487e-03 3.86325158e-04 9.99964951e-01 1.45766222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.28 meters Centerline goodness [0,1] 0.9995870801982015 Centerline is valid? [True, True] Translation: X:31.86, Y:-187.30, Z:1.46 [[ 8.14951531e-01 5.79486688e-01 -7.01283964e-03 3.18641138e+01] [-5.79468928e-01 8.14981627e-01 4.55074336e-03 -1.87295580e+02] [ 8.35243066e-03 3.55087404e-04 9.99965055e-01 1.45739805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.31 meters Centerline goodness [0,1] 0.9993330113388073 Centerline is valid? [True, True] Translation: X:31.89, Y:-187.31, Z:1.46 [[ 8.16050201e-01 5.77939099e-01 -6.96187364e-03 3.18889267e+01] [-5.77921560e-01 8.16079826e-01 4.51523858e-03 -1.87309865e+02] [ 8.29097755e-03 3.38755531e-04 9.99965572e-01 1.45728055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.34 meters Centerline goodness [0,1] 0.9995635595166996 Centerline is valid? [True, True] Translation: X:31.91, Y:-187.32, Z:1.46 [[ 8.17161970e-01 5.76369536e-01 -6.66888699e-03 3.19138183e+01] [-5.76353408e-01 8.17189122e-01 4.32288202e-03 -1.87323696e+02] [ 7.94131941e-03 3.11140958e-04 9.99968419e-01 1.45746849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.37 meters Centerline goodness [0,1] 0.9994923155028385 Centerline is valid? [True, True] Translation: X:31.94, Y:-187.34, Z:1.46 [[ 8.18155180e-01 5.74960701e-01 -6.50342918e-03 3.19390302e+01] [-5.74945337e-01 8.18180975e-01 4.21335919e-03 -1.87337177e+02] [ 7.74349797e-03 2.91934630e-04 9.99969976e-01 1.45744650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.4 meters Centerline goodness [0,1] 0.9992120144618523 Centerline is valid? [True, True] Translation: X:31.97, Y:-187.35, Z:1.46 [[ 8.20016265e-01 5.72306660e-01 -6.19779402e-03 3.19650723e+01] [-5.72292636e-01 8.20039647e-01 4.01459123e-03 -1.87347813e+02] [ 7.38001412e-03 2.54921767e-04 9.99972735e-01 1.45704513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.43 meters Centerline goodness [0,1] 0.9990708694339272 Centerline is valid? [True, True] Translation: X:31.99, Y:-187.36, Z:1.46 [[ 8.20926266e-01 5.71004144e-01 -5.85946380e-03 3.19899363e+01] [-5.70991591e-01 8.20947144e-01 3.79336005e-03 -1.87362746e+02] [ 6.97633438e-03 2.31635648e-04 9.99975638e-01 1.45733128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.46 meters Centerline goodness [0,1] 0.999349139934914 Centerline is valid? [True, True] Translation: X:32.02, Y:-187.37, Z:1.46 [[ 8.21971435e-01 5.69498247e-01 -5.89122550e-03 3.20160403e+01] [-5.69485524e-01 8.21992517e-01 3.81318584e-03 -1.87373654e+02] [ 7.01414593e-03 2.20637803e-04 9.99975376e-01 1.45646938e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.49 meters Centerline goodness [0,1] 0.9995111390460227 Centerline is valid? [True, True] Translation: X:32.04, Y:-187.39, Z:1.46 [[ 8.23080017e-01 5.67896897e-01 -5.69208814e-03 3.20410203e+01] [-5.67884994e-01 8.23099675e-01 3.68231159e-03 -1.87387886e+02] [ 6.77632922e-03 2.01614350e-04 9.99977020e-01 1.45672261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.52 meters Centerline goodness [0,1] 0.9994147803085278 Centerline is valid? [True, True] Translation: X:32.07, Y:-187.40, Z:1.46 [[ 8.24578478e-01 5.65719786e-01 -5.60877653e-03 3.20655038e+01] [-5.65708192e-01 8.24597533e-01 3.62644557e-03 -1.87402293e+02] [ 6.67653529e-03 1.82641861e-04 9.99977695e-01 1.45591387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.55 meters Centerline goodness [0,1] 0.9993454885460495 Centerline is valid? [True, True] Translation: X:32.09, Y:-187.42, Z:1.46 [[ 8.28204938e-01 5.60407513e-01 -4.47208702e-03 3.20888223e+01] [-5.60400072e-01 8.28217005e-01 2.89005220e-03 -1.87420161e+02] [ 5.32346548e-03 1.12602389e-04 9.99985824e-01 1.45643429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.58 meters Centerline goodness [0,1] 0.9990921153711851 Centerline is valid? [True, True] Translation: X:32.11, Y:-187.44, Z:1.46 [[ 8.34587850e-01 5.50861045e-01 -3.90242688e-03 3.21106138e+01] [-5.50855276e-01 8.34596973e-01 2.52152959e-03 -1.87439242e+02] [ 4.64596609e-03 4.52344754e-05 9.99989206e-01 1.45631243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.61 meters Centerline goodness [0,1] 0.9990174059517125 Centerline is valid? [True, True] Translation: X:32.13, Y:-187.46, Z:1.46 [[ 8.37872865e-01 5.45848310e-01 -4.32244600e-03 3.21331422e+01] [-5.45841173e-01 8.37884015e-01 2.79140248e-03 -1.87456555e+02] [ 5.14539073e-03 2.05286064e-05 9.99986762e-01 1.45576291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.64 meters Centerline goodness [0,1] 0.9988136775994417 Centerline is valid? [True, True] Translation: X:32.16, Y:-187.47, Z:1.46 [[ 8.40865170e-01 5.41224938e-01 -4.61873529e-03 3.21556916e+01] [-5.41216729e-01 8.40877855e-01 2.98088487e-03 -1.87473850e+02] [ 5.49712145e-03 -6.78545585e-06 9.99984891e-01 1.45539674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.66999999999996 meters Centerline goodness [0,1] 0.998745294855709 Centerline is valid? [True, True] Translation: X:32.18, Y:-187.49, Z:1.45 [[ 8.43613505e-01 5.36929706e-01 -4.76917316e-03 3.21778069e+01] [-5.36920888e-01 8.43626985e-01 3.07738458e-03 -1.87491254e+02] [ 5.67574237e-03 -3.54545001e-05 9.99983892e-01 1.45466214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.7 meters Centerline goodness [0,1] 0.9985341678494148 Centerline is valid? [True, True] Translation: X:32.20, Y:-187.51, Z:1.45 [[ 8.48293887e-01 5.29509724e-01 -4.11509120e-03 3.21996024e+01] [-5.29503079e-01 8.48303865e-01 2.65386458e-03 -1.87510955e+02] [ 4.89609487e-03 -7.23036408e-05 9.99988011e-01 1.45423187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.72999999999996 meters Centerline goodness [0,1] 0.9986553842587226 Centerline is valid? [True, True] Translation: X:32.22, Y:-187.53, Z:1.45 [[ 8.50120815e-01 5.26569064e-01 -4.42954179e-03 3.22205201e+01] [-5.26561327e-01 8.50132350e-01 2.85598824e-03 -1.87529060e+02] [ 5.26957182e-03 -9.55096469e-05 9.99986111e-01 1.45337413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.76 meters Centerline goodness [0,1] 0.9986990963365624 Centerline is valid? [True, True] Translation: X:32.24, Y:-187.55, Z:1.45 [[ 8.51734125e-01 5.23944096e-01 -5.61822406e-03 3.22442454e+01] [-5.23931606e-01 8.51752643e-01 3.62042791e-03 -1.87545001e+02] [ 6.68223902e-03 -1.40076846e-04 9.99977664e-01 1.45321202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.78999999999996 meters Centerline goodness [0,1] 0.998628130304369 Centerline is valid? [True, True] Translation: X:32.27, Y:-187.56, Z:1.45 [[ 8.51950501e-01 5.23586439e-01 -6.13071147e-03 3.22677523e+01] [-5.23571575e-01 8.51972545e-01 3.94818476e-03 -1.87560430e+02] [ 7.29041385e-03 -1.53791716e-04 9.99973413e-01 1.45279612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.82 meters Centerline goodness [0,1] 0.9986068866237897 Centerline is valid? [True, True] Translation: X:32.29, Y:-187.58, Z:1.45 [[ 8.51621136e-01 5.24121548e-01 -6.16792222e-03 3.22907573e+01] [-5.24106523e-01 8.51643459e-01 3.97137120e-03 -1.87575190e+02] [ 7.33435184e-03 -1.49455389e-04 9.99973092e-01 1.45219268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.84999999999997 meters Centerline goodness [0,1] 0.9983650347717957 Centerline is valid? [True, True] Translation: X:32.31, Y:-187.59, Z:1.45 [[ 8.51194930e-01 5.24813526e-01 -6.16075595e-03 3.23138774e+01] [-5.24798560e-01 8.51217212e-01 3.96600075e-03 -1.87590896e+02] [ 7.32555235e-03 -1.42683877e-04 9.99973158e-01 1.45209586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.88 meters Centerline goodness [0,1] 0.9984238097445645 Centerline is valid? [True, True] Translation: X:32.34, Y:-187.60, Z:1.45 [[ 8.50359931e-01 5.26180449e-01 -4.70353089e-03 3.23392793e+01] [-5.26171756e-01 8.50372933e-01 3.02627177e-03 -1.87603740e+02] [ 5.59212040e-03 -9.85551442e-05 9.99984359e-01 1.45356167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.90999999999997 meters Centerline goodness [0,1] 0.9989596818938413 Centerline is valid? [True, True] Translation: X:32.36, Y:-187.62, Z:1.45 [[ 8.49714015e-01 5.27225898e-01 -4.35266757e-03 3.23634101e+01] [-5.27218470e-01 8.49725159e-01 2.79999020e-03 -1.87618245e+02] [ 5.17479849e-03 -8.43841801e-05 9.99986607e-01 1.45400799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.94 meters Centerline goodness [0,1] 0.9987292345370948 Centerline is valid? [True, True] Translation: X:32.39, Y:-187.63, Z:1.45 [[ 8.49208132e-01 5.28042423e-01 -4.09249342e-03 3.23880792e+01] [-5.28035873e-01 8.49217990e-01 2.63120625e-03 -1.87633111e+02] [ 4.86480756e-03 -7.34584069e-05 9.99988164e-01 1.45428897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.96999999999997 meters Centerline goodness [0,1] 0.9989304066779826 Centerline is valid? [True, True] Translation: X:32.41, Y:-187.65, Z:1.45 [[ 8.48922671e-01 5.28501991e-01 -3.99290972e-03 3.24127657e+01] [-5.28495767e-01 8.48932059e-01 2.56589345e-03 -1.87648723e+02] [ 4.74578887e-03 -6.80092334e-05 9.99988736e-01 1.45345182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.0 meters Centerline goodness [0,1] 0.9989055004424573 Centerline is valid? [True, True] Translation: X:32.44, Y:-187.66, Z:1.45 [[ 8.48399532e-01 5.29338559e-01 -4.35026785e-03 3.24374508e+01] [-5.29331190e-01 8.48410682e-01 2.79399108e-03 -1.87663750e+02] [ 5.16978092e-03 -6.76882655e-05 9.99986634e-01 1.45273432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.03 meters Centerline goodness [0,1] 0.9986946691219319 Centerline is valid? [True, True] Translation: X:32.46, Y:-187.68, Z:1.45 [[ 8.47968177e-01 5.30027554e-01 -4.55658078e-03 3.24597244e+01] [-5.30019482e-01 8.47980417e-01 2.92592823e-03 -1.87679623e+02] [ 5.41471386e-03 -6.60174410e-05 9.99985338e-01 1.45138885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.06 meters Centerline goodness [0,1] 0.9988907120242194 Centerline is valid? [True, True] Translation: X:32.48, Y:-187.69, Z:1.45 [[ 8.47385022e-01 5.30951419e-01 -5.40508308e-03 3.24841028e+01] [-5.30940093e-01 8.47402258e-01 3.46859743e-03 -1.87693742e+02] [ 6.42193633e-03 -6.94621925e-05 9.99979377e-01 1.45199538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.09 meters Centerline goodness [0,1] 0.9988907120242194 Centerline is valid? [True, True] Translation: X:32.51, Y:-187.71, Z:1.45 [[ 8.47536320e-01 5.30709866e-01 -5.40607150e-03 3.25071604e+01] [-5.30698545e-01 8.47553558e-01 3.46705670e-03 -1.87708454e+02] [ 6.42193633e-03 -6.94621982e-05 9.99979377e-01 1.45199507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.12 meters Centerline goodness [0,1] 0.9986994286775976 Centerline is valid? [True, True] Translation: X:32.53, Y:-187.72, Z:1.45 [[ 8.46522270e-01 5.32328931e-01 -5.09462875e-03 3.25327020e+01] [-5.32318917e-01 8.46537599e-01 3.26552583e-03 -1.87722083e+02] [ 6.05112866e-03 -5.23730777e-05 9.99981690e-01 1.45283976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.15 meters Centerline goodness [0,1] 0.998853640276998 Centerline is valid? [True, True] Translation: X:32.56, Y:-187.74, Z:1.45 [[ 8.46114668e-01 5.32983412e-01 -4.31882632e-03 3.25570296e+01] [-5.32976232e-01 8.46125689e-01 2.76674263e-03 -1.87737129e+02] [ 5.12889782e-03 -3.91497440e-05 9.99986846e-01 1.45311818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.18 meters Centerline goodness [0,1] 0.998877423254609 Centerline is valid? [True, True] Translation: X:32.58, Y:-187.75, Z:1.45 [[ 8.44530648e-01 5.35476105e-01 -5.77285303e-03 3.25795516e+01] [-5.35463351e-01 8.44550378e-01 3.69593375e-03 -1.87752676e+02] [ 6.85454941e-03 -3.01780991e-05 9.99976507e-01 1.44902224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.21 meters Centerline goodness [0,1] 0.9991096949533761 Centerline is valid? [True, True] Translation: X:32.61, Y:-187.77, Z:1.45 [[ 8.45064879e-01 5.34653056e-01 -3.38529156e-03 3.26053405e+01] [-5.34648668e-01 8.45071660e-01 2.16617631e-03 -1.87765889e+02] [ 4.01896674e-03 -2.06179014e-05 9.99991924e-01 1.45323065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.24 meters Centerline goodness [0,1] 0.9991345636563516 Centerline is valid? [True, True] Translation: X:32.63, Y:-187.78, Z:1.45 [[ 8.44470508e-01 5.35592922e-01 -3.12772068e-03 3.26290928e+01] [-5.35589188e-01 8.44476300e-01 2.00011025e-03 -1.87779959e+02] [ 3.71253088e-03 -1.38607372e-05 9.99993108e-01 1.45331040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.27 meters Centerline goodness [0,1] 0.9987562480933049 Centerline is valid? [True, True] Translation: X:32.65, Y:-187.79, Z:1.45 [[ 8.44083819e-01 5.36208057e-01 -1.85084766e-03 3.26529278e+01] [-5.36206752e-01 8.44085849e-01 1.18283923e-03 -1.87794915e+02] [ 2.19652225e-03 -5.97844170e-06 9.99997588e-01 1.45428248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.3 meters Centerline goodness [0,1] 0.9990373327072083 Centerline is valid? [True, True] Translation: X:32.68, Y:-187.81, Z:1.45 [[ 8.44200221e-01 5.36025080e-01 -1.76101089e-03 3.26763537e+01] [-5.36023900e-01 8.44202057e-01 1.12472467e-03 -1.87809476e+02] [ 2.08952965e-03 -5.54888930e-06 9.99997817e-01 1.45455089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.33 meters Centerline goodness [0,1] 0.9988724718705222 Centerline is valid? [True, True] Translation: X:32.70, Y:-187.82, Z:1.45 [[ 8.44616325e-01 5.35370004e-01 -1.49093144e-03 3.26996339e+01] [-5.35369158e-01 8.44617641e-01 9.51637001e-04 -1.87824124e+02] [ 1.76874490e-03 -5.56943877e-06 9.99998436e-01 1.45479900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.36 meters Centerline goodness [0,1] 0.9988796564279713 Centerline is valid? [True, True] Translation: X:32.72, Y:-187.84, Z:1.45 [[ 8.44967857e-01 5.34812955e-01 -2.10320984e-03 3.27219810e+01] [-5.34811271e-01 8.44970475e-01 1.34209389e-03 -1.87838688e+02] [ 2.49491942e-03 -9.20587104e-06 9.99996888e-01 1.45463607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.39 meters Centerline goodness [0,1] 0.9987896843869286 Centerline is valid? [True, True] Translation: X:32.74, Y:-187.86, Z:1.45 [[ 8.46278063e-01 5.32734013e-01 -2.81288186e-03 3.27445812e+01] [-5.32730993e-01 8.46282737e-01 1.79398813e-03 -1.87856035e+02] [ 3.33621186e-03 -1.97034564e-05 9.99994435e-01 1.45348505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.41999999999996 meters Centerline goodness [0,1] 0.9990395877254626 Centerline is valid? [True, True] Translation: X:32.77, Y:-187.87, Z:1.45 [[ 8.46622637e-01 5.32185747e-01 -2.90547614e-03 3.27668734e+01] [-5.32182523e-01 8.46627622e-01 1.85256771e-03 -1.87871399e+02] [ 3.44576649e-03 -2.21821374e-05 9.99994063e-01 1.45254009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.45 meters Centerline goodness [0,1] 0.998899194303916 Centerline is valid? [True, True] Translation: X:32.79, Y:-187.89, Z:1.45 [[ 8.46904661e-01 5.31734270e-01 -3.34071736e-03 3.27901294e+01] [-5.31730010e-01 8.46911250e-01 2.12878833e-03 -1.87886058e+02] [ 3.96124082e-03 -2.65210818e-05 9.99992154e-01 1.45201968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.47999999999996 meters Centerline goodness [0,1] 0.9987837679803532 Centerline is valid? [True, True] Translation: X:32.81, Y:-187.90, Z:1.45 [[ 8.47359294e-01 5.31010546e-01 -3.16661312e-03 3.28137152e+01] [-5.31006717e-01 8.47365210e-01 2.01662481e-03 -1.87901373e+02] [ 3.75412683e-03 -2.73129324e-05 9.99992953e-01 1.45198653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.51 meters Centerline goodness [0,1] 0.9988055646634503 Centerline is valid? [True, True] Translation: X:32.84, Y:-187.92, Z:1.45 [[ 8.47941752e-01 5.30077902e-01 -3.49339904e-03 3.28367122e+01] [-5.30073236e-01 8.47948947e-01 2.22423741e-03 -1.87916048e+02] [ 4.14124314e-03 -3.42664325e-05 9.99991424e-01 1.45216213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.53999999999996 meters Centerline goodness [0,1] 0.9988517060367454 Centerline is valid? [True, True] Translation: X:32.86, Y:-187.93, Z:1.45 [[ 8.48131357e-01 5.29772591e-01 -3.76875835e-03 3.28600084e+01] [-5.29767164e-01 8.48139730e-01 2.39812495e-03 -1.87930486e+02] [ 4.46689455e-03 -3.73605454e-05 9.99990023e-01 1.45179486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.57 meters Centerline goodness [0,1] 0.9988525396342177 Centerline is valid? [True, True] Translation: X:32.88, Y:-187.94, Z:1.45 [[ 8.48263308e-01 5.29561468e-01 -3.74338036e-03 3.28843200e+01] [-5.29556119e-01 8.48271566e-01 2.38046389e-03 -1.87944382e+02] [ 4.43600507e-03 -3.69301987e-05 9.99990160e-01 1.45189706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.59999999999997 meters Centerline goodness [0,1] 0.9987387892376681 Centerline is valid? [True, True] Translation: X:32.91, Y:-187.96, Z:1.45 [[ 8.48334997e-01 5.29446182e-01 -3.80447471e-03 3.29077128e+01] [-5.29440662e-01 8.48343527e-01 2.41779321e-03 -1.87959350e+02] [ 4.50759287e-03 -3.68549878e-05 9.99989840e-01 1.45158171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.63 meters Centerline goodness [0,1] 0.9989758152743186 Centerline is valid? [True, True] Translation: X:32.93, Y:-187.97, Z:1.45 [[ 8.48412200e-01 5.29327553e-01 -3.01334770e-03 3.29300605e+01] [-5.29324091e-01 8.48417551e-01 1.91450051e-03 -1.87974567e+02] [ 3.56997494e-03 -2.92480583e-05 9.99993627e-01 1.45128399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.65999999999997 meters Centerline goodness [0,1] 0.9986906098017209 Centerline is valid? [True, True] Translation: X:32.95, Y:-187.99, Z:1.45 [[ 8.48378314e-01 5.29383046e-01 -2.79753675e-03 3.29534369e+01] [-5.29380067e-01 8.48382926e-01 1.77628441e-03 -1.87989292e+02] [ 3.31371726e-03 -2.60009811e-05 9.99994509e-01 1.45122639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.69 meters Centerline goodness [0,1] 0.9990028754289955 Centerline is valid? [True, True] Translation: X:32.98, Y:-188.00, Z:1.45 [[ 8.48297587e-01 5.29513867e-01 -2.50370282e-03 3.29758976e+01] [-5.29511482e-01 8.48301282e-01 1.58929160e-03 -1.88004815e+02] [ 2.96544625e-03 -2.24528393e-05 9.99995603e-01 1.45121346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.71999999999997 meters Centerline goodness [0,1] 0.9989009704197358 Centerline is valid? [True, True] Translation: X:33.00, Y:-188.02, Z:1.45 [[ 8.48098564e-01 5.29832940e-01 -2.42504063e-03 3.30004148e+01] [-5.29830707e-01 8.48102031e-01 1.53838290e-03 -1.88017877e+02] [ 2.87176782e-03 -1.98393336e-05 9.99995876e-01 1.45181821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.75 meters Centerline goodness [0,1] 0.9988314207586416 Centerline is valid? [True, True] Translation: X:33.03, Y:-188.03, Z:1.45 [[ 8.46874328e-01 5.31785625e-01 -2.81457085e-03 3.30256679e+01] [-5.31782631e-01 8.46879005e-01 1.78447872e-03 -1.88032025e+02] [ 3.33256109e-03 -1.44893254e-05 9.99994447e-01 1.45114337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.78 meters Centerline goodness [0,1] 0.9987946221604079 Centerline is valid? [True, True] Translation: X:33.05, Y:-188.05, Z:1.45 [[ 8.46206475e-01 5.32847658e-01 -2.82399504e-03 3.30480584e+01] [-5.32844652e-01 8.46211187e-01 1.78966611e-03 -1.88046305e+02] [ 3.34331559e-03 -9.67639525e-06 9.99994411e-01 1.45037889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.81 meters Centerline goodness [0,1] 0.9990736881107869 Centerline is valid? [True, True] Translation: X:33.07, Y:-188.06, Z:1.45 [[ 8.45653073e-01 5.33726319e-01 -2.66394746e-03 3.30719140e+01] [-5.33723653e-01 8.45657269e-01 1.68715422e-03 -1.88061307e+02] [ 3.15326515e-03 -4.93538051e-06 9.99995028e-01 1.45040641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.84 meters Centerline goodness [0,1] 0.998976053617556 Centerline is valid? [True, True] Translation: X:33.10, Y:-188.08, Z:1.45 [[ 8.45004129e-01 5.34751243e-01 -3.02156000e-03 3.30951479e+01] [-5.34747821e-01 8.45009532e-01 1.91311218e-03 -1.88075689e+02] [ 3.57628612e-03 -8.15069391e-07 9.99993605e-01 1.44991229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.87 meters Centerline goodness [0,1] 0.9988858714574194 Centerline is valid? [True, True] Translation: X:33.12, Y:-188.09, Z:1.45 [[ 8.43814044e-01 5.36623910e-01 -3.55504752e-03 3.31198760e+01] [-5.36619195e-01 8.43821533e-01 2.24947373e-03 -1.88089567e+02] [ 4.20694704e-03 9.56921381e-06 9.99991151e-01 1.44965410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.9 meters Centerline goodness [0,1] 0.9991628685703655 Centerline is valid? [True, True] Translation: X:33.14, Y:-188.10, Z:1.45 [[ 8.42324114e-01 5.38955068e-01 -4.18582104e-03 3.31442472e+01] [-5.38948568e-01 8.42334514e-01 2.64713247e-03 -1.88104634e+02] [ 4.95254700e-03 2.61987395e-05 9.99987736e-01 1.44957083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.93 meters Centerline goodness [0,1] 0.9993054590915404 Centerline is valid? [True, True] Translation: X:33.17, Y:-188.12, Z:1.45 [[ 8.40797747e-01 5.41330591e-01 -4.51008800e-03 3.31686578e+01] [-5.41323082e-01 8.40809841e-01 2.85152988e-03 -1.88117130e+02] [ 5.33574674e-03 4.38548386e-05 9.99985764e-01 1.44963298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.96 meters Centerline goodness [0,1] 0.9991151884881365 Centerline is valid? [True, True] Translation: X:33.19, Y:-188.13, Z:1.45 [[ 8.39537604e-01 5.43281413e-01 -4.68160299e-03 3.31937528e+01] [-5.43273362e-01 8.39550655e-01 2.95834809e-03 -1.88131202e+02] [ 5.53765839e-03 5.97457259e-05 9.99984665e-01 1.45001009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.99 meters Centerline goodness [0,1] 0.999281442677669 Centerline is valid? [True, True] Translation: X:33.22, Y:-188.14, Z:1.45 [[ 8.38168025e-01 5.45394487e-01 -4.38364254e-03 3.32183263e+01] [-5.45387461e-01 8.38179485e-01 2.76926337e-03 -1.88144929e+02] [ 5.18462022e-03 6.96756692e-05 9.99986557e-01 1.45059835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.02 meters Centerline goodness [0,1] 0.9993708933314693 Centerline is valid? [True, True] Translation: X:33.24, Y:-188.16, Z:1.45 [[ 8.34755380e-01 5.50615230e-01 -2.51491154e-03 3.32439186e+01] [-5.50612942e-01 8.34759166e-01 1.58837793e-03 -1.88156616e+02] [ 2.97393054e-03 5.88358227e-05 9.99995576e-01 1.45180753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.05 meters Centerline goodness [0,1] 0.9996041171813144 Centerline is valid? [True, True] Translation: X:33.27, Y:-188.17, Z:1.45 [[ 8.33278060e-01 5.52850827e-01 -1.90745917e-03 3.32693885e+01] [-5.52849518e-01 8.33280242e-01 1.20407212e-03 -1.88170582e+02] [ 2.25512031e-03 5.12109990e-05 9.99997456e-01 1.45222726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.08 meters Centerline goodness [0,1] 0.999533288217861 Centerline is valid? [True, True] Translation: X:33.29, Y:-188.18, Z:1.45 [[ 8.31966751e-01 5.54824783e-01 -8.86684231e-04 3.32934438e+01] [-5.54824501e-01 8.31967223e-01 5.59608290e-04 -1.88183833e+02] [ 1.04817677e-03 2.63786460e-05 9.99999450e-01 1.45246738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.11 meters Centerline goodness [0,1] 0.9993009763030967 Centerline is valid? [True, True] Translation: X:33.32, Y:-188.20, Z:1.45 [[ 8.30850708e-01 5.56495195e-01 -4.45214559e-04 3.33185498e+01] [-5.56495125e-01 8.30850827e-01 2.80835450e-04 -1.88197925e+02] [ 5.26190463e-04 1.44273988e-05 9.99999862e-01 1.45256041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.14 meters Centerline goodness [0,1] 0.9993033139035322 Centerline is valid? [True, True] Translation: X:33.34, Y:-188.21, Z:1.45 [[ 8.29626615e-01 5.58318592e-01 -1.73862087e-04 3.33419449e+01] [-5.58318581e-01 8.29626633e-01 1.09648791e-04 -1.88213810e+02] [ 2.05459576e-04 6.10287850e-06 9.99999979e-01 1.45274183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.16999999999996 meters Centerline goodness [0,1] 0.9995112073179248 Centerline is valid? [True, True] Translation: X:33.37, Y:-188.23, Z:1.45 [[ 8.29508085e-01 5.58494390e-01 -5.94224203e-04 3.33668680e+01] [-5.58494265e-01 8.29508298e-01 3.74687576e-04 -1.88226178e+02] [ 7.02174816e-04 2.10644353e-05 9.99999753e-01 1.45278275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.2 meters Centerline goodness [0,1] 0.9993929488676162 Centerline is valid? [True, True] Translation: X:33.39, Y:-188.25, Z:1.45 [[ 8.29609059e-01 5.58343302e-01 -1.25126833e-03 3.33878405e+01] [-5.58342747e-01 8.29610002e-01 7.88480047e-04 -1.88245309e+02] [ 1.47830728e-03 4.45064079e-05 9.99998906e-01 1.45218181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.22999999999996 meters Centerline goodness [0,1] 0.9993717716040765 Centerline is valid? [True, True] Translation: X:33.41, Y:-188.26, Z:1.45 [[ 8.30858658e-01 5.56479740e-01 -2.04687137e-03 3.34102859e+01] [-5.56478251e-01 8.30861177e-01 1.28910135e-03 -1.88264009e+02] [ 2.41802474e-03 6.79783812e-05 9.99997074e-01 1.45024403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.26 meters Centerline goodness [0,1] 0.9993712010060783 Centerline is valid? [True, True] Translation: X:33.43, Y:-188.28, Z:1.45 [[ 8.31191929e-01 5.55978931e-01 -2.72127924e-03 3.34342201e+01] [-5.55976298e-01 8.31196379e-01 1.71349912e-03 -1.88278834e+02] [ 3.21458686e-03 8.87201127e-05 9.99994829e-01 1.44937355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.28999999999996 meters Centerline goodness [0,1] 0.9992556754745069 Centerline is valid? [True, True] Translation: X:33.46, Y:-188.29, Z:1.45 [[ 8.31540136e-01 5.55457690e-01 -2.78504035e-03 3.34576061e+01] [-5.55454932e-01 8.31544795e-01 1.75254055e-03 -1.88294123e+02] [ 3.28934793e-03 8.96565929e-05 9.99994586e-01 1.44876982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.32 meters Centerline goodness [0,1] 0.9991443108233118 Centerline is valid? [True, True] Translation: X:33.48, Y:-188.31, Z:1.45 [[ 8.31987216e-01 5.54787176e-01 -2.90883469e-03 3.34817677e+01] [-5.54784168e-01 8.31992296e-01 1.82942738e-03 -1.88309940e+02] [ 3.43507091e-03 9.17152393e-05 9.99994096e-01 1.44867120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.34999999999997 meters Centerline goodness [0,1] 0.9993958546333302 Centerline is valid? [True, True] Translation: X:33.50, Y:-188.32, Z:1.45 [[ 8.32031451e-01 5.54723325e-01 -2.38669040e-03 3.35043161e+01] [-5.54721301e-01 8.32034871e-01 1.50062856e-03 -1.88324173e+02] [ 2.81824331e-03 7.53778451e-05 9.99996026e-01 1.44899804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.38 meters Centerline goodness [0,1] 0.9994176837789993 Centerline is valid? [True, True] Translation: X:33.53, Y:-188.34, Z:1.45 [[ 8.31871800e-01 5.54966432e-01 -1.25234716e-03 3.35286597e+01] [-5.54965875e-01 8.31872741e-01 7.86973427e-04 -1.88339886e+02] [ 1.47853730e-03 4.03489391e-05 9.99998906e-01 1.44966303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.40999999999997 meters Centerline goodness [0,1] 0.9993701448666806 Centerline is valid? [True, True] Translation: X:33.55, Y:-188.35, Z:1.45 [[ 8.31873056e-01 5.54965550e-01 -6.75205053e-04 3.35520532e+01] [-5.54965389e-01 8.31873330e-01 4.24114935e-04 -1.88352874e+02] [ 7.97054254e-04 2.19056473e-05 9.99999682e-01 1.45036081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.44 meters Centerline goodness [0,1] 0.9993711863617308 Centerline is valid? [True, True] Translation: X:33.58, Y:-188.36, Z:1.45 [[ 8.31933964e-01 5.54874641e-01 -1.10738352e-04 3.35783150e+01] [-5.54874636e-01 8.31933972e-01 6.95265132e-05 -1.88361582e+02] [ 1.30705496e-04 3.60443496e-06 9.99999991e-01 1.45103664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.46999999999997 meters Centerline goodness [0,1] 0.9993263020954328 Centerline is valid? [True, True] Translation: X:33.60, Y:-188.38, Z:1.45 [[ 8.31874621e-01 5.54963467e-01 4.07545275e-04 3.35998011e+01] [-5.54963408e-01 8.31874720e-01 -2.55750215e-04 -1.88381534e+02] [-4.80958638e-04 -1.34206015e-05 9.99999884e-01 1.45175289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.5 meters Centerline goodness [0,1] 0.9993965697310093 Centerline is valid? [True, True] Translation: X:33.62, Y:-188.40, Z:1.45 [[ 8.31796192e-01 5.55080170e-01 1.04885488e-03 3.36239591e+01] [-5.55079782e-01 8.31796852e-01 -6.57830662e-04 -1.88397228e+02] [-1.23758295e-03 -3.50171011e-05 9.99999234e-01 1.45235721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.53 meters Centerline goodness [0,1] 0.9993697478991597 Centerline is valid? [True, True] Translation: X:33.65, Y:-188.41, Z:1.45 [[ 8.32077536e-01 5.54658217e-01 1.11209250e-03 3.36474678e+01] [-5.54657780e-01 8.32078278e-01 -6.97050870e-04 -1.88411720e+02] [-1.31197301e-03 -3.68303874e-05 9.99999139e-01 1.45201273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.56 meters Centerline goodness [0,1] 0.9996020692399522 Centerline is valid? [True, True] Translation: X:33.67, Y:-188.43, Z:1.45 [[ 8.31807792e-01 5.55063148e-01 8.36396976e-04 3.36722127e+01] [-5.55062901e-01 8.31808212e-01 -5.24142533e-04 -1.88425367e+02] [-9.86654077e-04 -2.82670887e-05 9.99999513e-01 1.45114656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.59 meters Centerline goodness [0,1] 0.9993222240400121 Centerline is valid? [True, True] Translation: X:33.70, Y:-188.44, Z:1.45 [[ 8.31650590e-01 5.55299121e-01 4.26933032e-04 3.36958884e+01] [-5.55299057e-01 8.31650700e-01 -2.67469387e-04 -1.88439275e+02] [-5.03584670e-04 -1.46344362e-05 9.99999873e-01 1.45029615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.62 meters Centerline goodness [0,1] 0.9992982456140351 Centerline is valid? [True, True] Translation: X:33.72, Y:-188.46, Z:1.45 [[ 8.31421408e-01 5.55642368e-01 -3.56616362e-05 3.37195670e+01] [-5.55642368e-01 8.31421409e-01 2.23260808e-05 -1.88455289e+02] [ 4.20551644e-05 1.25273447e-06 9.99999999e-01 1.44957886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.65 meters Centerline goodness [0,1] 0.99941733090943 Centerline is valid? [True, True] Translation: X:33.74, Y:-188.47, Z:1.45 [[ 8.30525325e-01 5.56979642e-01 -1.16750793e-03 3.37447715e+01] [-5.56979164e-01 8.30526144e-01 7.30633225e-04 -1.88468635e+02] [ 1.37659369e-03 4.34681929e-05 9.99999052e-01 1.44843389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.68 meters Centerline goodness [0,1] 0.9994149446537642 Centerline is valid? [True, True] Translation: X:33.77, Y:-188.48, Z:1.45 [[ 8.30090951e-01 5.57627310e-01 -8.92156464e-04 3.37689375e+01] [-5.57627031e-01 8.30091430e-01 5.58011162e-04 -1.88483326e+02] [ 1.05173370e-03 3.42905442e-05 9.99999446e-01 1.44840983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.71 meters Centerline goodness [0,1] 0.9995776234278205 Centerline is valid? [True, True] Translation: X:33.79, Y:-188.50, Z:1.45 [[ 8.29095666e-01 5.59106523e-01 -5.23139292e-04 3.37945916e+01] [-5.59106427e-01 8.29095830e-01 3.27025268e-04 -1.88496519e+02] [ 6.16574566e-04 2.13553084e-05 9.99999810e-01 1.44928844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.74 meters Centerline goodness [0,1] 0.9995091049346642 Centerline is valid? [True, True] Translation: X:33.82, Y:-188.51, Z:1.45 [[ 8.28606872e-01 5.59830778e-01 -3.90129078e-04 3.38198221e+01] [-5.59830725e-01 8.28606964e-01 2.43745688e-04 -1.88510335e+02] [ 4.59720009e-04 1.64368923e-05 9.99999894e-01 1.44967785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.77 meters Centerline goodness [0,1] 0.9995533615420781 Centerline is valid? [True, True] Translation: X:33.84, Y:-188.53, Z:1.45 [[ 8.28275094e-01 5.60321340e-01 6.03132321e-04 3.38435246e+01] [-5.60321214e-01 8.28275314e-01 -3.76624488e-04 -1.88527146e+02] [-7.10590350e-04 -2.59991514e-05 9.99999747e-01 1.45003395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.8 meters Centerline goodness [0,1] 0.9997189366436351 Centerline is valid? [True, True] Translation: X:33.87, Y:-188.54, Z:1.45 [[ 8.27785769e-01 5.61043515e-01 9.45514712e-04 3.38687528e+01] [-5.61043206e-01 8.27786308e-01 -5.90280303e-04 -1.88538315e+02] [-1.11385707e-03 -4.18489710e-05 9.99999379e-01 1.45026793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.83 meters Centerline goodness [0,1] 0.9996239983079924 Centerline is valid? [True, True] Translation: X:33.89, Y:-188.55, Z:1.45 [[ 8.27549156e-01 5.61389086e-01 2.16527818e-03 3.38933846e+01] [-5.61387468e-01 8.27551983e-01 -1.35151623e-03 -1.88551400e+02] [-2.55060671e-03 -9.71139183e-05 9.99996743e-01 1.45095952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.86 meters Centerline goodness [0,1] 0.999529577796072 Centerline is valid? [True, True] Translation: X:33.92, Y:-188.57, Z:1.45 [[ 8.27909041e-01 5.60858245e-01 2.15589905e-03 3.39163761e+01] [-5.60856641e-01 8.27911843e-01 -1.34492630e-03 -1.88568848e+02] [-2.53920736e-03 -9.56736563e-05 9.99996772e-01 1.45111102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.89 meters Centerline goodness [0,1] 0.9993182566176125 Centerline is valid? [True, True] Translation: X:33.94, Y:-188.58, Z:1.45 [[ 8.28342027e-01 5.60217305e-01 2.46117325e-03 3.39403226e+01] [-5.60215213e-01 8.28345677e-01 -1.53451835e-03 -1.88583966e+02] [-2.89836595e-03 -1.07680657e-04 9.99995794e-01 1.45095366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.91999999999996 meters Centerline goodness [0,1] 0.9992494077357915 Centerline is valid? [True, True] Translation: X:33.96, Y:-188.60, Z:1.45 [[ 8.28888495e-01 5.59410669e-01 1.88851418e-03 3.39645729e+01] [-5.59409437e-01 8.28890642e-01 -1.17682051e-03 -1.88598902e+02] [-2.22369768e-03 -8.09996688e-05 9.99997524e-01 1.45089638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.95 meters Centerline goodness [0,1] 0.9995303731185573 Centerline is valid? [True, True] Translation: X:33.99, Y:-188.61, Z:1.45 [[ 8.29617858e-01 5.58328828e-01 1.76930254e-03 3.39890140e+01] [-5.58327745e-01 8.29619741e-01 -1.10196572e-03 -1.88614792e+02] [-2.08310754e-03 -7.36402610e-05 9.99997828e-01 1.45035839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.97999999999996 meters Centerline goodness [0,1] 0.9995303731185573 Centerline is valid? [True, True] Translation: X:34.01, Y:-188.63, Z:1.45 [[ 8.29776882e-01 5.58092460e-01 1.76961608e-03 3.40122716e+01] [-5.58091378e-01 8.29778766e-01 -1.10146215e-03 -1.88629203e+02] [-2.08310756e-03 -7.36396497e-05 9.99997828e-01 1.45035808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.01 meters Centerline goodness [0,1] 0.9997650762327625 Centerline is valid? [True, True] Translation: X:34.04, Y:-188.65, Z:1.45 [[ 8.30721867e-01 5.56685253e-01 1.64592657e-03 3.40357794e+01] [-5.56684315e-01 8.30723495e-01 -1.02389712e-03 -1.88645491e+02] [-1.93729830e-03 -6.56877784e-05 9.99998121e-01 1.44959312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.03999999999996 meters Centerline goodness [0,1] 0.9993674592948343 Centerline is valid? [True, True] Translation: X:34.06, Y:-188.66, Z:1.45 [[ 8.32951902e-01 5.53343328e-01 1.51357185e-03 3.40599416e+01] [-5.53342530e-01 8.32953275e-01 -9.41415603e-04 -1.88660061e+02] [-1.78166067e-03 -5.33697612e-05 9.99998411e-01 1.44846013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.07 meters Centerline goodness [0,1] 0.9992496189471216 Centerline is valid? [True, True] Translation: X:34.08, Y:-188.68, Z:1.45 [[ 8.34180943e-01 5.51488976e-01 1.43675563e-03 3.40832810e+01] [-5.51488254e-01 8.34182179e-01 -8.93142595e-04 -1.88677241e+02] [-1.69107424e-03 -4.73113231e-05 9.99998569e-01 1.44780407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.09999999999997 meters Centerline goodness [0,1] 0.9994610175052141 Centerline is valid? [True, True] Translation: X:34.11, Y:-188.69, Z:1.45 [[ 8.35416803e-01 5.49614522e-01 1.62573401e-03 3.41070936e+01] [-5.49613595e-01 8.35418383e-01 -1.01032447e-03 -1.88692087e+02] [-1.91345708e-03 -4.94834695e-05 9.99998168e-01 1.44754031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.13 meters Centerline goodness [0,1] 0.999484656828297 Centerline is valid? [True, True] Translation: X:34.13, Y:-188.71, Z:1.45 [[ 8.37626288e-01 5.46237736e-01 2.55669394e-03 3.41311695e+01] [-5.46235430e-01 8.37630188e-01 -1.58862335e-03 -1.88708429e+02] [-3.00933005e-03 -6.58841326e-05 9.99995470e-01 1.44772040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.15999999999997 meters Centerline goodness [0,1] 0.9993684505988024 Centerline is valid? [True, True] Translation: X:34.16, Y:-188.72, Z:1.45 [[ 8.38752880e-01 5.44501549e-01 3.41601250e-03 3.41551663e+01] [-5.44497423e-01 8.38759833e-01 -2.12138495e-03 -1.88724198e+02] [-4.02031147e-03 -8.06922703e-05 9.99991915e-01 1.44781257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.19 meters Centerline goodness [0,1] 0.9993453508218185 Centerline is valid? [True, True] Translation: X:34.18, Y:-188.74, Z:1.45 [[ 8.40090539e-01 5.42432482e-01 3.85867067e-03 3.41789882e+01] [-5.42427201e-01 8.40099397e-01 -2.39494143e-03 -1.88739594e+02] [-4.54076093e-03 -8.10802905e-05 9.99989687e-01 1.44769909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.21999999999997 meters Centerline goodness [0,1] 0.9991577765300393 Centerline is valid? [True, True] Translation: X:34.20, Y:-188.76, Z:1.45 [[ 8.41487271e-01 5.40257398e-01 4.59525890e-03 3.42033566e+01] [-5.40249884e-01 8.41499814e-01 -2.85062086e-03 -1.88755699e+02] [-5.40697851e-03 -8.38269202e-05 9.99985379e-01 1.44749881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.25 meters Centerline goodness [0,1] 0.999322888696911 Centerline is valid? [True, True] Translation: X:34.23, Y:-188.77, Z:1.45 [[ 8.44544516e-01 5.35464980e-01 4.67070233e-03 3.42271884e+01] [-5.35457153e-01 8.44557430e-01 -2.89578484e-03 -1.88772256e+02] [-5.49526772e-03 -5.53417616e-05 9.99984899e-01 1.44635334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.28 meters Centerline goodness [0,1] 0.9990180032733225 Centerline is valid? [True, True] Translation: X:34.25, Y:-188.79, Z:1.45 [[ 8.46090404e-01 5.33019840e-01 4.56932251e-03 3.42503968e+01] [-5.33012317e-01 8.46102741e-01 -2.83236202e-03 -1.88787071e+02] [-5.37582145e-03 -3.90708486e-05 9.99985549e-01 1.44602633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.31 meters Centerline goodness [0,1] 0.9989715781600599 Centerline is valid? [True, True] Translation: X:34.27, Y:-188.80, Z:1.45 [[ 8.47660629e-01 5.30521200e-01 4.32607168e-03 3.42742198e+01] [-5.30514431e-01 8.47671667e-01 -2.68010002e-03 -1.88802112e+02] [-5.08893827e-03 -2.32281891e-05 9.99987051e-01 1.44541886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.34 meters Centerline goodness [0,1] 0.9992977034904137 Centerline is valid? [True, True] Translation: X:34.30, Y:-188.82, Z:1.45 [[ 8.49133133e-01 5.28164000e-01 3.96382326e-03 3.42975836e+01] [-5.28158299e-01 8.49142384e-01 -2.45412649e-03 -1.88816701e+02] [-4.66203159e-03 -9.64603420e-06 9.99989133e-01 1.44521415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.37 meters Centerline goodness [0,1] 0.9989032273119735 Centerline is valid? [True, True] Translation: X:34.32, Y:-188.83, Z:1.45 [[ 8.52269256e-01 5.23087698e-01 4.04651741e-03 3.43204032e+01] [-5.23081701e-01 8.52278863e-01 -2.50483065e-03 -1.88832570e+02] [-4.75900735e-03 1.81309432e-05 9.99988676e-01 1.44541681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.4 meters Centerline goodness [0,1] 0.9989731621936989 Centerline is valid? [True, True] Translation: X:34.34, Y:-188.85, Z:1.45 [[ 8.53846374e-01 5.20508147e-01 4.19981162e-03 3.43440796e+01] [-5.20501663e-01 8.53856703e-01 -2.59826407e-03 -1.88848232e+02] [-4.93845492e-03 3.25094221e-05 9.99987805e-01 1.44526025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.43 meters Centerline goodness [0,1] 0.9985553510263998 Centerline is valid? [True, True] Translation: X:34.37, Y:-188.86, Z:1.45 [[ 8.55380920e-01 5.17983333e-01 4.09244894e-03 3.43665787e+01] [-5.17977150e-01 8.55390709e-01 -2.53133828e-03 -1.88863887e+02] [-4.81183384e-03 4.54634281e-05 9.99988422e-01 1.44572369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.46 meters Centerline goodness [0,1] 0.9986026038148916 Centerline is valid? [True, True] Translation: X:34.39, Y:-188.88, Z:1.44 [[ 8.57413432e-01 5.14622007e-01 2.52893316e-03 3.43882899e+01] [-5.14619632e-01 8.57417161e-01 -1.56393274e-03 -1.88882669e+02] [-2.97318490e-03 3.94982848e-05 9.99995579e-01 1.44220446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.49 meters Centerline goodness [0,1] 0.9982359221948842 Centerline is valid? [True, True] Translation: X:34.41, Y:-188.90, Z:1.44 [[ 8.57932639e-01 5.13758642e-01 1.90913683e-03 3.44107427e+01] [-5.13757287e-01 8.57934763e-01 -1.18040830e-03 -1.88898377e+02] [-2.24435982e-03 3.18778529e-05 9.99997481e-01 1.44137587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.52 meters Centerline goodness [0,1] 0.998505161862942 Centerline is valid? [True, True] Translation: X:34.43, Y:-188.91, Z:1.44 [[ 8.58612223e-01 5.12622496e-01 1.79631237e-03 3.44345133e+01] [-5.12621295e-01 8.58614102e-01 -1.11004601e-03 -1.88914380e+02] [-2.11137369e-03 3.22710996e-05 9.99997771e-01 1.44148550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.55 meters Centerline goodness [0,1] 0.9986505037343819 Centerline is valid? [True, True] Translation: X:34.46, Y:-188.93, Z:1.44 [[ 8.58965474e-01 5.12028884e-01 2.17616208e-03 3.44585350e+01] [-5.12027122e-01 8.58968230e-01 -1.34392289e-03 -1.88929112e+02] [-2.55738142e-03 4.01293553e-05 9.99996729e-01 1.44194161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.58 meters Centerline goodness [0,1] 0.9990227330897922 Centerline is valid? [True, True] Translation: X:34.48, Y:-188.94, Z:1.44 [[ 8.59619664e-01 5.10924768e-01 3.14887738e-03 3.44826510e+01] [-5.10921075e-01 8.59625429e-01 -1.94355566e-03 -1.88944866e+02] [-3.69986580e-03 6.18908436e-05 9.99993154e-01 1.44322031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.61 meters Centerline goodness [0,1] 0.9989288624985446 Centerline is valid? [True, True] Translation: X:34.51, Y:-188.96, Z:1.44 [[ 8.59870613e-01 5.10499528e-01 3.57214303e-03 3.45065521e+01] [-5.10494778e-01 8.59878030e-01 -2.20340474e-03 -1.88959715e+02] [-4.19644439e-03 7.10826158e-05 9.99991192e-01 1.44387423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.64 meters Centerline goodness [0,1] 0.9989306056026968 Centerline is valid? [True, True] Translation: X:34.53, Y:-188.98, Z:1.44 [[ 8.59951034e-01 5.10362841e-01 3.74026217e-03 3.45287198e+01] [-5.10357635e-01 8.59959165e-01 -2.30646890e-03 -1.88975411e+02] [-4.39360875e-03 7.45789646e-05 9.99990345e-01 1.44364667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.66999999999996 meters Centerline goodness [0,1] 0.9987203052653622 Centerline is valid? [True, True] Translation: X:34.55, Y:-188.99, Z:1.44 [[ 8.60014065e-01 5.10258569e-01 3.46428254e-03 3.45531283e+01] [-5.10254108e-01 8.60021039e-01 -2.13491561e-03 -1.88989303e+02] [-4.06871485e-03 6.83930524e-05 9.99991720e-01 1.44253595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.7 meters Centerline goodness [0,1] 0.9986295642478863 Centerline is valid? [True, True] Translation: X:34.58, Y:-189.01, Z:1.44 [[ 8.60523894e-01 5.09399158e-01 3.33537437e-03 3.45755185e+01] [-5.09395018e-01 8.60530356e-01 -2.05506325e-03 -1.89005435e+02] [-3.91703838e-03 6.94079489e-05 9.99992326e-01 1.44090478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.72999999999996 meters Centerline goodness [0,1] 0.9986046511627907 Centerline is valid? [True, True] Translation: X:34.60, Y:-189.02, Z:1.44 [[ 8.61295469e-01 5.08093390e-01 3.34984867e-03 3.45990265e+01] [-5.08089208e-01 8.61301980e-01 -2.06284375e-03 -1.89021455e+02] [-3.93334857e-03 7.46960191e-05 9.99992262e-01 1.44058662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.76 meters Centerline goodness [0,1] 0.9988615241635688 Centerline is valid? [True, True] Translation: X:34.62, Y:-189.04, Z:1.44 [[ 8.62443984e-01 5.06143932e-01 2.94871966e-03 3.46227514e+01] [-5.06140683e-01 8.62449022e-01 -1.81483282e-03 -1.89037720e+02] [-3.46168701e-03 7.27246598e-05 9.99994006e-01 1.44072336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.78999999999996 meters Centerline goodness [0,1] 0.9987249333487886 Centerline is valid? [True, True] Translation: X:34.65, Y:-189.05, Z:1.44 [[ 8.63744874e-01 5.03922608e-01 2.60732536e-03 3.46465981e+01] [-5.03920060e-01 8.63748806e-01 -1.60384236e-03 -1.89053933e+02] [-3.06028659e-03 7.14270635e-05 9.99995315e-01 1.44079809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.82 meters Centerline goodness [0,1] 0.9985663745462113 Centerline is valid? [True, True] Translation: X:34.67, Y:-189.07, Z:1.44 [[ 8.64914990e-01 5.01913245e-01 2.27022531e-03 3.46704521e+01] [-5.01911309e-01 8.64917967e-01 -1.39572496e-03 -1.89070373e+02] [-2.66409151e-03 6.77316778e-05 9.99996449e-01 1.44105035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.84999999999997 meters Centerline goodness [0,1] 0.9983540430267063 Centerline is valid? [True, True] Translation: X:34.69, Y:-189.09, Z:1.44 [[ 8.66746175e-01 4.98743106e-01 2.52636412e-03 3.46934664e+01] [-4.98740695e-01 8.66749853e-01 -1.55290265e-03 -1.89088076e+02] [-2.96422522e-03 8.59718361e-05 9.99995603e-01 1.44118180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.88 meters Centerline goodness [0,1] 0.9984476726674544 Centerline is valid? [True, True] Translation: X:34.72, Y:-189.10, Z:1.44 [[ 8.67339700e-01 4.97708167e-01 2.90262884e-03 3.47168764e+01] [-4.97704983e-01 8.67344551e-01 -1.78323658e-03 -1.89104513e+02] [-3.40511072e-03 1.02019044e-04 9.99994197e-01 1.44070530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.90999999999997 meters Centerline goodness [0,1] 0.9982399666519998 Centerline is valid? [True, True] Translation: X:34.74, Y:-189.12, Z:1.44 [[ 8.67617368e-01 4.97222777e-01 3.10040322e-03 3.47409971e+01] [-4.97219145e-01 8.67622901e-01 -1.90373165e-03 -1.89120802e+02] [-3.63655957e-03 1.10130802e-04 9.99993382e-01 1.44041251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.94 meters Centerline goodness [0,1] 0.998385832218789 Centerline is valid? [True, True] Translation: X:34.76, Y:-189.14, Z:1.44 [[ 8.67844279e-01 4.96814774e-01 4.62468321e-03 3.47637529e+01] [-4.96806691e-01 8.67856586e-01 -2.83888115e-03 -1.89136043e+02] [-5.42395988e-03 1.66133202e-04 9.99985276e-01 1.44123973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.96999999999997 meters Centerline goodness [0,1] 0.9982902428317275 Centerline is valid? [True, True] Translation: X:34.79, Y:-189.15, Z:1.44 [[ 8.68044682e-01 4.96457586e-01 5.31931621e-03 3.47881748e+01] [-4.96446896e-01 8.68060959e-01 -3.26358221e-03 -1.89151295e+02] [-6.23772087e-03 1.92177161e-04 9.99980527e-01 1.44237692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.0 meters Centerline goodness [0,1] 0.998472116119175 Centerline is valid? [True, True] Translation: X:34.81, Y:-189.17, Z:1.44 [[ 8.68101192e-01 4.96353058e-01 5.82767710e-03 3.48116859e+01] [-4.96340229e-01 8.68120728e-01 -3.57481477e-03 -1.89166428e+02] [-6.83349752e-03 2.10790379e-04 9.99976629e-01 1.44253701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.03 meters Centerline goodness [0,1] 0.9985649809049878 Centerline is valid? [True, True] Translation: X:34.84, Y:-189.18, Z:1.44 [[ 8.68116423e-01 4.96324010e-01 6.02944901e-03 3.48385834e+01] [-4.96310294e-01 8.68137334e-01 -3.69619884e-03 -1.89176486e+02] [-7.06890201e-03 2.16253302e-04 9.99974992e-01 1.44095222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.06 meters Centerline goodness [0,1] 0.9981974903519516 Centerline is valid? [True, True] Translation: X:34.86, Y:-189.19, Z:1.44 [[ 8.68000545e-01 4.96529304e-01 5.80550098e-03 3.48628271e+01] [-4.96516606e-01 8.68019936e-01 -3.55691380e-03 -1.89191066e+02] [-6.80540251e-03 2.04875479e-04 9.99976822e-01 1.43981962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.09 meters Centerline goodness [0,1] 0.9981043530526851 Centerline is valid? [True, True] Translation: X:34.88, Y:-189.21, Z:1.44 [[ 8.67748919e-01 4.96974329e-01 5.32254710e-03 3.48837973e+01] [-4.96963668e-01 8.67765223e-01 -3.26036697e-03 -1.89210400e+02] [-6.23903996e-03 1.84067380e-04 9.99980520e-01 1.43994736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.12 meters Centerline goodness [0,1] 0.9981349727153416 Centerline is valid? [True, True] Translation: X:34.91, Y:-189.22, Z:1.44 [[ 8.67626406e-01 4.97194236e-01 4.72354372e-03 3.49079054e+01] [-4.97185846e-01 8.67639249e-01 -2.89292260e-03 -1.89224873e+02] [-5.53667637e-03 1.61496956e-04 9.99984659e-01 1.43913942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.15 meters Centerline goodness [0,1] 0.9983986632319153 Centerline is valid? [True, True] Translation: X:34.93, Y:-189.24, Z:1.44 [[ 8.67357098e-01 4.97666645e-01 4.42433517e-03 3.49330055e+01] [-4.97659298e-01 8.67368370e-01 -2.70831876e-03 -1.89239464e+02] [-5.18536830e-03 1.47267968e-04 9.99986545e-01 1.43873465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.18 meters Centerline goodness [0,1] 0.9981662449803858 Centerline is valid? [True, True] Translation: X:34.96, Y:-189.25, Z:1.44 [[ 8.67693651e-01 4.97081522e-01 4.20579954e-03 3.49603132e+01] [-4.97074883e-01 8.67703832e-01 -2.57311628e-03 -1.89249123e+02] [-4.92843693e-03 1.42079350e-04 9.99987845e-01 1.43734264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.21 meters Centerline goodness [0,1] 0.9980009650513545 Centerline is valid? [True, True] Translation: X:34.98, Y:-189.26, Z:1.44 [[ 8.68067948e-01 4.96428045e-01 4.15142108e-03 3.49832236e+01] [-4.96421571e-01 8.68077863e-01 -2.53934665e-03 -1.89264960e+02] [-4.86435963e-03 1.43470456e-04 9.99988159e-01 1.43730394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.24 meters Centerline goodness [0,1] 0.9980490977076898 Centerline is valid? [True, True] Translation: X:35.01, Y:-189.28, Z:1.44 [[ 8.68639371e-01 4.95422364e-01 4.72482129e-03 3.50086458e+01] [-4.95413972e-01 8.68652205e-01 -2.88847248e-03 -1.89279142e+02] [-5.53524029e-03 1.68298435e-04 9.99984666e-01 1.43710150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.27 meters Centerline goodness [0,1] 0.9980041309847061 Centerline is valid? [True, True] Translation: X:35.03, Y:-189.29, Z:1.44 [[ 8.69364533e-01 4.94143987e-01 5.19899094e-03 3.50317688e+01] [-4.94133809e-01 8.69380057e-01 -3.17740966e-03 -1.89294963e+02] [-6.08999691e-03 1.93330075e-04 9.99981437e-01 1.43758680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.3 meters Centerline goodness [0,1] 0.9983085015177144 Centerline is valid? [True, True] Translation: X:35.06, Y:-189.31, Z:1.44 [[ 8.70826891e-01 4.91551310e-01 6.15103105e-03 3.50568660e+01] [-4.91537011e-01 8.70848579e-01 -3.75744612e-03 -1.89310584e+02] [-7.20359421e-03 2.48625704e-04 9.99974023e-01 1.43809648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.33 meters Centerline goodness [0,1] 0.997941815827205 Centerline is valid? [True, True] Translation: X:35.08, Y:-189.33, Z:1.44 [[ 8.71535076e-01 4.90285882e-01 6.80924733e-03 3.50776326e+01] [-4.90268333e-01 8.71561629e-01 -4.15806692e-03 -1.89328993e+02] [-7.97332020e-03 2.85542838e-04 9.99968172e-01 1.43959585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.36 meters Centerline goodness [0,1] 0.9982895314703095 Centerline is valid? [True, True] Translation: X:35.10, Y:-189.34, Z:1.44 [[ 8.72004993e-01 4.89449911e-01 6.78798159e-03 3.51038498e+01] [-4.89432453e-01 8.72031364e-01 -4.14425157e-03 -1.89340351e+02] [-7.94773640e-03 2.91549583e-04 9.99968374e-01 1.43877365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.39 meters Centerline goodness [0,1] 0.9986393302737483 Centerline is valid? [True, True] Translation: X:35.13, Y:-189.35, Z:1.44 [[ 8.71782887e-01 4.89846046e-01 6.74159848e-03 3.51290964e+01] [-4.89828855e-01 8.71808907e-01 -4.11362141e-03 -1.89354583e+02] [-7.89242679e-03 2.83955278e-04 9.99968814e-01 1.43790079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.41999999999996 meters Centerline goodness [0,1] 0.9982618368907739 Centerline is valid? [True, True] Translation: X:35.15, Y:-189.37, Z:1.44 [[ 8.71626791e-01 4.90120616e-01 6.96558957e-03 3.51530278e+01] [-4.90102283e-01 8.71654575e-01 -4.24902650e-03 -1.89369415e+02] [-8.15412350e-03 2.89713982e-04 9.99966713e-01 1.43798022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.45 meters Centerline goodness [0,1] 0.9983149828035917 Centerline is valid? [True, True] Translation: X:35.18, Y:-189.38, Z:1.44 [[ 8.71377109e-01 4.90561764e-01 7.14764439e-03 3.51777292e+01] [-4.90542496e-01 8.71406375e-01 -4.35766302e-03 -1.89383838e+02] [-8.36620574e-03 2.90944491e-04 9.99964960e-01 1.43811594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.47999999999996 meters Centerline goodness [0,1] 0.9984230421372418 Centerline is valid? [True, True] Translation: X:35.20, Y:-189.40, Z:1.44 [[ 8.71349145e-01 4.90606929e-01 7.45046689e-03 3.52023912e+01] [-4.90586020e-01 8.71380945e-01 -4.53930784e-03 -1.89396046e+02] [-8.71921076e-03 3.00227099e-04 9.99961942e-01 1.43770379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.51 meters Centerline goodness [0,1] 0.9986301687910659 Centerline is valid? [True, True] Translation: X:35.23, Y:-189.41, Z:1.44 [[ 8.71037947e-01 4.91160648e-01 7.35609537e-03 3.52261455e+01] [-4.91140293e-01 8.71068960e-01 -4.48089872e-03 -1.89410096e+02] [-8.60850746e-03 2.90157987e-04 9.99962904e-01 1.43759356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.53999999999996 meters Centerline goodness [0,1] 0.998584719612074 Centerline is valid? [True, True] Translation: X:35.25, Y:-189.43, Z:1.44 [[ 8.70996634e-01 4.91233475e-01 7.38488387e-03 3.52494201e+01] [-4.91212971e-01 8.71027892e-01 -4.49753147e-03 -1.89426043e+02] [-8.64177785e-03 2.89784026e-04 9.99962617e-01 1.43826288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.57 meters Centerline goodness [0,1] 0.9984241019698725 Centerline is valid? [True, True] Translation: X:35.27, Y:-189.44, Z:1.44 [[ 8.70900758e-01 4.91402610e-01 7.43940190e-03 3.52749541e+01] [-4.91381831e-01 8.70932484e-01 -4.52818351e-03 -1.89439663e+02] [-8.70437797e-03 2.88011530e-04 9.99962075e-01 1.43831446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.59999999999997 meters Centerline goodness [0,1] 0.9983179723502305 Centerline is valid? [True, True] Translation: X:35.30, Y:-189.45, Z:1.44 [[ 8.70410864e-01 4.92273108e-01 7.21907248e-03 3.52985649e+01] [-4.92253579e-01 8.70440759e-01 -4.39319578e-03 -1.89454084e+02] [-8.44642706e-03 2.70271073e-04 9.99964292e-01 1.43849537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.63 meters Centerline goodness [0,1] 0.9985492562059596 Centerline is valid? [True, True] Translation: X:35.32, Y:-189.47, Z:1.44 [[ 8.70035654e-01 4.92939402e-01 6.97903522e-03 3.53235660e+01] [-4.92921191e-01 8.70063608e-01 -4.24476987e-03 -1.89467563e+02] [-8.16461889e-03 2.52986778e-04 9.99966637e-01 1.43843487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.65999999999997 meters Centerline goodness [0,1] 0.9987437185929648 Centerline is valid? [True, True] Translation: X:35.35, Y:-189.48, Z:1.44 [[ 8.68932676e-01 4.94877777e-01 7.21040863e-03 3.53494290e+01] [-4.94858425e-01 8.68962558e-01 -4.38302959e-03 -1.89479999e+02] [-8.43463907e-03 2.40426170e-04 9.99964399e-01 1.43810594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.69 meters Centerline goodness [0,1] 0.9984921592279855 Centerline is valid? [True, True] Translation: X:35.37, Y:-189.49, Z:1.44 [[ 8.68679837e-01 4.95323013e-01 7.10306310e-03 3.53742913e+01] [-4.95304268e-01 8.68708846e-01 -4.31531876e-03 -1.89494010e+02] [-8.30797044e-03 2.30452924e-04 9.99965462e-01 1.43739264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.71999999999997 meters Centerline goodness [0,1] 0.9983284191953196 Centerline is valid? [True, True] Translation: X:35.40, Y:-189.51, Z:1.44 [[ 8.68485337e-01 4.95666150e-01 6.94887642e-03 3.53964737e+01] [-4.95648229e-01 8.68513108e-01 -4.22079167e-03 -1.89510664e+02] [-8.12729381e-03 2.21497386e-04 9.99966949e-01 1.43786703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.75 meters Centerline goodness [0,1] 0.9985581395348837 Centerline is valid? [True, True] Translation: X:35.42, Y:-189.52, Z:1.44 [[ 8.68570871e-01 4.95524416e-01 6.33994216e-03 3.54218954e+01] [-4.95509513e-01 8.68593986e-01 -3.84838759e-03 -1.89522926e+02] [-7.41380565e-03 2.01095711e-04 9.99972497e-01 1.43683141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.78 meters Centerline goodness [0,1] 0.9985384187082406 Centerline is valid? [True, True] Translation: X:35.44, Y:-189.54, Z:1.44 [[ 8.69351459e-01 4.94161715e-01 5.67803954e-03 3.54442401e+01] [-4.94149737e-01 8.69369981e-01 -3.44590495e-03 -1.89539328e+02] [-6.63915143e-03 1.89900744e-04 9.99977943e-01 1.43809158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.81 meters Centerline goodness [0,1] 0.9982428964464892 Centerline is valid? [True, True] Translation: X:35.47, Y:-189.56, Z:1.44 [[ 8.70007846e-01 4.93011717e-01 5.07886897e-03 3.54653071e+01] [-4.93002117e-01 8.70022652e-01 -3.08166773e-03 -1.89557350e+02] [-5.93802935e-03 1.77181947e-04 9.99982354e-01 1.43948021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.84 meters Centerline goodness [0,1] 0.9985689885980704 Centerline is valid? [True, True] Translation: X:35.49, Y:-189.57, Z:1.44 [[ 8.71113240e-01 4.91066421e-01 3.93616513e-03 3.54906141e+01] [-4.91060638e-01 8.71122120e-01 -2.38783706e-03 -1.89570152e+02] [-4.60146711e-03 1.47180721e-04 9.99989402e-01 1.43963268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.87 meters Centerline goodness [0,1] 0.9984052879726356 Centerline is valid? [True, True] Translation: X:35.51, Y:-189.58, Z:1.44 [[ 8.71728246e-01 4.89978244e-01 3.34454089e-03 3.55149348e+01] [-4.89974064e-01 8.71734652e-01 -2.02778372e-03 -1.89584780e+02] [-3.90912209e-03 1.28938051e-04 9.99992351e-01 1.43982752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.9 meters Centerline goodness [0,1] 0.9984052879726356 Centerline is valid? [True, True] Translation: X:35.54, Y:-189.60, Z:1.44 [[ 8.71869454e-01 4.89726929e-01 3.34512508e-03 3.55383715e+01] [-4.89722752e-01 8.71875862e-01 -2.02681986e-03 -1.89598907e+02] [-3.90912208e-03 1.28938467e-04 9.99992351e-01 1.43982721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.93 meters Centerline goodness [0,1] 0.9983150994783733 Centerline is valid? [True, True] Translation: X:35.56, Y:-189.61, Z:1.44 [[ 8.72396743e-01 4.88787523e-01 3.26801860e-03 3.55624339e+01] [-4.88783534e-01 8.72402855e-01 -1.97897915e-03 -1.89614493e+02] [-3.81832907e-03 1.29101287e-04 9.99992702e-01 1.44024872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.96 meters Centerline goodness [0,1] 0.9983175071448327 Centerline is valid? [True, True] Translation: X:35.59, Y:-189.63, Z:1.44 [[ 8.72661726e-01 4.88314928e-01 3.16905654e-03 3.55854309e+01] [-4.88311175e-01 8.72667471e-01 -1.91866462e-03 -1.89629419e+02] [-3.70244514e-03 1.26859455e-04 9.99993138e-01 1.44102350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.99 meters Centerline goodness [0,1] 0.9985212910977103 Centerline is valid? [True, True] Translation: X:35.61, Y:-189.64, Z:1.44 [[ 8.72878995e-01 4.87924238e-01 3.49248877e-03 3.56092638e+01] [-4.87919683e-01 8.72885971e-01 -2.11313043e-03 -1.89643990e+02] [-4.07959200e-03 1.40453152e-04 9.99991669e-01 1.44191353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.02 meters Centerline goodness [0,1] 0.9985269408704859 Centerline is valid? [True, True] Translation: X:35.63, Y:-189.66, Z:1.44 [[ 8.73327149e-01 4.87117026e-01 4.08591283e-03 3.56333665e+01] [-4.87110788e-01 8.73336691e-01 -2.47080233e-03 -1.89658766e+02] [-4.77194747e-03 1.67526535e-04 9.99988600e-01 1.44353885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.05 meters Centerline goodness [0,1] 0.9983854599132761 Centerline is valid? [True, True] Translation: X:35.66, Y:-189.67, Z:1.45 [[ 8.73710680e-01 4.86427448e-01 4.24092807e-03 3.56573041e+01] [-4.86420722e-01 8.73720955e-01 -2.56403393e-03 -1.89673654e+02] [-4.95260420e-03 1.77348536e-04 9.99987720e-01 1.44580822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.08 meters Centerline goodness [0,1] 0.9979454268433445 Centerline is valid? [True, True] Translation: X:35.68, Y:-189.69, Z:1.45 [[ 8.74129289e-01 4.85676198e-01 4.07651618e-03 3.56815890e+01] [-4.85669982e-01 8.74138777e-01 -2.46328629e-03 -1.89689233e+02] [-4.75980039e-03 1.73389152e-04 9.99988657e-01 1.44561976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.11 meters Centerline goodness [0,1] 0.9982213803936062 Centerline is valid? [True, True] Translation: X:35.71, Y:-189.70, Z:1.45 [[ 8.74670280e-01 4.84707881e-01 3.18934306e-03 3.57057293e+01] [-4.84704074e-01 8.74676083e-01 -1.92615370e-03 -1.89704764e+02] [-3.72326398e-03 1.38861821e-04 9.99993059e-01 1.44536156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.14 meters Centerline goodness [0,1] 0.9981986143187067 Centerline is valid? [True, True] Translation: X:35.73, Y:-189.72, Z:1.44 [[ 8.75087290e-01 4.83958589e-01 2.51378112e-03 3.57303290e+01] [-4.83956224e-01 8.75090893e-01 -1.51733414e-03 -1.89720348e+02] [-2.93411385e-03 1.11239802e-04 9.99995689e-01 1.44479680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.16999999999996 meters Centerline goodness [0,1] 0.9982434649964176 Centerline is valid? [True, True] Translation: X:35.75, Y:-189.74, Z:1.44 [[ 8.75448147e-01 4.83309578e-01 1.54694411e-03 3.57531595e+01] [-4.83308681e-01 8.75449511e-01 -9.33564790e-04 -1.89735606e+02] [-1.80547227e-03 6.96360471e-05 9.99998368e-01 1.44383708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.2 meters Centerline goodness [0,1] 0.9982458165031737 Centerline is valid? [True, True] Translation: X:35.78, Y:-189.75, Z:1.44 [[ 8.75990245e-01 4.82328794e-01 1.60893515e-04 3.57761444e+01] [-4.82328784e-01 8.75990260e-01 -9.70800526e-05 -1.89750737e+02] [-1.87765656e-04 7.43760563e-06 9.99999982e-01 1.44314331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.22999999999996 meters Centerline goodness [0,1] 0.997970854085962 Centerline is valid? [True, True] Translation: X:35.80, Y:-189.76, Z:1.44 [[ 8.76170563e-01 4.82000073e-01 -1.03659407e-03 3.58001994e+01] [-4.81999670e-01 8.76171175e-01 6.25071829e-04 -1.89764549e+02] [ 1.20951851e-03 -4.80315360e-05 9.99999267e-01 1.44269432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.26 meters Centerline goodness [0,1] 0.9981289413503962 Centerline is valid? [True, True] Translation: X:35.82, Y:-189.78, Z:1.44 [[ 8.76283246e-01 4.81792629e-01 -1.88050234e-03 3.58237626e+01] [-4.81791304e-01 8.76285259e-01 1.13327243e-03 -1.89778711e+02] [ 2.19385878e-03 -8.70579686e-05 9.99997590e-01 1.44218753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.28999999999996 meters Centerline goodness [0,1] 0.9982165192013712 Centerline is valid? [True, True] Translation: X:35.85, Y:-189.79, Z:1.44 [[ 8.76530764e-01 4.81336372e-01 -3.01955764e-03 3.58505446e+01] [-4.81332956e-01 8.76535953e-01 1.81871337e-03 -1.89789989e+02] [ 3.52216373e-03 -1.40745619e-04 9.99993787e-01 1.44227994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.32 meters Centerline goodness [0,1] 0.9984432723808638 Centerline is valid? [True, True] Translation: X:35.87, Y:-189.81, Z:1.44 [[ 8.76252719e-01 4.81833426e-01 -4.20977732e-03 3.58730662e+01] [-4.81826795e-01 8.76262810e-01 2.53510325e-03 -1.89806348e+02] [ 4.91036879e-03 -1.93007606e-04 9.99987925e-01 1.44206575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.34999999999997 meters Centerline goodness [0,1] 0.9984424038126235 Centerline is valid? [True, True] Translation: X:35.90, Y:-189.82, Z:1.44 [[ 8.76480216e-01 4.81417780e-01 -4.39910895e-03 3.59007780e+01] [-4.81410542e-01 8.76491232e-01 2.64765226e-03 -1.89816591e+02] [ 5.13040730e-03 -2.02837403e-04 9.99986819e-01 1.44183047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.38 meters Centerline goodness [0,1] 0.9984377914568178 Centerline is valid? [True, True] Translation: X:35.93, Y:-189.83, Z:1.44 [[ 8.77249645e-01 4.80011392e-01 -4.70369839e-03 3.59257071e+01] [-4.80003105e-01 8.77262226e-01 2.82939406e-03 -1.89830835e+02] [ 5.48451830e-03 -2.24295094e-04 9.99984935e-01 1.44155145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.40999999999997 meters Centerline goodness [0,1] 0.9984935221452245 Centerline is valid? [True, True] Translation: X:35.95, Y:-189.85, Z:1.44 [[ 8.77517889e-01 4.79521987e-01 -4.58456663e-03 3.59488627e+01] [-4.79514113e-01 8.77529837e-01 2.75691610e-03 -1.89845585e+02] [ 5.34509589e-03 -2.20878798e-04 9.99985691e-01 1.44085327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.44 meters Centerline goodness [0,1] 0.9985271082224768 Centerline is valid? [True, True] Translation: X:35.97, Y:-189.86, Z:1.44 [[ 8.78122086e-01 4.78410333e-01 -5.01553870e-03 3.59731177e+01] [-4.78400900e-01 8.78136375e-01 3.01443087e-03 -1.89860582e+02] [ 5.84646184e-03 -2.47600102e-04 9.99982879e-01 1.44009949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.46999999999997 meters Centerline goodness [0,1] 0.9983933311600615 Centerline is valid? [True, True] Translation: X:36.00, Y:-189.87, Z:1.44 [[ 8.78914292e-01 4.76951822e-01 -5.16008672e-03 3.59988873e+01] [-4.76941823e-01 8.78929400e-01 3.09954764e-03 -1.89873836e+02] [ 6.01368682e-03 -2.63175556e-04 9.99981883e-01 1.44005330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.5 meters Centerline goodness [0,1] 0.9982889154536718 Centerline is valid? [True, True] Translation: X:36.02, Y:-189.90, Z:1.44 [[ 8.79235992e-01 4.76357087e-01 -5.29121311e-03 3.60172488e+01] [-4.76346568e-01 8.79251870e-01 3.17735795e-03 -1.89897093e+02] [ 6.16586600e-03 -2.73196260e-04 9.99980954e-01 1.43848968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.53 meters Centerline goodness [0,1] 0.9985247629083246 Centerline is valid? [True, True] Translation: X:36.05, Y:-189.90, Z:1.44 [[ 8.80336894e-01 4.74329938e-01 -4.25012737e-03 3.60481877e+01] [-4.74323135e-01 8.80347123e-01 2.55074303e-03 -1.89901405e+02] [ 4.95148118e-03 -2.29579459e-04 9.99987715e-01 1.44197870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.56 meters Centerline goodness [0,1] 0.9984671980380135 Centerline is valid? [True, True] Translation: X:36.07, Y:-189.91, Z:1.44 [[ 8.80429567e-01 4.74161387e-01 -3.84150471e-03 3.60731413e+01] [-4.74155835e-01 8.80437923e-01 2.30399567e-03 -1.89913206e+02] [ 4.47467221e-03 -2.07034036e-04 9.99989967e-01 1.44252437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.59 meters Centerline goodness [0,1] 0.9981873396266391 Centerline is valid? [True, True] Translation: X:36.10, Y:-189.93, Z:1.44 [[ 8.80499733e-01 4.74037471e-01 -2.94893550e-03 3.60967855e+01] [-4.74034201e-01 8.80504657e-01 1.76787858e-03 -1.89925810e+02] [ 3.43459214e-03 -1.58720337e-04 9.99994089e-01 1.44274392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.62 meters Centerline goodness [0,1] 0.997808062517869 Centerline is valid? [True, True] Translation: X:36.13, Y:-189.93, Z:1.44 [[ 8.79271745e-01 4.76309967e-01 -3.16440253e-03 3.61256599e+01] [-4.76306217e-01 8.79277425e-01 1.89675431e-03 -1.89933827e+02] [ 3.68583069e-03 -1.60537873e-04 9.99993194e-01 1.44112707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.65 meters Centerline goodness [0,1] 0.9976764036418816 Centerline is valid? [True, True] Translation: X:36.15, Y:-189.95, Z:1.44 [[ 8.79496853e-01 4.75899864e-01 -2.14604523e-03 3.61481958e+01] [-4.75898139e-01 8.79499464e-01 1.28609355e-03 -1.89949681e+02] [ 2.49949738e-03 -1.09816300e-04 9.99996870e-01 1.44032414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.68 meters Centerline goodness [0,1] 0.9970397956504095 Centerline is valid? [True, True] Translation: X:36.17, Y:-189.96, Z:1.44 [[ 8.79727366e-01 4.75476513e-01 -1.35902249e-03 3.61744996e+01] [-4.75475821e-01 8.79728413e-01 8.14012870e-04 -1.89962257e+02] [ 1.58261470e-03 -6.99270655e-05 9.99998745e-01 1.43947139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.71 meters Centerline goodness [0,1] 0.9958644100210365 Centerline is valid? [True, True] Translation: X:36.20, Y:-189.98, Z:1.44 [[ 8.80820240e-01 4.73450650e-01 -4.32695176e-04 3.61979746e+01] [-4.73450580e-01 8.80820346e-01 2.59043204e-04 -1.89978676e+02] [ 5.03770888e-04 -2.33107148e-05 9.99999873e-01 1.43799142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.74 meters Centerline goodness [0,1] 0.9955855185816079 Centerline is valid? [True, True] Translation: X:36.22, Y:-189.99, Z:1.44 [[ 8.81380977e-01 4.72406145e-01 -8.43487449e-05 3.62229008e+01] [-4.72406143e-01 8.81380981e-01 5.04661430e-05 -1.89992379e+02] [ 9.81838958e-05 -4.63303319e-06 9.99999995e-01 1.43708353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.77 meters Centerline goodness [0,1] 0.9941489616804949 Centerline is valid? [True, True] Translation: X:36.25, Y:-190.01, Z:1.44 [[ 8.81613477e-01 4.71972103e-01 1.09976830e-04 3.62467793e+01] [-4.71972098e-01 8.81613483e-01 -6.57919656e-05 -1.90006088e+02] [-1.28009028e-04 6.09708822e-06 9.99999992e-01 1.43578845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.8 meters Centerline goodness [0,1] 0.9923119429161762 Centerline is valid? [True, True] Translation: X:36.27, Y:-190.02, Z:1.44 [[ 8.82696395e-01 4.69940996e-01 1.59222026e-03 3.62711142e+01] [-4.69940040e-01 8.82697826e-01 -9.52392345e-04 -1.90022029e+02] [-1.85301757e-03 9.24252366e-05 9.99998279e-01 1.43518239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.83 meters Centerline goodness [0,1] 0.9893363502876538 Centerline is valid? [True, True] Translation: X:36.30, Y:-190.04, Z:1.44 [[ 8.84244251e-01 4.67006979e-01 4.07260283e-03 3.62974898e+01] [-4.67000696e-01 8.84253594e-01 -2.43546162e-03 -1.90036078e+02] [-4.73859126e-03 2.51634579e-04 9.99988741e-01 1.43503422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.86 meters Centerline goodness [0,1] 0.9864122578779995 Centerline is valid? [True, True] Translation: X:36.32, Y:-190.05, Z:1.44 [[ 8.84913399e-01 4.65719840e-01 5.77119389e-03 3.63209803e+01] [-4.65707200e-01 8.84932143e-01 -3.45062866e-03 -1.90052164e+02] [-6.71414120e-03 3.65820990e-04 9.99977393e-01 1.43547110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.89 meters Centerline goodness [0,1] 0.9843173209158684 Centerline is valid? [True, True] Translation: X:36.35, Y:-190.07, Z:1.44 [[ 8.85477292e-01 4.64623001e-01 7.44525935e-03 3.63462680e+01] [-4.64601948e-01 8.85508462e-01 -4.44902998e-03 -1.90065732e+02] [-8.65996182e-03 4.80433023e-04 9.99962386e-01 1.43605322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.91999999999996 meters Centerline goodness [0,1] 0.9794258604831292 Centerline is valid? [True, True] Translation: X:36.37, Y:-190.08, Z:1.44 [[ 8.85821820e-01 4.63906506e-01 1.05098099e-02 3.63718920e+01] [-4.63864544e-01 8.85883900e-01 -6.27697441e-03 -1.90078900e+02] [-1.22224007e-02 6.85152717e-04 9.99925069e-01 1.43660774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.95 meters Centerline goodness [0,1] 0.978970884631262 Centerline is valid? [True, True] Translation: X:36.40, Y:-190.09, Z:1.44 [[ 8.85867509e-01 4.63736067e-01 1.36973086e-02 3.64006117e+01] [-4.63664798e-01 8.85972946e-01 -8.17893211e-03 -1.90086084e+02] [-1.59283106e-02 8.94490423e-04 9.99872736e-01 1.43748798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.97999999999996 meters Centerline goodness [0,1] 0.9758418918590818 Centerline is valid? [True, True] Translation: X:36.43, Y:-190.10, Z:1.44 [[ 8.85464809e-01 4.64398729e-01 1.69083431e-02 3.64251723e+01] [-4.64290287e-01 8.85625563e-01 -1.00941419e-02 -1.90099341e+02] [-1.96621675e-02 1.08762799e-03 9.99806089e-01 1.44047797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.01 meters Centerline goodness [0,1] 0.9739312800253616 Centerline is valid? [True, True] Translation: X:36.45, Y:-190.11, Z:1.44 [[ 8.84506017e-01 4.66099136e-01 2.00175090e-02 3.64506405e+01] [-4.65947630e-01 8.84731629e-01 -1.19478240e-02 -1.90110590e+02] [-2.32789938e-02 1.24081133e-03 9.99728238e-01 1.44355695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.03999999999996 meters Centerline goodness [0,1] 0.9724856516491366 Centerline is valid? [True, True] Translation: X:36.48, Y:-190.11, Z:1.45 [[ 8.80770237e-01 4.72696369e-01 2.83184180e-02 3.64831370e+01] [-4.72396649e-01 8.81224079e-01 -1.68976277e-02 -1.90112969e+02] [-3.29423190e-02 1.50540180e-03 9.99456121e-01 1.44705388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.07 meters Centerline goodness [0,1] 0.9702663893840364 Centerline is valid? [True, True] Translation: X:36.51, Y:-190.13, Z:1.45 [[ 8.79742782e-01 4.74368138e-01 3.20547429e-02 3.65081785e+01] [-4.73985331e-01 8.80325061e-01 -1.91230914e-02 -1.90125021e+02] [-3.72899788e-02 1.62992374e-03 9.99303158e-01 1.44929826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.09999999999997 meters Centerline goodness [0,1] 0.9702363221129977 Centerline is valid? [True, True] Translation: X:36.54, Y:-190.13, Z:1.44 [[ 8.77828785e-01 4.77900072e-01 3.20647004e-02 3.65374821e+01] [-4.77519769e-01 8.78412976e-01 -1.91184149e-02 -1.90132584e+02] [-3.73027407e-02 1.47116663e-03 9.99302928e-01 1.44481615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.13 meters Centerline goodness [0,1] 0.9679197497144559 Centerline is valid? [True, True] Translation: X:36.56, Y:-190.15, Z:1.44 [[ 8.77367470e-01 4.78651708e-01 3.34494499e-02 3.65610738e+01] [-4.78238546e-01 8.78003588e-01 -1.99397315e-02 -1.90146742e+02] [-3.89129235e-02 1.49765546e-03 9.99241483e-01 1.44383927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.15999999999997 meters Centerline goodness [0,1] 0.9641177495209894 Centerline is valid? [True, True] Translation: X:36.59, Y:-190.16, Z:1.44 [[ 8.75821317e-01 4.81477831e-01 3.34083806e-02 3.65879693e+01] [-4.81067866e-01 8.76457203e-01 -1.99118073e-02 -1.90158237e+02] [-3.88681096e-02 1.36748692e-03 9.99243414e-01 1.43707477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.19 meters Centerline goodness [0,1] 0.9609343837255684 Centerline is valid? [True, True] Translation: X:36.61, Y:-190.17, Z:1.44 [[ 8.75304025e-01 4.82395412e-01 3.37273049e-02 3.66120494e+01] [-4.81978428e-01 8.75952557e-01 -2.00975615e-02 -1.90171500e+02] [-3.92384904e-02 1.33564308e-03 9.99228981e-01 1.43517365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.21999999999997 meters Centerline goodness [0,1] 0.9586680261619954 Centerline is valid? [True, True] Translation: X:36.64, Y:-190.18, Z:1.43 [[ 8.75040617e-01 4.82827067e-01 3.43793720e-02 3.66373043e+01] [-4.82394705e-01 8.75714712e-01 -2.04717399e-02 -1.90183732e+02] [-3.99908320e-02 1.32917687e-03 9.99199163e-01 1.43233521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.25 meters Centerline goodness [0,1] 0.9580321985744904 Centerline is valid? [True, True] Translation: X:36.66, Y:-190.20, Z:1.43 [[ 8.74219619e-01 4.84257689e-01 3.51361570e-02 3.66613159e+01] [-4.83807412e-01 8.74924473e-01 -2.09178100e-02 -1.90197451e+02] [-4.08710939e-02 1.28762671e-03 9.99163598e-01 1.43326321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.28 meters Centerline goodness [0,1] 0.9567944600562023 Centerline is valid? [True, True] Translation: X:36.69, Y:-190.21, Z:1.43 [[ 8.74227293e-01 4.84130395e-01 3.66660728e-02 3.66850620e+01] [-4.83640160e-01 8.74994829e-01 -2.18230313e-02 -1.90210672e+02] [-4.26478169e-02 1.34510429e-03 9.99089263e-01 1.43473153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.31 meters Centerline goodness [0,1] 0.9501066633203664 Centerline is valid? [True, True] Translation: X:36.71, Y:-190.22, Z:1.44 [[ 8.73057898e-01 4.86089242e-01 3.85636465e-02 3.67118887e+01] [-4.85549398e-01 8.73908205e-01 -2.29397556e-02 -1.90221228e+02] [-4.48518555e-02 1.30317948e-03 9.98992799e-01 1.43504647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.34 meters Centerline goodness [0,1] 0.9463193657984145 Centerline is valid? [True, False] Translation: X:36.71, Y:-190.21, Z:1.44 [[ 8.73816487e-01 4.85529239e-01 2.65726494e-02 3.67087210e+01] [-4.84542951e-01 8.74020073e-01 -3.61530170e-02 -1.90208283e+02] [-4.07783758e-02 1.87155123e-02 9.98992920e-01 1.44451605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 5722.36 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%| | 0/12379 [00:00